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in this work we propose a new method for robotic table wiping via reinforcement learning and whole body trajectory optimization in contrast to single purpose robots that excel at completing the tasks they were designed for multi-purpose assistive robots are designed to complete multiple tasks and will play an important role in improving peoples lives in the spaces where we live and work in this work we consider the problem of cleaning spills and Gathering crumbs on the table this problem is challenging the robot observes High dimensional inputs in the form of images and must plan and execute precise wiping actions in addition one must guarantee the reliability of the system we propose a solution that combines the strengths of reinforcement learning which are planning in high dimensional input spaces with the strength of trajectory optimization which are guaranteeing constraint satisfaction while executing whole body trajectories we decompose the task as follows first a perception mod