RNN
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A Biophysically Detailed C. elegans Circuit as a Task-Agnostic Dynamical Core for Visually Robust Robot Manipulation
2026-09-30 09:00:10Linrui Qian, Jiajia Zhang, Gan He, Bohan Sun, Zhiwei Lin, Qianhao Wang, Zewu Cai, Nianyu Yi, Mengdi Zhao, Kai DuAbstract
Robot policies are usually trained for one task, one body and one visual environment, and generalize poorly beyond these conditions. Whether a nervous system can instead supply the sensorimotor computation through its evolved wiring and biophysics remains unresolved. Here we embed a biophysically detailed Caenorhabditis elegans sensorimotor circuit - 136 multicompartment neurons with realistic morphologies and electrophysiological characteristics - as the dynamical core of a visuomotor policy. Only thin task-specific adapters are trained; the core's synaptic weights stay fixed while its membrane voltages evolve freely. Across different MetaWorld tasks the core matches or exceeds diffusion-policy, action-chunking-transformer and neural-circuit-policy baselines, and degrades less under visual perturbations. Replacing the core with generic network models such as MLP, LSTM, transformer or reservoir networks removes the advantage. Furthermore, on a real robotic arm the core withstands diverse visual perturbations that collapse the baselines. Our results suggest that visual robustness can be inherited from biophysically detailed circuit dynamics rather than learned by task-specific controllers.
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https://arxiv.org/abs/2609.39322
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Association profile conditioning in a set-temporal transformer for cross-session intracortical motor decoding
2026-09-30 06:17:01Xinyuan Zhang, Handong Mo, Pengfei Wen, Shuang Liang, Jichang Yang, Yan Zeng, Zhongrui Wang, Han WangAbstract
Intracortical motor decoders degrade across sessions because the set of recorded units changes and persisting units can alter how their firing relates to behavior. Most existing methods update network weights on each new session or rely on unlabeled activity, which does not directly reveal such changes. We present APST, an Association Profile-conditioned Set-Temporal transformer that adapts to new sessions with all network weights frozen. From a few labeled calibration trials, APST summarizes how each unit's firing relates to behavior in a four-dimensional association profile computed in closed form. The profiles condition a set-attention encoder that accepts any number and order of units, followed by a causal transformer for streaming decoding. On held-out DANDI688 sessions from two monkeys, APST reaches velocity $R^2$ of $0.78$ and $0.81$, versus $0.40$ and $0.58$ for a variant that uses neural activity alone, and matches or exceeds an RNN fine-tuned on the same trials. On FALCON private held-out evaluation, it attains $R^2$ of $0.65$, $0.42$, and $0.44$ on M1, M2, and H1.
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https://arxiv.org/abs/2609.39080
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Cycle-Aware Autoencoder with Cross-SignalConsistency for Railway Door Anomaly Detection
2026-09-30 05:38:29Ammar Bouketta, Smail Niar, Hamza Ouarnoughi, Eva Mutuzo BrindleAbstract
Passenger access doors are safety-critical subsystems in railway vehicles, yet detecting abnormal door behavior in real operation is challenging because faults are rare, diverse, and often unlabeled. This paper addresses railway door condition monitoring as a cycle-level unsupervised anomaly detection problem, where each complete opening-dwell-closing cycle is treated as a single monitoring unit. We propose the Temporal Cycle-Aware Attention Autoencoder with Cross-Signal Consistency (TCAA-CS), trained exclusively on nominal cycles. It combines a dual-stream encoder that processes continuous physical measurements (position, current, voltage) and binary logical states (door-closed, door-locked) through separate 1D-CNN branches, an LSTM encoder with temporal attention pooling, and a triple hybrid anomaly score fusing reconstruction error, latent-space deviation, and phase-aware cross-signal consistency. The consistency term helps identify cases where individual signals appear plausible but their inter-signal relationships become physically or logically inconsistent. On real industrial data from a passenger train in commercial service, TCAA-CS achieves 93.8% recall, 97.3% precision, and a 0.5% false-alarm rate, outperforming representative unsupervised baselines. System-level evaluation on an NVIDIA Jetson AGX Xavier supports the feasibility of real-time onboard deployment.
