RNN
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WAKMan: Workload Aware KVCache Manager
2026-10-26 22:19:37Suhas Kumar Morisetty, Vaibhavi Lokegaonkar, Sachin Mathew Varghese, Wesley HarrisAbstract
Prefix caching enables a Large Language Model (LLM) servers to reuse the Key-Value (KV) states and accelerate prefill computation stage for requests that share a prefix with earlier prompts, thus reducing latency and serving cost. With limited memory resource, the KV cache eviction policy becomes a decisive factor in determining the overall benefits of prefix caching. Production traffic may have single-turn, multi-turn, agentic, or a mixture of any combination of these request types. Our findings indicate that agentic steps return within seconds and favor recency, while popular prompts and long conversations return after many other requests and favor frequency. Across 20 mixes, no single policy is always best: vLLM's default strategy LRU provides 12% higher cache hits as compared to the frequency-oriented S3FIFO on agentic-heavy mixes but trails it by up to 22% elsewhere, and even a single workload parameter can flip the winner even for any particular mix. We present WAKMan, a workload-aware KV cache manager that picks its eviction policy from live traffic without knowing request types or reading prompts. It improves hit rate over LRU by 5 percentage points on average, with the lowest mean and worst-case optimality gap of all policies.
Abstract (translated)
URL
https://arxiv.org/abs/2610.36355
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OneDemo: Unified Policy Learning and Data Generation from a Single Demonstration
2026-10-26 06:18:12Ying Qian, Jianshu Hu, Han Fang, Shuguang Li, Yutong BanAbstract
Learning robot policies from demonstrations is often limited by the cost of collecting diverse, high-quality expert data. While an appealing alternative is to expand a single successful demonstration into a diverse set of successful trajectories, existing augmentation methods typically rely on manually designed transformation rules or complex trajectory planning, requiring substantial task-specific engineering and human effort. We introduce OneDemo, a reinforcement learning framework that learns to edit a single successful demonstration for new task configurations. We formulate demonstration editing as a structured reinforcement learning problem, in which an editor learns, from sparse task-success rewards, both when to transition between object-centric trajectory segments and how to geometrically adapt each segment. The learned editor serves both as a task policy and as a reusable demonstration generator. Across 15 Meta-World tasks, OneDemo reaches a 92.7% success rate within 53.7k environment interactions on average. Across 9 DexMimicGen tasks, it generates successful demonstrations with a 98.4% average success rate, and BC-RNN policies trained on the generated data achieve 99.6% average success at matched dataset scale. These results show that learning to edit a single successful demonstration provides a structured and effective basis for both policy learning and scalable demonstration generation.
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URL
https://arxiv.org/abs/2610.18188
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Physics-Informed and Data-Driven Composite Disturbance Separation and Predictive Control for Airborne Electro-Optical Gimbals with Multiple Constraints
2026-10-26 05:06:52Yaokun Lu, Yifan Li, Zhixuan Zhang, Enmei Wang, Hao Teng, Jianzhong QiaoAbstract
This paper studies the constrained pointing control problem of airborne electro-optical gimbals subjected to composite periodic and aperiodic disturbances. Under carrier vibration, input delay, and actuator constraints, achieving line-of-sight stabilization and tracking is challenging. A disturbance-separated model predictive control (MPC) scheme is proposed to compensate these heterogeneous disturbances according to their physical characteristics. An adaptive periodic observer predicts multi-harmonic vibrations over the MPC horizon using linear-regression frequency estimation. A linear observer estimates the aperiodic disturbance, and a bounded long short-term memory (LSTM) network predicts its change over the input delay. Embedding periodic predictions into the MPC model while applying aperiodic compensation outside the optimizer limits amplification of aperiodic estimation errors and improves pointing accuracy under frequency changes and parameter mismatch. On the stated headroom envelope, input-set tightening provides feasible commands within the prescribed limits, and a regional practical tracking bound is established under explicit input-sequence and predicted-state margin conditions. A UAV-mounted two-axis gimbal platform is assembled for comparative indoor hovering experiments, complemented by simulations under frequency changes and parameter mismatch. In the reported trials, the proposed method achieves yaw and pitch relative-angle root-mean-square errors (RMSEs) of 0.770 degrees and 0.350 degrees, reducing tracking errors by 25.1% and 45.9% compared with linear active disturbance rejection control.
