Mobile Manipulation Robot for Toilet Cleaning

14 January 2026, by Omkar Kondhalkar

Photo: base.camp

Household cleaning remains one of the most physically demanding and least automated domestic tasks. Responding to this gap, the work presents an intelligent toilet-cleaning robot built on a mobile platform with a dual-arm manipulation system. Instead of relying on task-specific hardware, the robot uses external cleaning utensils and a generalized Vision-Language-Action control architecture to perform adaptive cleaning. The system must safely navigate wet environments while minimizing splashing and contamination. By emphasizing flexible manipulation and reusable control models, the study evaluates whether general-purpose robotic architectures can handle complex household tasks, with validation performed in both simulation environments and on a physical robot platform.