RNN
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Measuring Robustness and Efficiency in a Connectome-Constrained Fly Visual System Model: Linking an Adversarial and a Perceptual Illusion
2026-11-10 18:51:31Alexandre Garcia-Duran, Alejandro Rodriguez-Garcia, Manuel Molano-Maz\'on, Alexandre Hyafil, Srikanth Ramaswamy, Janne K. LappalainenAbstract
Biological visual systems compute reliably under tight metabolic and wiring constraints, whereas artificial vision systems consume far more energy and can be sensitive to adversarial perturbations. Whether networks with brain-like wiring are more robust at lower computational cost is unclear. We address this by benchmarking a task-optimized, continuous-time recurrent neural network of the fly visual system constrained by its synaptic connectome (FlyNet) against artificial neural networks. We compare it against CNNs, RAFT, and continuous-time recurrent neural networks without detailed connectome constraints (sCTRNN, CTRNN) on a collision-detection task within a differentiable 3D rendering pipeline. FlyNet is adversarially vulnerable but, relative to its compute, more robust to common video corruptions than RAFT, while using up to five orders of magnitude fewer FLOPs. The CTRNNs remain more robust than FlyNet across almost all tested perturbations, suggesting that connectome constraints benefit efficiency, through their low edge count, over robustness. Recurrence improves robustness to white-box attacks in RAFT and temporal context improves robustness to common corruptions. FlyNet's position and velocity representations degrade under adversarial textures but recover under counterfactual textures that restore correct classification while staying equally far from training, ruling out unfamiliar textures as the cause of failure. The reverse-phi illusion similarly disrupts these representations and inverts the same low-level motion statistic as the adversarial textures. Optimizing this input statistic alone, without access to the network, suffices to induce classification failure, attributing both perturbations to the same circuit vulnerability. Connectome-constrained models can thus surface adversarial failure mechanisms as testable hypotheses about biological perceptual vulnerabilities.
Abstract (translated)
URL
https://arxiv.org/abs/2611.14498
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Walrus Technical Report
2026-11-10 07:37:38Alkis Koudounas, Osamu Take, Hayato Futami, Quentin Jodelet, Emiru TsunooAbstract
We present Walrus, a unified 8B speech-and-audio foundation model handling speech recognition (including code-switching and multi-talker speech), speech-to-text and speech-to-speech translation, text-to-speech, emotion recognition, audio captioning, and general audio understanding. Our main contribution is not a new architecture but a data-centric training recipe; we use a standard decoder-only backbone initialized from Gemma 4, so that gains can be traced to the data. For speech generation, Walrus predicts low-bitrate discrete speech tokens, and a lightweight token-to-waveform decoder converts them into high-fidelity audio. The recipe is a three-stage data curriculum that moves from broad multilingual data to multi-talker, code-switching, and domain-specific data. At each stage, task-aware and dataset-aware weighting balances tasks with very different token budgets and protects core skills from forgetting. Trained on over 600M samples covering more than 20 tasks and 100 languages, Walrus leads on most multilingual, multi-talker, and code-switching ASR, speech translation, and audio understanding benchmarks, outperforming both open speech language models of comparable size and dedicated task-specific models. On most benchmarks, it even matches or surpasses the $4\times$ larger Qwen3-Omni's performance. Results suggest that data engineering is a primary driver of quality in multi-task speech and audio modeling.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13689
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Online-Adaptive Fuzzy Cognitive Maps for Neuro-symbolic Financial Forecasting
2026-11-10 00:05:44Brandon Rodriguez, Abel Deulofeu, Olaoluwa AdigunAbstract
We present a neuro-symbolic framework that pairs online-adaptive Fuzzy Cognitive Maps (FCMs) with long short-term memory (LSTM) networks for financial forecasting. Financial markets exhibit regime shifts and nonlinear dynamics. Existing models often trade off one of these key properties: these models capture temporal patterns but hide causal drivers, or they recover causal graphs that cannot adapt post-training. We close this gap with two frameworks. Framework I constructs an FCM from live dual-source price series and macroeconomic indicators, and adapts its edges online through an error-driven Hebbian rule. We introduce the Asymmetric Additive Residual Fusion method to seamlessly combine the FCM and LSTM predictions under Framework I. Framework II constructs a literature-grounded, LLM-augmented FCM where every edge carries a verifiable citation that gives an auditable map of factor interactions. On NASDAQ Composite data, Framework I matched the performance of the LSTM baseline on state-directional accuracy and outperformed LSTM by 7.6 percentage points on the return-sign accuracy. Framework I outperformed standalone FCM models across both evaluation metrics. The adaptive maps converged to new regimes within 10-15 trading days, and Framework II center-node FCMs scored 68.9% to 85.7% on the state-directional accuracy.