Abstract (translated)
URL
https://arxiv.org/abs/2610.34849
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Prefetch-Steered Routing: Deterministic Cache-Aware Expert Selection for Offloaded Mixture-of-Experts Decoding
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When a Mixture-of-Experts (MoE) model does not fit in GPU memory, batch-1 decoding is dominated by copying expert weights from host memory. Cache-aware routing reduces these copies by biasing the router toward resident experts, but combined with asynchronous prefetching it makes the model's outputs depend on transfer timing, so a harness that does not simulate that timing no longer evaluates the deployed model. We propose prefetch-steered routing (PSR): routing conditions on a deterministic logical cache, into which at most n experts predicted by the next layer's router are inserted per layer and token; physical copies affect only latency. On OLMoE-1B-7B with 50% and 25% of experts resident on an RTX 4090, PSR decodes 2.2-2.3x faster than exact routing with LRU and 25-30% faster than the Cache-Prior operating point, with mean benchmark differences of +0.1 and +0.5 points (95% lower bounds -0.8 and -0.3). In greedy generation its lead over Cache-Prior depends on the workload and reverses on HumanEval at 50% residency. On Moonlight-16B-A3B, PSR is 1.9x faster than exact routing with LRU at 37.5% residency and, at the latency of Cache-Prior, significantly better on three of eight benchmarks. On Qwen3.6-35B-A3B, where copies are cheap relative to computation, PSR keeps its advantage over Cache-Prior on the likelihood benchmarks but not its speed. Distillation-trained gates did not help. Speculative decoding with block-level expert selection was slower than PSR with a 1B autoregressive drafter on OLMoE, but with a block drafter on Qwen3.6 it was 2.1-2.9x faster than any autoregressive configuration with at most its GPU memory on the 64 prompts we timed.
Abstract (translated)
URL
https://arxiv.org/abs/2610.34721
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EmoNet: A Lightweight Attention-Based CNN for Speech Emotion Recognition
2026-10-25 01:26:35Muhammad Moiz Khalid, Abdur Rehman Tariq, Muhammad Okasha YaminAbstract
Speech Emotion Recognition (SER) is a fundamental task in affective computing that enables applications such as mental health assessment, human-computer interaction, and automated customer support systems. Accurate emotion classification from speech remains challenging due to variations in speaker style, acoustic conditions, and the high computational cost of modern deep learning approaches. Many existing systems depend on large transformer-based architectures that require substantial computational resources, making them less suitable for real-time or resource-constrained environments. This research proposes EmoNet, a lightweight deep learning framework for speech emotion classification across seven emotion categories. The model is built on a four-block depthwise separable CNN encoder with squeeze-and-excitation attention and residual connections, combined with a Bidirectional LSTM for temporal feature learning and a multi-head attention pooling mechanism for improved representation. A comprehensive 134-channel acoustic feature set alongside data augmentation techniques including audio-level perturbations and SpecAugment is employed to improve robustness under diverse acoustic conditions. Evaluated on a combined dataset of TESS, RAVDESS, and SAVEE, EmoNet achieves a test accuracy of 96.75% with only 4.11 million parameters. The proposed model outperforms its reproduced baseline and remains competitive with significantly larger state-of-the-art architectures.
Abstract (translated)
URL
https://arxiv.org/abs/2610.33977
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Multitask Interactions in Recurrent Dynamics across 100 Cognitive Tasks
2026-10-24 21:38:06S\'ilvia Garc\'ia-Hern\'andez, Leema Hamid, Manuel BrennerAbstract
The brain continually learns tasks with very different computational demands. Recurrent neural networks (RNNs) have been used as dynamical surrogates for studying task solutions, with recent work extending this approach to joint training on multitask batteries. However, it remains unclear how tasks interact as these batteries grow in scale and heterogeneity: under what conditions do they transfer or interfere with one another, and how do these effects relate to task complexity and model structure? We study this question by simultaneously training hierarchical Almost-Linear RNNs (AL-RNNs) on 100 tasks spanning a wide range of cognitive demands. AL-RNNs allow us to vary the amount of nonlinearity in the recurrence, while hierarchical task features provide a low-dimensional interface for task-specific adaptation within shared dynamics. On this task battery, performance improves with both nonlinear capacity and task-feature dimensionality, with the joint hierarchical model outperforming both individually trained models and a single unstructured joint model. Many tasks are individually solvable with linear dynamics, yet cannot be solved together by a shared linear model. Through hierarchical task features, task-specific linear region usage, and task geometry, the trained model provides several related but distinct measures of task similarity that capture how computations are separated and combined within the shared backbone. Across a series of experiments, we relate these representations to individual task complexity, joint solvability, pairwise transfer learning, and leave-one-out adaptation. Together, our experiments characterize task interactions in multitask recurrent learning while demonstrating both the potential and the challenges of reusable dynamical backbones for cognitive computation.