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https://arxiv.org/abs/2609.39035
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Deep Learning for Longitudinal Medical Imaging: A Scoping Review
2026-09-29 20:14:37Francesca Mussa, Divyanshu Tak, Atlas H. Avval, Sarah Brueningk, Ray H. Mak, Hugo J. W. L. Aerts, Andreas M Rauschecker, Benjamin H. KannAbstract
Longitudinal medical imaging analysis is a cornerstone of modern medical practice and patient care. Deep learning applied to longitudinal imaging offers wide potential to enhance diagnosis and track disease progression by capturing spatial changes over time. With major advances in single-timepoint deep learning for imaging, there has been growing interest in longitudinal image analysis, given its increased clinical relevance, though technical challenges remain. Several recent innovations may lead to a new era of multi-timepoint image evaluation, yet the scientific landscape, recent progress, and areas of need remain under-characterized. To address this gap, we conducted a scoping review of deep learning methodologies applied to longitudinal medical imaging, yielding 102 studies published between 2018 and 2025. Neurological disorders (48%) and ophthalmic conditions (12%) were the most common clinical applications, with MRI serving as the predominant imaging modality (67%). Sequential feature modeling approaches combining convolutional neural networks (CNNs) with temporal models (LSTM/RNN) were the most frequent methodology (40%), followed by direct feature aggregation across timepoints (23%). Most studies targeted classification tasks (56%), while external validation was performed in only 24% of studies. Our findings highlight that deep learning-based longitudinal imaging analysis remains a promising field, though newer temporal architectures and larger datasets may improve success and clinical adoption of these tools.
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https://arxiv.org/abs/2610.08838
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A neural network that maintains and retrieves memories based on context
2026-09-29 15:20:22Hayoung Song, JeongJun Park, Qihong Lu, Giacomo Vedovati, Monica D. Rosenberg, Zachariah M. Reagh, ShiNung ChingAbstract
Every day, people continuously infer situational context and adjust the way they understand and remember the world. Context, signaled by the prefrontal cortex, is known to modulate working memory and episodic memory, but the algorithmic understanding of this modulation remains limited. Here, we train a recurrent neural network (RNN), augmented with an episodic memory buffer, to infer context using Bayesian inference as it continuously makes predictions of upcoming scenes while watching naturalistic movies. When the inferred context modulates the RNN's recurrent connectivity (the basis of working memory) in a low-rank manner, the model's activity patterns best match neural responses in human participants who watched the same movies during fMRI. Context also modulates episodic memory retrieval, such that the model retrieves memories based on not only content similarity but also context similarity. This is implemented as a key-value system with self-attention, designed to additionally encode context and retrieve context-congruent memories. The resulting model not only better resembles human brain representations but also learns to retrieve memories like humans much faster than a model without context modulation. Together, our findings suggest a computational mechanism by which context modulates information maintenance and long-term memory retrieval in naturalistic environments.
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https://arxiv.org/abs/2609.37791
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A Dual-Track Curation-and-Classification Framework for Resolving Ground-Truth Label Noise in Operational Sentinel-2 Wheat Area Estimation
2026-09-29 08:12:04Kasimali Agharia, Ujjwal Kumar GuptaAbstract
Operational estimation of wheat-cultivated area is persistently constrained by discordance between administrative record-keeping and remotely sensed classification products. We address this administrative reference discordance for the 2022 Rabi season in Patiala district, Punjab, India, using a thirteen-timestep Sentinel-2 NDVI time series. A curated 849-sample reference dataset, developed through an iterative rule-based bootstrapping procedure, underpins both a feature sensitivity analysis and an operational classifier. Feature sensitivity independently assessed via Cohen's d and gradient-boosted information gain converges on the February-to-March grain-fill window as most discriminative. Four classifiers (1D-CNN, LSTM, hybrid CNN-LSTM, and XGBoost) were benchmarked on an identical 679/170 sample split. XGBoost achieved the highest overall accuracy (78.82%) against deep-learning baselines (64-66%), consistent with tree-based ensembles' favourable parameter-to-sample ratio in low-sample regimes. At full-population deployment across 36.25 million valid district pixels, the operational classifier attained 86.31% precision and 71.05% recall. The predicted wheat extent deviated by only +2.99% from the official tabular target, whereas the government's spatial reference mask exhibited a +25.11% positive area bias against the identical target. This asymmetry indicates that a classifier trained on an auditor-curated reference set reconciles more closely with the official tabular area than the spatial product conventionally used to validate it. We present this dual-track curation-and-classification framework as a methodological reference for crop-area reconciliation in label-noisy administrative settings.
