Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories

• 类型：arxiv
• 标识：2608.00730
• 链接：https://arxiv.org/abs/2608.00730
• 主分类：agent
• 形态：method
• 被引：0
• 被引来源：Semantic Scholar
• S2被引：0
• 影响力被引：0
• TLDR：Viscous stains, characterized by high viscosity and complex rheological properties, remain a major challenge for robotic surface cleaning. Conventional wiping often spreads the stain, while scrubbing provides stronger friction but risks damaging the surface. In this paper, we propose Push-Wiper, a framework that reformulates viscous stain cleaning as an aggregation problem. Push-Wiper employs a sponge to progressively gather stains through segmented pushing trajectories, followed by a post-processing phase that detaches the aggregated material and enables sponge self-cleaning. We adopt a stepw
• 待LLM分类：否
• 成熟度：research
• 场景：robotic cleaning、manipulation、surface stains
• 标题中文：Push-Wiper：通过分段推送轨迹实现跨多种污渍与表面的通用机器人清洁
• TLDR中文：高粘度污渍以其高粘度与复杂流变特性，仍是机器人表面清洁的主要挑战。传统擦拭往往扩散污渍，而擦洗摩擦力更强却存在损伤表面的风险。本文提出 Push-Wiper，一种将高粘度污渍清洁重构为聚集问题的框架。Push-Wiper 使用海绵通过分段推送轨迹渐进式聚集污渍，随后通过后处理阶段剥离已聚集物质并实现海绵自清洁。我们采用逐步
• 来源文件：
• /inbox/tom/_candidates/2026-08-05-agent-rag-longcontext-candidates.json
• [S2 enrich]