{"id":"https://openalex.org/W7162997850","doi":"https://doi.org/10.48550/arxiv.2605.30569","title":"Any-ttach: Quick End-effector Swapping Enables Manipulation Dexterity with Simplicity","display_name":"Any-ttach: Quick End-effector Swapping Enables Manipulation Dexterity with Simplicity","publication_year":2026,"publication_date":"2026-05-28","ids":{"openalex":"https://openalex.org/W7162997850","doi":"https://doi.org/10.48550/arxiv.2605.30569"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.30569","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30569","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.30569","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062924438","display_name":"Weizhe Ni","orcid":"https://orcid.org/0000-0002-5590-1311"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ni, Weizhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137556229","display_name":"Jinzhou Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Jinzhou","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137545705","display_name":"Haoyu Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Haoyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137555642","display_name":"Cody Andres Alessio-Bunnell","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alessio-Bunnell, Cody Andres","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137537193","display_name":"Wenjing Pan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pan, Wenjing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137555846","display_name":"Xianyi Cheng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng, Xianyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9638000130653381,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9638000130653381,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.008799999952316284,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.006300000008195639,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.722100019454956},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6123999953269958},{"id":"https://openalex.org/keywords/simplicity","display_name":"Simplicity","score":0.5983999967575073},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5849999785423279},{"id":"https://openalex.org/keywords/replicate","display_name":"Replicate","score":0.5408999919891357},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.3702000081539154},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.3614000082015991},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.3587999939918518},{"id":"https://openalex.org/keywords/mobile-device","display_name":"Mobile device","score":0.3531999886035919}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.722100019454956},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6506999731063843},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6123999953269958},{"id":"https://openalex.org/C2776372474","wikidata":"https://www.wikidata.org/wiki/Q508291","display_name":"Simplicity","level":2,"score":0.5983999967575073},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5859000086784363},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5849999785423279},{"id":"https://openalex.org/C2781162219","wikidata":"https://www.wikidata.org/wiki/Q26250693","display_name":"Replicate","level":2,"score":0.5408999919891357},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4341000020503998},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.3702000081539154},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.3614000082015991},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.3587999939918518},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.3531999886035919},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3528999984264374},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32359999418258667},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.3052000105381012},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.298799991607666},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.2915000021457672},{"id":"https://openalex.org/C56288433","wikidata":"https://www.wikidata.org/wiki/Q58673","display_name":"Data manipulation language","level":2,"score":0.2903999984264374},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2883000075817108},{"id":"https://openalex.org/C153517567","wikidata":"https://www.wikidata.org/wiki/Q26090","display_name":"Mechanism design","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.27900001406669617},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2775999903678894},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2736000120639801},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26750001311302185},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.25209999084472656},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.25200000405311584}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.30569","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30569","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.30569","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.30569","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"manipulation":[1,52,175],"dexterity":[2,63],"is":[3],"often":[4],"pursued":[5],"by":[6],"building":[7],"increasingly":[8],"complex":[9,181],"high-DoF":[10],"multifingered":[11],"hands.":[12],"While":[13],"many":[14],"robotic":[15],"hands":[16,28],"are":[17,196],"designed":[18],"to":[19,39],"replicate":[20],"human":[21,27,83],"morphology,":[22],"the":[23,123],"functional":[24],"role":[25],"of":[26,34],"suggests":[29],"a":[30,50,60,68,78,86,118,151,155],"different":[31],"perspective:":[32],"much":[33],"their":[35],"complexity":[36],"may":[37],"exist":[38],"enable":[40],"tool":[41,44],"use":[42],"and":[43,85,94,103,117,141,153,165,189,194],"making.":[45],"This":[46],"observation":[47],"motivates":[48],"Any-ttach,":[49],"tool-centric":[51],"framework":[53,89],"that":[54,90,130,171],"treats":[55],"quick":[56],"end-effector":[57,104,163,190],"swapping":[58,71],"as":[59,112],"mechanism":[61,72],"for":[62,73,81],"with":[64],"simplicity.":[65],"Any-ttach":[66,131,157],"combines":[67],"low-cost":[69,119],"automatic":[70],"an":[74],"open-close":[75],"robot":[76],"interface,":[77],"handheld":[79],"device":[80],"collecting":[82],"demonstrations,":[84],"task":[87],"planning":[88],"composes":[91],"learned,":[92],"parameterized,":[93],"planned":[95],"tool-use":[96,144,160],"skills.":[97,145],"The":[98],"system":[99],"supports":[100,142],"diverse":[101,143],"tools":[102,110,188],"modules,":[105],"including":[106],"daily":[107],"tools,":[108],"articulated":[109],"such":[111],"scissors,":[113],"Fin":[114],"Ray":[115],"fingers,":[116],"anthropomorphic":[120],"hand,":[121],"through":[122,162,179,185],"same":[124],"shared":[125],"interface.":[126],"Our":[127],"experiments":[128],"show":[129],"improves":[132],"tool-swapping":[133],"reliability,":[134],"increases":[135],"demonstration":[136],"efficiency,":[137],"reduces":[138],"tool-pose":[139],"variability,":[140],"In":[146],"two":[147],"long-horizon":[148],"tasks,":[149],"making":[150],"sandwich":[152],"preparing":[154],"cucumber,":[156],"executes":[158],"six":[159],"subskills":[161],"switching":[164],"execution":[166],"monitoring.":[167],"These":[168],"results":[169],"suggest":[170],"robots":[172],"can":[173],"expand":[174],"capability":[176],"not":[177],"only":[178],"more":[180],"end-effectors,":[182],"but":[183],"also":[184],"rapidly":[186],"exchangeable":[187],"modules.":[191],"More":[192],"details":[193],"videos":[195],"available":[197],"at":[198],"https://any-ttach.github.io/.":[199]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-02T00:00:00"}