Weizhe Ni, Jinzhou Li, Xinyu Ma, Haoyu Li, Eva Bonde, Cody Andres Alessio-Bunnell, Wenjing Pan, Xianyi Cheng
Robotic manipulation dexterity is often pursued by building increasingly complex high-DoF multifingered hands. While many robotic hands are designed to replicate the morphology of human hands, the functional role of human hands suggests a different perspective: much of their complexity may exist to enable tool use and tool making. This observation motivates Any-ttach, a tool-centric manipulation system that leverages mechanical modularity and treats autonomous end-effector swapping as a pathway towards dexterity. Any-ttach combines: 1) a low-cost standardized interface with passive self-locking and mechanically triggered release mechanism; 2) a unified object-centric manipulation framework supporting kinesthetic teaching trajectory replay, human demonstration retargeting, and policy learning; and 3) hierarchical planning and execution system for tools and skills for multi-tool long-horizon tasks. We demonstrated 15 heterogeneous end-effector modules supported by our system, spanning different robotic fingers, everyday tools (including articulated tools such as scissors), and unconventional end-effectors through the same interface. Experiments demonstrate reliable autonomous swapping, automatic integration to new tools, and broad manipulation capability across different skill sources. Two multi-tool application demonstrations, comprising seven tool--skill steps across two tasks, further illustrate the autonomous composition of end-effector exchange and heterogeneous manipulation skills. These results show that end-effector swapping can expand manipulation capability without concentrating increasing complexity entirely in a single end-effector. More details and videos are available at https://any-ttach.github.io/.
Web attack detection is the first line of defense for securing web applications, designed to preemptively identify malicious activities. Deep learning-based approaches are increasingly popular for their advantages: automatically learning complex patterns and extracting semantic features from HTTP requests to achieve superior detection performance. However, existing methods are less effective at representing irregular HTTP requests and introduce unnecessary sensitivity to payload parameter order. To tackle this issue, in this paper, we propose WADBERT, a structure-aware dual-channel framework for web attack detection built on two complementary designs. First, we introduce \textit{Hybrid Granularity Embedding (HGE)}, which combines WordPiece embeddings with token-aligned character representations to capture fine-grained patterns in symbol-dense URLs and payload parameters. Second, we develop \textit{structure-aware feature extraction}, with separate branches for the sequential URL and the unordered collection of payload parameters. Each parameter is encoded independently, and position-free multi-head attention followed by mean pooling produces a payload representation invariant to parameter reordering. The URL and payload features are fused for request classification, while the learned parameter-level attention weights support inspection of potentially malicious parameters. Experiments on CSIC2010 and SR-BH2020 validate the effectiveness of our method: WADBERT achieves F1-scores of 99.64\% and 99.59\%, respectively, outperforming the evaluated state-of-the-art baselines.