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URL
https://arxiv.org/abs/2611.13388
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XAI-Driven Confidence Estimation for OOD-Resilient Runtime Prediction
2026-11-09 20:23:12Mahmoud Sanad, Mohammed Bakr Sikal, Osama Abboud, Heba Khdr, J\"org HenkelAbstract
Machine learning-based resource management (RM) models degrade under out-of-distribution (OOD) inputs at runtime, yet existing approaches in the literature rely on a single global error margin that is overly conservative and fails to distinguish reliablepredictions from catastrophic failures. We propose Lightweight Runtime EXplainability (LEX), the first post-hoc XAI framework for input-specific runtime confidence estimation in ML-based RM. LEX clusters the embeddings of the training input space using a Gaussian Mixture Model and associates per-cluster prediction error bounds to input samples, enabling fine-grained runtime confidence signals without retraining. Evaluated on a state-of-the-art LSTM-based IPS forecasting model on Intel Alder Lake, across 34 benchmark applications, LEX achieves ~94% containment on unseen workloads and produces ~17% tighter per-input confidence bounds than global baselines. With its negligible runtime overhead, LEX advances the field by providing explainable and reliable input-specific confidence signals of ML predictions, thereby making ML-based resource management resilient to OOD at runtime.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13199
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khammoon: From a Linguistic Guideline to a Thai Morpheme Segmenter
2026-11-09 03:19:53Warit Sirichotedumrong, Adisai Na-Thalang, Chanakan Wittayasakpan, Kritsadha Phatcharoen, Kunat PipatanakulAbstract
Thai is written without spaces between words, making segmentation a foundational step in most Thai NLP pipelines. Existing tools primarily reproduce the word-level conventions of corpora such as BEST; however, because the notion of a "word" in Thai lacks a unified linguistic consensus, these conventions struggle with productive compounding, leading to arbitrary boundaries and ambiguity in downstream representations. Instead, we propose operating at the morphological level, focusing on khammoon, the smallest atomic unit that carries meaning. Segmenting at the morphemic level provides an explicit, consistent morphological representation that eliminates compounding ambiguity. Crucially, this representation benefits downstream learning: models trained on morphemes perform on par with or exceed word-level baselines across part-of-speech tagging, named-entity recognition, and sentiment classification, demonstrating that linguistic consistency improves representation quality without downstream performance penalty. To operationalize this representation, we translate linguistic principles into a formal decision guideline with near-perfect human agreement ($\kappa \approx 0.99$), scale annotation with an LLM, and correct systematic errors with human labels. Finally, we train khammoon, a lightweight 1M-parameter convolutional BiLSTM segmenter designed for efficient CPU inference, achieving a boundary F1 of 0.992 on out-of-domain text. The guideline, datasets, model, and library are all publicly released.
Abstract (translated)
URL
https://arxiv.org/abs/2611.13012
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The Shape of a Program: Path Signatures for Trace-to-Program Induction
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Synthesizing programs from execution traces is a fundamental challenge in algorithmic interpretability and the reverse engineering of complex systems. We bring a rough-path-theoretic perspective to program induction, treating execution traces as high-dimensional rough paths and encoding them with the path signature transform, a tool from stochastic analysis whose expectation provably characterizes the distribution of traces a program induces. On three program-induction domains, Karel, List, and RASP, our log-signature trace encoder outperforms LSTM, Transformer, and Fourier baselines in almost every setting, with its largest margins when training data is scarce. We further observe that the trace-to-program pipeline is naturally contractive: it often produces valid programs that are shorter than the ground truth. We turn this into a bootstrapping procedure that exposes redundancy in the ground-truth supervision without any external oracle, which we demonstrate on redundancy-injected versions of our datasets. Finally, the log-signature encoder induces a markedly more interpretable latent geometry than the baselines, in which the nearest neighbors of every state lie on its own execution trace.