Abstract (translated)
URL
https://arxiv.org/abs/2610.33926
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Real-Time Human Trajectory Prediction from RGB-D for Mobile Robots Using Bi-Mamba
2026-10-24 21:03:42Basheer Al-Tawil, Magnus Jung, Ayoub Al-HamadiAbstract
Predicting the short-term future trajectory of a person from RGB-D cameras is a key capability for mobile robots navigating in dynamic and human populated environment. The key challenge to deploying learned predictors on real robots is the train-deploy pipeline gap. Training data are often prepared with an idealized, smoothed ground truth, whereas at inference, the model is fed noisy estimates from pose detectors and depth sensors. The model is therefore evaluated on an input distribution it never encountered during training. Most existing models rely on recurrent neural networks (RNNs) or transformers, which either struggle to capture short-term temporal dependencies or suffer from computational cost. We present TrajMamba, a lightweight, bidirectional state space model for short-term human trajectory prediction using an RGB-D camera. The model uses a single shared processing path for both training and deployment, aligning human pose extraction, depth back projection, and smoothing processes. It encodes a short window of persons's hip center velocities with stacked bidirectional Mamba blocks and decodes future velocities with a GRU head. On the ETH/UCY benchmark, TrajMamba reaches an average ADE of 0.29 m FDE of 0.51 m. With 262K parameters, it runs in real time on modest hardware and is deployed on a TIAGo robot with an onboard NVIDIA Jetson Orin.
Abstract (translated)
URL
https://arxiv.org/abs/2610.33916
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Memory or a Clock? Auditing a Memory Advantage in XLand-MiniGrid with Seeds, Maps and Evaluation Noise Apart
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On a partially observable XLand-MiniGrid task, an LSTM agent beats a memory-free MLP by 25 percentage points. The gap looks like a clear case of memory. We ask two questions about it. First, how much of a measured gap is noise? Separating training seed, map and evaluation randomness in 60 runs, each re-evaluated three times, we find that about ten paired seeds detect a 10-point gap in final success. The binary "task acquired" verdict, a common summary of learning curves, is 76% evaluation noise and would need about a hundred seeds for the same gap. Second, is the gap memory? On a sealed panel of new maps, opened once, a memory-free MLP of the LSTM's size comes within 3.3 points of the LSTM when it is given the time step, and gains no measurable benefit from its width without it. With the time step, an MLP a quarter of the LSTM's size, and the LSTM with its state erased at every step, also come within about 5 points. A linear probe reads the time step from the trained LSTM's state. On this task, most of the apparent memory advantage is an advantage of knowing the time, which matters because episodes are cut at a fixed limit and the reward shrinks with time. We recommend giving memory-free baselines the time step, and we release the protocol, the event-driven tooling and every checkpoint.
Abstract (translated)
URL
https://arxiv.org/abs/2610.33816
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PlayerEmbed: Learning Behavioral Fingerprint Representations from Raw Input Sequences
2026-10-23 14:48:02Tobias Schneider, Lorenz Sparrenberg, Priya Tomar, Shahzeb Qamar, Tobias Deu{\ss}er, Rafet SifaAbstract
Raw player input sequences in video games contain fine-grained behavior, but are high-dimensional and noisy, which makes large-scale analytics challenging. To address this, we introduce PlayerEmbed, a framework that learns compact and discriminative player embeddings using deep metric learning. Our approach uses a hybrid CNN-LSTM encoder trained on raw input sequences from 1,000 players. We evaluate the model on held-out sequences from these players and on sequences from 1,000 players entirely unseen during training to assess generalization to unseen identities. For player identification, a nearest-centroid classifier built from reference embeddings achieves strong performance, reaching balanced accuracies of 0.950 for players seen during training and 0.879 for players unseen during training. Systematically increasing the number of training players substantially improves generalization to unseen players, indicating a transition from simple fingerprinting to learning transferable behavioral patterns.
