Dual-arm Cooperation for Tabletop Wiping with Temporal Object Removal

We devise a dual-arm cooperative planning framework for wiping table surface in the presence of scattered objects. Unlike conventional surface-cleaning strategies that only cover free areas and detour around obstacles, our framework explicitly assigns one arm to rearrange objects while the other performs coverage wiping, thereby enabling access to previously obstructed regions.

Aus dem Abstract. Unsere Zusammenfassung folgt.