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URL
https://arxiv.org/abs/2611.13005
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PhoPunct: A Large-Scale Benchmark of Transformer Architectures for Vietnamese Punctuation Restoration
2026-11-06 07:39:32Khoa D. Nguyen, Thai Bao Huynh, Binh T. NguyenAbstract
Vietnamese punctuation restoration is often evaluated on relatively small benchmarks, limiting conclusions about how architectural choices scale with data volume. We present a controlled benchmark on News and Novels corpora containing 22.1 million labeled tokens (19.9M News and 2.2M Novels). We evaluate 17 architectures formed from four pretrained Transformer backbones and optional bidirectional long short-term memory (Bi-LSTM) and conditional random field (CRF) layers, together with a PhoBERT-large-Bi-LSTM-CRF model, PhoPunct. Every model is trained for eight epochs with the same learning rate and without architecture-specific tuning. Under this fixed budget, adding Bi-LSTM and CRF layers does not reliably improve macro F1: in seven of eight matched domain-backbone comparisons, a plain Transformer classifier matches or outperforms its Bi-LSTM-CRF counterpart. PhoPunct obtains the best News result (61.35), whereas XLM-R with a CRF obtains the best Novels result (50.18), exceeding PhoPunct (48.97). These results show that the value of recurrent and structured-prediction heads depends on their optimization regime and motivate explicit separation between architectural improvements and improvements due to architecture-specific tuning. Our source code is available at: this https URL
Abstract (translated)
URL
https://arxiv.org/abs/2611.09107
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Hybrid Machine Learning for Imbalanced Landing-Phase Safety Event Prediction from Flight Data
2026-11-05 18:04:26Taha Asghar, Bilal Mufti, Syed Qasim Zaheer, Luqman AhmedAbstract
Landing-phase safety-event prediction requires the detection of rare abnormal approaches within strongly imbalanced multivariate flight data. Capturing coupled temporal behavior while distinguishing event-specific signatures across airport operating contexts remains a central modeling challenge. This study proposes an interpretable hybrid feature-fusion framework for multiclass landing-phase safety-event prediction. A long short-term memory (LSTM) autoencoder trained on nominal flight windows characterizes deviations from routine approach behavior. Its continuous reconstruction-error descriptor is fused with parameter-specific statistical flight-history features and supplied to a class-weighted XGBoost classifier to distinguish Normal, Speed High, Path High, and Flaps Late windows. The framework is evaluated using 53,750 NASA DASHlink approach windows from three arrival airports. Pooled and airport-specific learning strategies are compared alongside component-level benchmarks, repeated pipeline retraining, and feature-attribution analysis. The results demonstrate strong class-balanced detection, with mean macro recall above 0.90 across all airports under repeated partitioning and retraining. Component comparisons establish the importance of class weighting and show that continuous feature fusion outperforms reconstruction-error-only and hard-gate alternatives. Airport-level comparisons reveal benefits from local specialization at the two airports with larger datasets and from pooled training at the airport with the smallest dataset. Feature attributions associate predictions with operationally relevant vertical-path, configuration, speed, and approach-context variables. The framework provides an interpretable approach to rare-event detection and practical guidance for adapting flight-data monitoring models to airport-level data availability.
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URL
https://arxiv.org/abs/2611.08386
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Gabor Gabor: E-Gaborformer, a Strictly Causal Speech Recognizer with Gabor-Dictionary Convolutions and Delta-Rule Memory
2026-11-05 14:36:34Nir Krakowski, Tamir Cohen, Ohad Zohar, Chen ZarfatiAbstract
Real-time voice agents need a speech recognizer that never waits for future audio and whose memory per call does not grow with the length of the call. We present E-Gaborformer, a strictly causal encoder that combines Gated DeltaNet-2 recurrent layers with sliding-window attention in a 3:1 ratio, and builds every temporal convolution from a fixed dictionary of causal Gabor atoms. Its streaming state is constant, about 19 MB per call at production scale including the prediction network, where a causal-attention encoder of the same size accumulates over 1 GB after ten minutes. In a controlled causal study on LibriSpeech, E-Gaborformer leaves the initial plateau earlier, reaches a given accuracy up to 18% sooner, and matches or beats an E-Branchformer trained with the identical front end and recipe. At production scale, a 0.6B-parameter Hebrew and English streaming transducer built on E-Gaborformer has 28 to 31% lower word error rate (WER) than NVIDIA's Nemotron 3.5 ASR Streaming, a model of the same size, on English voice-agent traffic, and up to 20% lower Hebrew WER than our previous production system. The same weights serve strictly causal and 480 ms-lookahead decoding with no loss in accuracy, and a two-class formulation of the RNN-T lattice trains the transducer 2.6x faster with exact loss and gradients.