Abstract (translated)
URL
https://arxiv.org/abs/2610.32727
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StarRTT: An End-to-End Real-Time Framework for Blind Zone-Free RTT Prediction in Starlink LEO Satellite Networks
2026-10-23 12:20:09Jaeyong Lee, Seongjin Jeong, Yusang Park, Hyunho Hwang, Sangmin Han, Wonjae ShinAbstract
Low Earth Orbit (LEO) satellite mega-constellations such as Starlink require frequent handovers due to high orbital velocities, resulting in substantial Round-Trip Time (RTT) fluctuations. Accurate RTT prediction can mitigate these fluctuations, yet it fundamentally relies on continuously updated serving- satellite information. Existing serving-satellite identification methods typically complete identification only at the end of each scheduling cycle, creating an identification blind zone that limits real-time prediction. To overcome this limitation, we develop StarRTT, an end-to-end real-time framework that eliminates the blind zone by integrating per-second serving-satellite identification with RTT prediction. Within this framework, we propose Real-Time Long Short-Term Memory (RT-LSTM), an LSTM-based RTT prediction model designed to capture both non-stationary RTT evolution and time-varying geometric relationships among the serving satellite, user terminal, and gateways. Specifically, a historical LSTM encodes historical RTT observations and real-time serving-satellite and gateway-relative features, while a future LSTM processes Two-Line Element (TLE)-propagated future features of the identified serving satellite up to the next scheduling instant. Under strict real-time back-testing, RT-LSTM achieves a Mean Absolute Error (MAE) of 1.405 ms averaged over all 15 prediction horizons and 15 reference time-slot indices, reducing the error by 4.3 %, 11.6 %, and 22.1 % compared with the existing baseline models, LSTM, StarNet, and Attention-based Spatiotemporal Model (ASTM), respectively. Notably, the reduction over LSTM reaches 12.5 % at the scheduling instant, highlighting the benefit of real-time serving-satellite information when recent RTT observations are limited.
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URL
https://arxiv.org/abs/2610.32540
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From Promises to Accountability: Comparative AI Modeling and Visualization of Electoral Commitments in Nepali Political Texts
2026-10-23 04:32:17Prakash Poudyal, Nischal Karki, Amrit Dahal, Rajani Chulyadyo, Sameer Tamrakar, Bal Krishna BalAbstract
Election Commitment Mining refers to the analysis of election commitments made by electoral candidates or political parties during election campaigns. However, many elected candidates and political parties, especially in developing South Asian countries, do not fully deliver on the promises they make before elections. Even after the elections, commitments presented through election manifestos, posters, pamphlets, videos, and other campaign materials are often not systematically or transparently archived. As a result, these promises tend to fade away over time, making it difficult to hold the elected candidates accountable for their commitments. To address this persistent issue, this research aims to develop a system capable of structuring the commitments made by candidates during election periods. In this work, we created the first gold-standard dataset of Nepali political texts (Cohen's kappa = 0.777) and evaluated machine learning, deep learning and large language models to automatically extract and analyze election commitments. LaBSE-LR achieved the best results among machine learning models (0.897 accuracy, 0.896 macro F1-score, 0.947 AUROC), while fastText-LSTM achieved the highest performance among deep learning models (0.914 accuracy, 0.913 macro F1-score, 0.961 AUROC). Among the three evaluated large language models, Qwen3-8B performed best in the few-shot setting (0.848 macro F1-score). The outcome of this work is integrated into a mobile application, where commitments can be visualized with the support of GAI, enhancing transparency, civic engagement, and electoral accountability.
