Push-Wiper: 多様な汚れと表面に対応するセグメント化押し出し軌道による汎用ロボット清掃
Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories
粘性の高い汚れを押し出し軌道で集約する清掃フレームワークPush-Wiperを提案し、拡散ポリシーで適応的な動作を生成して、多様な汚れや曲面にゼロショットで一般化できることを示した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Renhao Lu, Mingxin Wang, Chenyang Cao, Yang Yang, Guoping Pan, Kangkang Dong, Yi Cheng, Houde Liu
分類: cs.RO
原文アブストラクト
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 stepwise strategy for stain gathering and leverage Diffusion Policy to generate adaptive pushing action sequences. These sequences are executed through our Arbitrary Surface Pose Interpolator (ASPI) and a hybrid force-position controller, allowing the method to generalize to stains with diverse spatial distributions. Push-Wiper achieves a cleaning score (CS), defined as the percentage of stain area removed, up to 130% higher than baseline methods. Without additional training, Push-Wiper also transfers in a zero-shot manner to solid residues, liquid spills, unseen viscous stains, and curved surfaces with varying geometries. Our experiments demonstrate the cleaning effectiveness of Push-Wiper and its strong generalization ability. The project website is available at https://push-wiper.github.io/.