Abstract (translated)
URL
https://arxiv.org/abs/2611.08092
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How Finite Brains Generalize Without Bound: Spatial Memory as a Universal Computer
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A child who learns to add small numbers adds numbers of any length. LSTMs and Transformers trained on short sequences fail on longer ones. We trace the difference to what a learner reads when it decides. A position, a count or a time keeps taking new values as the input grows: it is a coordinate, and a learner that reads one meets in every long input values its experience never covered. Whether two things are the same has the same two answers at every size: it is a coincidence, and a learner that reads only coincidences finds in a long input nothing that short inputs lacked, so finite experience fixes its rule for every size. The memory carries the size of the input and the rule stays finite, and this determines the memory a generalizing brain can have: a memory that grows while what the learner reads of it stays finite has to look the same from every place, so it is made of cycles, and the past is reached by asking what happened when the cycles last stood where they stand now. The cycles are the grid modules, the cells that detect their return the place cells, the records the hippocampal index; a prefrontal controller moves the cycles and never sees them. Reading only coincidences costs no power: what finite experience fixes in such a learner is what Turing machines compute in step with their input, which is why a circuit that evolved to find the way home can learn arithmetic and grammar. In a network of neurons this machine of cycles is the dynamics seen through its symmetry, and symbols are its invariants. Trained on strings up to 40 symbols, the machine is at least 99% correct, on average over lengths 41 to 500, on nine of fifteen benchmark tasks, five of them tasks that no LSTM or Transformer solves; given new cycles after training it reverses strings of 15,015 symbols without error and fails beyond that on the curve the theory predicts; and its controllers run unchanged on neurons.
Abstract (translated)
URL
https://arxiv.org/abs/2611.07920
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IDSISA: Influence-Distilled Sharded Training for Efficient Machine Unlearning
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Machine unlearning removes the influence of specific training examples to comply with privacy regulations. Full retraining gives strong guarantees but is computationally prohibitive at scale; approximate methods are efficient but lack formal guarantees. SISA (Sharded, Isolated, Sliced, and Aggregated training) achieves certified deletion through data sharding and independent retraining, but random partitioning scatters forget requests across most shards, and isolated retraining degrades utility. We introduce IDSISA (Influence-Distilled SISA), which uses influence functions to concentrate forget-prone samples into few shards and distillation from unaffected shards to recover utility lost to isolation. The deletion guarantee inherited from SISA's retraining step remains exact and requires no probabilistic qualification; the distillation-based utility recovery is a separately quantified, empirically bounded approximation ($\epsilon_{\text{cert}} \leq 0.015$ in expectation). We further formalize certification under sequences of repeated deletion requests, where cross-shard distillation can create dependencies between shards; we prove that a closure-based cascading retraining procedure restores the deletion guarantee to the full aggregated model under any deletion sequence. Experiments on ResNet-18/CIFAR-10, ResNet-18/CIFAR-100, BiLSTM/IMDB, TCN/IMDB, and a fully connected network on Fashion-MNIST show $14-91\%$ better selective forgetting, up to $50\%$ better utility retention in relative terms (with consistent percentage-point gains on the other architectures, where a relative baseline is undefined), and unlearning-time changes ranging from $-6.7\%$ to $+6.4\%$ depending on architecture, relative to SISA.
Abstract (translated)
URL
https://arxiv.org/abs/2611.06519
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CRESiST: Self-Enhancing Explorative Policy Learning for Simultaneous Speech Translation
2026-11-04 13:32:57Chenyang Le, Pei Zhang, Yuxiang Chen, Bing Han, Derek F. Wong, Baosong Yang, Yanmin QianAbstract
Simultaneous Speech Translation (SimulST) requires balancing translation quality and latency. While Large Language Models (LLMs) excel in offline translation, current LLM-based SimulST systems predominantly rely on prefix-incremental generation. This paradigm suffers from redundant Key-Value cache recomputation and necessitates external Voice Activity Detection to process unbounded streams. To overcome these bottlenecks, we propose an end-to-end interleaved read-write framework built upon an omni-modal LLM. By interleaving speech chunks and text tokens, our architecture achieves full KV cache reuse, natively supporting segmentation-free, infinite-length inference. Furthermore, to learn optimal streaming policies without rigid offline alignments, we introduce a novel Actor-Critic self-enhancement pipeline. An RNN-T Actor dynamically samples read-write trajectories, while an LLM-based Critic evaluates these paths via intrinsic semantic and latency rewards, distilling the optimal policy back to the Actor. Extensive experiments on sentence-level (FLEURS, CoVoST2) and document-level (MuST-C, ACL 60/60) benchmarks demonstrate that our model establishes new state-of-the-art quality-latency Pareto frontiers, substantially outperforming existing cascaded and static-alignment baselines.