Abstract (translated)
URL
https://arxiv.org/abs/2610.32150
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SPECMEM: Accelerating Agentic Tool Calling via Live Memory Management
2026-10-22 19:24:21Zihe Song, Wenting Zhao, Ye Liu, Yuanjie Zhu, Ke Xu, Shanghao Li, Philip S. YuAbstract
Tool-calling agents are mostly optimized for accuracy; in deployment, however, their growing cost is latency: every tool call is decoded autoregressively. Speculative decoding accelerates this without changing the output, and retrieved past calls make strong drafts under real use, where each user's behavior tends to repeat. Yet existing systems keep no cross-session memory, or build the draft store once and never update it. We propose SpecMem, a tool-call memory kept alive and managed throughout deployment: verified calls are written back online into bounded per-user stores with LRU eviction, and a side-effect gate defers irreversible calls until verification confirms. On multi-session, multi-user query streams served by three open-weight models, a frozen store steadily loses acceptance while SpecMem holds it: a 27% gap in mean accepted tokens (+11% to +34% across benchmarks, tracking how much novel work arrives after the store is built) and up to 1.74x wall-clock speedup. Ablations attribute the gain almost entirely to keeping the store live; local per-user scoping adds no acceptance but closes a measured cross-user leakage channel, and gating on declared side effects, rather than on retrieval confidence, is what eliminates irreversible mistakes.
Abstract (translated)
URL
https://arxiv.org/abs/2610.31840
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SyRA-CS: Synthetic-to-Real Adaptation for Code-Switched ASR with Meta-Learning
2026-10-22 15:17:10Fadel Thior, Ahmer Tabassum, Haania Siddiqui, Hanan Aldarmaki, Thamar SolorioAbstract
Code-switched (CS) automatic speech recognition (ASR) remains difficult because real CS speech is scarce and synthetic speech does not fully match it. We investigate whether synthetic CS speech is more useful for learning an adaptation-friendly initialization than for ordinary continual fine-tuning. We propose SyRA-CS, a pair-specific synthetic-to-real adaptation framework based on Reptile meta-learning. For each language pair and pretrained model, we meta-train on the corresponding synthetic CS-FLEURS subset and then adapt using one hour of labeled real target speech. We evaluate four architectural settings: Encoder-CTC, FastConformer-RNN-T, Attention Encoder-Decoder (AED) and Speech-LLM. Experiments cover on Arabic-, French-, German-, and Hindi-English, against synthetic-only transfer, real-only fine-tuning, and continual fine-tuning. SyRA-CS improves over continual fine-tuning on WER in all 16 model-pair comparisons and on CER in 15 of 16, with relative macro WER reductions of 17.7% for XLS-R and 5.3-5.8% for the other three models. The gains hold across the tested models but vary in size across architectures, language pairs and metrics.
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URL
https://arxiv.org/abs/2610.31415
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MS2CAST: A Video Anomaly Detection Framework via Multi-Scale Spatial Cross-Attention and Efficient Spatiotemporal Networks
2026-10-21 12:29:24Ali Safaei, Mohammad KazemiAbstract
Video anomaly detection (VAD) is a challenging task for surveillance systems due to the scarcity and diversity of anomalous events. While semi-supervised VAD approaches have advanced the field, many rely on computationally intensive optical flow networks to capture motion dynamics. Convolutional neural networks (CNNs) are also widely used for spatial encoding, but their effective receptive field is highly local. To address these limitations, we introduce MS2CAST, an end-to-end semi-supervised predictive VAD framework. For spatial encoding, we employ a multi-scale cross-attention encoder that fuses the hierarchical feature representations from a vision transformer (MViTv2-S) and a CNN (ConvNeXt-T) to exploit their distinct receptive fields. To model spatiotemporal dynamics without optical flow estimation, we integrate two interchangeable spatiotemporal modules in the latent space. One module (SwinLSTM) incorporates a Swin Transformer, while the other (VMRNN) integrates Vision Mamba blocks. Our objective function combines L1 loss, Gradient Difference Loss (GDL), and Multi-Scale Structural Similarity Index Measure (MS-SSIM) to ensure pixel-wise accuracy, sharpness, and structural integrity. Evaluations across the UCSD Ped2, CUHK Avenue, and ShanghaiTech datasets demonstrate frame-level Receiver Operating Characteristic (ROC) Area Under the Curve (AUC) scores that are competitive with top-tier techniques while maintaining a peak GPU memory usage of under 1 GB.
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URL
https://arxiv.org/abs/2610.29649
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Sketch2Sim: an end-to-end modular framework for hand-drawn circuit analysis
2026-10-20 19:04:12Mohammad Kawsar, Al Amin Islam Ridoy, Md Rakib Hossain, Farzana Akter, AKM Bahalul Haque, Rejwan Bin Sulaiman, Mohammed Amin AlmaiahAbstract
This study proposes a sketch-to-simulation system to solve handwritten circuit diagrams. The system converts raw images into a Simulation Program with Integrated Circuit Emphasis (SPICE)-compatible netlist and automatically calculates the circuit's nodal voltages and currents. Another objective is to propose a holistic framework that benefits students and educators by enhancing the teaching and learning experience of electric circuits and expediting engineering design reviews. This article presents a multistage pipeline that converts raw photographs of handwritten electric circuits into executable SPICE-like netlists, providing a solution. A dataset of 1,000 hand-drawn Resistor-Inductor-Capacitor (RLC) circuits was curated and annotated for components, text regions, and character recognition. The proposed system decomposes a circuit diagram into three stages: (i) dual You Only Look Once (YOLO)-based detectors for components and text regions, (ii) a Convolutional Recurrent Neural Network (CRNN) with Connectionist Temporal Classification (CTC) and Optical Character Recognition (OCR)-based domain-aware symbol value extraction, and (iii) image processing with thresholding, skeletonization, and Density-Based Spatial Clustering of Applications with Noise (DBSCAN) to automatically identify nodes and map them with corresponding components. The proposed system produces the netlist and solves the circuit. The qualitative and quantitative ablation studies on modular stages, as well as end-to-end tests, demonstrate robust performance across various handwriting styles, lighting conditions, and this http URL study serves as an interactive learning aid and practical tool for professionals, providing a comprehensive user interface (UI), enabling rapid digitization of circuit sketches for study, design, prototyping, or troubleshooting.
Abstract (translated)
URL
https://arxiv.org/abs/2610.28836
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Motion Equivariant Convolutional LSTM: When Motion Becomes a Gauge Symmetry
2026-10-20 18:08:45Vahid Hosseinzadeh, T. Anderson Keller, Michael PuthawalaAbstract
Objects move, cameras pan, and weather drifts with the wind: much of what changes in sequential data is motion. Motion changes where things are, not what they are, and is therefore a symmetry of the data. Yet standard recurrent networks are not equivariant to it: their memory stays put while the input moves on. Flow equivariant recurrent networks first brought this symmetry into sequence models, for motions of constant velocity, or flows, by enumerating a bank of velocities. We extend this idea in three directions: from simple recurrent networks to convolutional LSTMs, from flows to motions whose velocity changes in time, and from enumerating velocities to estimating them. Treating a sequence as a field over time, we show that motion becomes a gauge symmetry: a global symmetry made local in time. Built on this view, our motion equivariant convolutional LSTM (MELSTM) uses its velocity model as the gauge field and is provably equivariant to every motion. Across future-frame prediction, classification of digits visible only through their motion, and action recognition under camera shake, MELSTM outperforms a convolutional LSTM and its flow equivariant counterpart with the same number of parameters: it is more accurate, generalizes to longer horizons and to unseen motions, and carries a fraction of the flow equivariant model's state.
Abstract (translated)
URL
https://arxiv.org/abs/2610.28771
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Can Language Models Get 'Aphasia' From Neuronal Ablation?
2026-10-20 13:49:25Pratik Worah, Randall BatemanAbstract
Progressive neuronal loss is the hallmark of neurodegenerative disease, yet how loss of neurons shapes the pattern of cognitive decline remains poorly understood. Here we systematically ablate neurons (computational units) in language models spanning recurrent long short-term memory (LSTM) and Transformer architectures and apply limited fine-tuning as a simple proxy for compensatory plasticity. With whole-unit ablation, LSTMs degrade gradually with syntactic and semantic faculties declining in parallel across mild-to-moderate damage. By contrast, Transformers exhibit late threshold-like collapse under feedforward multi-layer perceptron (MLP) ablation and smoother sigmoid-like decline under attention-head ablation. Qualitatively, MLP-ablated models continue to make within-category semantic substitutions (semantic paraphasias) alongside rising non-responses, paralleling Wernicke-type aphasia, while attention-head ablation produces a trend toward loss of semantic specificity similar to the semantic variant of primary progressive aphasia (svPPA). These findings indicate that feedforward and attentional pathways have functionally distinct failure modes, suggesting that architecture-dependent failure profiles may offer new computational perspectives on aphasic syndromes and neurodegenerative diseases as an in silico model. Notably, early accuracy retention under Transformer attention-head ablation qualitatively parallels pre-symptomatic reserve before the 40--60% neuronal loss reported by Gomez-Isla et al. (1996) when clinical symptoms emerge in Alzheimer's disease, whereas the steadier LSTM decline parallels the symptomatic progression described by DeKosky and Scheff (1990) and Terry et al. (1991).