Abstract (translated)
URL
https://arxiv.org/abs/2611.06501
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From hydrological laws to catchment models: A process-based model matches deep-learning accuracy on three continents
Abstract
Dooge asked whether hydrology has laws at the catchment scale. We ask whether a low-dimensional system built under physical laws can match the accuracy of neural networks that outperform process-based models on the same inputs. Three laws constrain a lumped catchment model. Conservation makes it a flux-connected storage network, dissipation fixes the sign of every flux and aggregation determines how the unresolved composition enters the fluxes, through effective laws over threshold distributions and a memory of the forcing. These laws admit four kinds of refinement. A parsimonious model under them, CaRT (11 parameters per catchment), is refined in a loop assisted by AI agents. Each refinement addresses an observed deficit through a hypothesis from the literature. The result, CaRT+, has fourteen states, 35 parameters per catchment and no daily neural network. Most refinements follow from aggregation over thresholds or from variables that carry no water but modulate fluxes. On 602 British and 593 US gauged catchments, single CaRT+ models reach median Nash-Sutcliffe efficiencies of 0.863 and 0.765 in held-out years. A stateful LSTM reaches 0.869 and 0.751 and an entity-aware LSTM 0.862 and 0.754, while three-seed LSTM ensembles remain ahead of the CaRT+ ensemble by 0.003-0.012 in median paired NSE. On 505 drier Australian gauged catchments unused in development, single CaRT+ models reach 0.778 against 0.762 and 0.753 for the two LSTMs. The results suggest that catchment-scale laws exist as laws of form, with the constitutive families shared and only their parameters learned.
Abstract (translated)
URL
https://arxiv.org/abs/2611.06382
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Maswao: An automatically collected, prepared, and benchmarked dataset for the South African Sign language
2026-11-02 10:36:22Thapelo Sindane, Unarine Netshifhefhe, Vukosi Marivate, Abiodun Modupe, Herkulaas Combrink, Ketro SitholeAbstract
Recent advancements in sign language processing can be attributed to developments in both large-scale dataset collection and algorithmic complexity in areas such as pose estimation techniques, signal processing through Transformer models, and model optimization. However, only a handful of sign languages, such as the American, British, and German, from over 200 globally recognized sign languages, reap the benefits of such advancements, while the rest lag behind. In this study, we aim to address this technological disparity by proposing a framework for the automatic collection and preparation of sign language datasets, with very minimal human-labour intervention, using the South African Sign Language (SASL) as a testbed. Specifically, we automatically collect SASL video content using public resources such as news broadcasts. Additionally, we convert their accompanying audio streams into text using available Automatic Speech Recognition (ASR) tools. Furthermore, we crop the sign language area in the videos and use gradient descent to locate valleys of non-motion to determine end-of-sentence points within long videos to create our weakly sentence-aligned parallel corpora -- the Maswao (Signs) dataset. Finally, we benchmark the weakly aligned dataset on the task of Sign-to-text Translation using Recurrent Neural Networks and Transformer models to compare their individual intricacies. Our results show that Transformer models proposed in the literature outperform recurrent baselines, with the best-performing Transformer achieving BLEU-1 to BLEU-4 scores of 13.78, 5.21, 2.52, and 1.54, respectively, as well as ChrF = 18.09 and ROUGE-L = 10.51. These results indicate that the task remains promising and warrants further investigations.
Abstract (translated)
URL
https://arxiv.org/abs/2611.02903
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The Generative Gap Between Speculative Drafter and Continuous Diffusion Language Model
2026-10-29 18:30:59Yujian Chen, Hao Jiang, Guang Cheng, Weijian Luo, Tianyang HuAbstract
Continuous diffusion language models (CDLMs) and speculative drafters offer efficient language generation but are typically evaluated differently: CDLMs generate independently through iterative refinement, whereas drafters propose text for target-model verification and correction. We compare their architectures without verification, using LangFlow for CDLMs and adapting DSpark's Markov and recurrent-head architectures for standalone generation. All models are trained from scratch for unconditional, single-block OpenWebText generation at lengths 16, 128, and 1024, without target features or verification, using common preprocessing, backbone dimensions, and training-update budgets. We evaluate generation perplexity (GenPPL) with an external language model and distributional similarity to reference text with MAUVE. With default denoising steps equal to sequence length, LangFlow outperforms both DSpark variants on both metrics at lengths 128 and 1024, while DSpark-RNN leads at 16. A conditional KL analysis characterizes dependencies excluded by the Markov head's previous-token conditioning. Recurrent memory removes this restriction and improves both metrics, but the longer-sequence gap persists. Teacher probability matching further lowers Markov GenPPL without observed MAUVE gains. Increasing LangFlow's denoising steps at fixed weights improves both metrics at lengths 16 and 128, changing the length-128 ordering relative to DSpark-RNN. These results establish LangFlow's longer-sequence advantage under the evaluated budgets and highlight iterative full-sequence refinement as a route to improving standalone generation beyond gains from recurrent head memory.
Abstract (translated)
URL
https://arxiv.org/abs/2610.40847
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Multi-output LSTM soft sensors for industrial anaerobic co-digestion using LSTM-beta-VAE generative data augmentation
2026-10-29 10:18:56Rohit Murali, Benaissa Dekhici, Tao Chen, Dongda Zhang, Michael ShortAbstract
Anaerobic digestion (AD) requires close monitoring of key process variables, including pH, the ratio of volatile organic acids to alkaline buffer capacity and biogas production, to maintain biological stability and prevent process failure. While mechanistic frameworks such as the Anaerobic Digestion Model No. 1 are highly parameterised, computationally expensive, and difficult to calibrate for real-time applications, data-driven Long Short-Term Memory (LSTM) networks offer a potentially more adaptable alternative. However, current data-driven approaches in AD are predominantly limited to single-output architectures that focus solely on production yields, as opposed to simultaneous prediction of vital stability indicators. Furthermore, industrial AD datasets are typically sparse and skewed toward steady-state operations. Baseline evaluations demonstrated this scarcity prevents standard algorithms (Random Forest, XGBoost) and unaugmented LSTMs from recognising the transition to unstable operations, resulting in poor estimation of stability indicators. To overcome these challenges, this study proposes a novel generative data augmentation framework using an LSTM-beta-Variational Autoencoder coupled with a multi-output LSTM (MO-LSTM) soft sensor. By synthesising physically valid sequences of these transitions to unstable operations from one year of full-scale plant data, the method safely populates sparse regions of the feature space. Trained on this augmented dataset, the MO-LSTM achieved robust simultaneous estimation across all targets. This approach mitigates data sparsity, providing a basis for hybrid mechanistic-data-driven modelling and early-warning soft sensors in industrial bioprocesses.
Abstract (translated)
URL
https://arxiv.org/abs/2610.39768
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The Importance of Speech Genre for End-of-Turn Detector Training
2026-10-29 10:05:07Rini Sharon, Kadri Hacioglu, Jeena Prakash, Andreas StolckeAbstract
End-of-turn (EoT) detection has been studied mostly through features, models, and modalities, while the speech genre of the training data has drawn far less attention. We isolate this factor. Using one reproducible annotation pipeline, we build a matched pair of corpora, multi-turn human-human conversational and single-turn human-machine, and train the same streaming ConvLSTM EoT detector on each. Across four test sets the conversational model reaches up to +0.45 higher F1, driven by fewer false alarms on the mid-turn pauses and hesitations that are rare in single-turn corpora. This conversational-training effect is not specific to frame-level decoding. Under a matched complete-or-not test it also appears at the utterance level, across two encoders, but only on conversational test data. Testing only on single-turn speech, as most prior work does, therefore hides the benefit of conversational training data. Against open-source baselines, our 1.8M-parameter model attains the highest F1 on every test set.