Abstract (translated)
URL
https://arxiv.org/abs/2610.28214
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XoNav: An Exoskeleton as a Personalized Haptic Interface for Assisted Navigation
2026-10-19 20:44:35Debadrata Sarkar, Soumen Sen, Aman AroraAbstract
Walking without vision requires timely, unambiguous guidance, yet many wearable aids encode directions as audio or vibrotactile signals that users must translate into movement. We present XoNav, a four-actuator hip exoskeleton that renders guidance cues directly at the hip joints. It renders an Advance cue and two-level Braking cues through sagittal-plane actuators and two-level Steering cues through frontal-plane actuators. A bilateral LSTM-based gait-state classifier uses two thigh-mounted IMUs to identify gait states, enabling haptic cues to be delivered in coordination with the wearer's gait while suppressing them during standing. The classifier generalized to unseen users with recalls of 95.2-97.9%, with mean detection delays of 38.6 and 63.1 ms for stance-to-swing and swing-to-stance transitions, respectively. Constrained human-in-the-loop Bayesian optimization personalized Braking for minimum resistance and Steering for maximum comfort while ensuring detectability and safety. All participants reliably distinguished between grades of their personalized cues and the firmest Braking cue remained below 53% of the safety limit. In blindfolded Wizard-of-Oz navigation trials along three paths, the participants kept 98.8% of the walked distance within a 0.75 m wide passage, with a 4.9% increase in mean progression speed per trial. A body-worn camera, RTAB-Map and Nav2 further enabled a feasibility study of autonomous navigation and detours around previously unmapped obstacles.
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URL
https://arxiv.org/abs/2610.27271
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Flash RNN-T: Memory-Efficient Joint Network and Transducer Loss Computation
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The recurrent neural network transducer (RNN-T) remains a practical choice for streaming speech recognition, but training requires large intermediate tensors. We present Flash RNN-T, a joint and loss implementation combining specialized kernels with optional tiled recomputation over the full alignment space and vocabulary. Tiled and untiled Flash form the entire measured throughput-memory frontier on medium and long workloads. On H100, untiled Flash achieves 24-39% higher throughput with 26-56% less memory than the fastest baseline on these workloads wherever it fits. Tiling reduces memory further through recomputation. On medium, tiled Flash uses ninefold less memory than that baseline at 16% lower throughput when both use one backward call per batch. On long, it fits where all tested alternatives with that backward schedule run out of memory with 80 GB. These comparisons use each implementation's lowest-memory configuration reaching at least 95% of its peak throughput.
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URL
https://arxiv.org/abs/2610.23409
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ASR-Style Transcript Normalization Removes Useful Pragmatic Signal for Dialogue Act Classification
2026-10-16 04:51:37Lucky Onyekwelu-Udoka, Md Shafiqul IslamAbstract
Automatic speech recognition (ASR) pipelines often normalize transcripts by removing filled pauses and punctuation and expanding colloquial forms, potentially discarding cues useful for dialogue act classification. We evaluate nine transcript conditions across six classifiers (TF-IDF logistic regression, RoBERTa, BERT, ALBERT, GPT-2, and BiLSTM) and three conversational corpora (Switchboard, ICSI MRDA, and SLUE-HVB), supplemented by multi-seed experiments, normalization controls, and real-ASR evaluations. Across five random seeds, heavy normalization reduces Macro-F1 in all 15 neural model-corpus combinations under the original preprocessing protocols. Removal using the original filler and backchannel lexicon consistently degrades performance on MRDA and SLUE-HVB but produces mixed effects on Switchboard. Punctuation-aware TF-IDF experiments show that punctuation removal reduces Macro-F1 by 0.036 on Switchboard and 0.078 on MRDA, demonstrating that the original linear baseline's apparent insensitivity resulted from tokenization. Restricting filler removal to um, uh, and erm preserves degradation on MRDA but largely eliminates the SLUE-HVB effect, where the original lexicon removes class-defining backchannel expressions. These findings demonstrate that normalization effects depend on preprocessing definitions, feature extraction, and conversational context, supporting task-dependent rather than indiscriminate transcript normalization.
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URL
https://arxiv.org/abs/2610.22934
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