Abstract (translated)
URL
https://arxiv.org/abs/2610.39742
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CuraEval: Evaluating Demonstration Curation on Mixed-Skill Robot Data
2026-10-28 03:19:23Jiuyi Xu, Meida Chen, Yang Ye, Yangming ShiAbstract
Robot imitation learning uses demonstrations from operators of varying skill, but selecting training data remains challenging. Existing methods score demonstrations using smoothness, diversity, or estimated influence on policy performance, but differences in selection and evaluation protocols make it difficult to determine whether they outperform simple baselines. We introduce \textbf{CuraEval}, a framework combining mathematical analysis of demonstration scores with controlled comparisons against fixed size-matched random subsets and full-data training on mixed-skill robomimic data using Diffusion Policy and BC-RNN. We show that the evaluated PSD score depends only on episode length and squared position magnitudes, and produces nearly the same ranking as episode length on \textit{square} ($\rho=0.999$). With Diffusion Policy, selecting the shortest 50\% of demonstrations improves \textit{square} success from 70.7\% under random selection to 76.5\%. Compared with random selection, our adapted geometric-entropy LOO selector reduces success at 25\% retention from 94.7\% to 74.0\% on \textit{can} and achieves 41.7\% on \textit{square}, below the mean success rates of all three independently sampled random subsets (59.8--62.5\%). On the same 3 \textit{square} Diffusion Policy training seeds, length-based selection at 75\% retention improves success over full-data training from 76.7\% to 86.7\% under the original protocol, but lowers it from 80.5\% to 79.5\% after checkpoint reporting, rollout count, and evaluation seed change jointly. No evaluated curated condition significantly outperforms full-data training after Holm correction, although confidence intervals still permit useful gains. Code is available at this https URL.
Abstract (translated)
URL
https://arxiv.org/abs/2610.38221
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Remember Where You Walk: Learning Spatial Memory for End-to-End Legged Robot Exploration
2026-10-27 13:22:51Leon Magnus, Nico Bohlinger, Jan Peters, Oleg ArenzAbstract
Humanoids and other legged robots operating in complex environments must remember information that leaves their field of view and only becomes relevant much later. Reinforcement learning policies address this using memory networks such as LSTMs that are trained end-to-end with the policy to memorize such task-relevant aspects. Yet, such architectures often fail to preserve sufficient information over long horizons. In this work, we propose a network architecture based on Hadamard memory that specifically targets robot navigation. Our Local Spatial Matrix Memory (LSMM) enables RL agents to store generic task-relevant information at specific, position-based memory cells, enabling flexible and spatially grounded memorization. We evaluate LSMM on the task of autonomous maze exploration, where it matches the maze coverage of strong recurrent and finite-history baselines while being the only architecture that remembers the maze layout, reducing the reconstruction error threefold.
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URL
https://arxiv.org/abs/2610.37203
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Reliability-Aware Short-Term Glycemic Risk Prediction Using an Anchor-Based Comparative Framework of Sequence, Multimodal, and State-Updating Digital-Twin Models
2026-10-26 22:28:12Pir Bakhsh Khokhar, Carmine Gravino, Fabio PalombaAbstract
Anticipating short-term hypoglycemic and hyperglycemic risk is essential for proactive diabetes management. However, existing machine learning approaches often use inconsistent evaluation protocols and emphasize predictive performance over reliability. This study introduces an anchor-based benchmarking framework integrating longitudinal glucose sequences and multimodal patient information. Using the T1DiabetesGranada dataset, 5,503,441 standardized prediction anchors were constructed from 736 individuals with type 1 diabetes to evaluate hypoglycemia and hyperglycemia prediction at 30-, 60-, and 120-minute horizons. Three neural architectures, a Hybrid LSTM-Transformer, a Multimodal Digital Twin, and a State-Updating Digital Twin with gap-aware longitudinal state progression, were compared under identical patient-level validation protocols. Beyond predictive performance, the evaluation examined calibration, classification thresholds, explanation reliability, cross-model disagreement, and robustness to controlled perturbations. No statistically significant predictive differences were observed after Holm correction, although the models exhibited complementary reliability characteristics. The Multimodal Digital Twin achieved the lowest mean Brier score, while the State-Updating Digital Twin demonstrated the lowest mean expected calibration error (ECE-10). The Hybrid LSTM-Transformer showed strong explanation faithfulness and stability under its temporal attribution protocol. These findings highlight the importance of evaluating digital-twin models beyond predictive accuracy and emphasize the need for reliability assessment and external validation before clinical deployment.
Abstract (translated)
URL
https://arxiv.org/abs/2610.36363
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