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URL
https://arxiv.org/abs/2609.36975
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Triadic Linear Attention: Three-Dimensional Recurrent States for Long-Context Sequence Modeling
2026-09-29 02:20:45Oliver Sieberling, Bharat Runwal, David Jin, Ryan Chin, Rameswar Panda, Yoon KimAbstract
Recurrent neural networks (RNNs) compress the historical context into a memory state of fixed size, thus allowing for constant-time inference. The memory state size is a crucial factor in their performance, as exemplified by the strong performance and resurgence of linear attention, which extends the vector-valued hidden states of ordinary RNNs to matrix-valued hidden states. Crucially, linear attention does so in a parameter-efficient way, in particular by using an outer product of the key and value vectors to write to the matrix-valued hidden state. We generalize this construction and propose triadic linear attention, which writes the triadic outer product of a key, a second key, and a value, into a third-order (i.e., 3D) tensor state, and reads from it by contracting both key axes with two queries. An $E$-dimensional second key thus yields an $E$-fold increase in state size while adding only two projections. Triadic linear attention is compatible with data-dependent forgetting, the delta rule, and chunkwise-parallel training. Applied to Gated DeltaNet and scalar-gated linear attention, triadic linear attention substantially improves long-context language modeling and recall, outperforming alternatives that enlarge the state.
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URL
https://arxiv.org/abs/2609.36529
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A Character-Level Neural Approach to Sinhala Sandhi Splitting
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Sinhala Sandhi splitting recovers the constituent words or morphemes hidden inside a phonologically merged surface form. The task is important for Sinhala NLP because Sandhi obscures lexical boundaries, but no prior published work has established a neural benchmark for Sinhala Sandhi splitting. We present a character-level sequence-to-sequence study based on SandhiLex, using native Sinhala Unicode input and evaluating recurrent encoder-decoder models for affixational and more complex lexicalized, derivational, and etymological Sandhi. The central challenge is the hard subset lexicalized, derivational, and etymological Sandhi, where our best model, a bidirectional LSTM encoder with a unidirectional LSTM decoder, reaches only 68.40\% exact-match accuracy (82.08\% character-level accuracy), well below the 94.00\% achieved on the more regular affixational subset. Ablations show that bidirectional encoding is the largest contributor to performance, while native Sinhala script improves exact match accuracy over romanized input. Qualitative analysis indicates that many errors are near misses involving boundary adjacent characters or plausible but incorrect phonological substitutions. These results establish an empirical baseline for Sinhala Sandhi splitting and identify data scale, Sandhi type conditioning, and attention-based decoding as the main directions for future work.
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URL
https://arxiv.org/abs/2609.36131
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Learning-Based Pressure Predictive Control of a Vertebraic Soft Robotic Tail
2026-09-24 19:18:30Wenjian Yang, Nan Huang, Yukang Nie, Fang Chen, Wanchao Chi, Jiansheng Dai, Sicong LiuAbstract
Soft robots have attracted much attention for their safe human-robot interaction and flexibility, but the typical continuum structure and nonlinear material behavior make the kinematics modelling complex, especially in non-static motions. In this work, we proposed an LSTM-based pressure predictive control (PPC) for the motion control of a vertebraic soft robotic tail and the coordination with a quadruped robot. The PPC consists of an inverse kinematics (IK) model, a forward kinematics (FK) model and a pressure compensation (P-comp) model, and achieves non-static and quasi-static motion control of the tail. Compared with the IK-only model, the average RMSE of the PPC's simulation trajectories reduces by 69.8%, when executing target trajectories. In the coordinated motions of the soft tail quadruped, using a prediction data set to train the PPC enables next-moment action prediction and reduces computation time by 60.9%, which enhances the real-time response of the tail to match the quadruped torso's moving rate. The PPC provides a simple and effective method to model the soft tail for both non-static and quasi-static motion control, and grants the soft tail quadruped with the functionality of interacting with the environment.
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https://arxiv.org/abs/2609.30479
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NNV3: Expanding Neural Network Verification to New Architectures and Domains
2026-09-24 16:11:25Anne M. Tumlin, Samuel Sasaki, Ben Wooding, Diego Manzanas Lopez, Muhammad Usama Zubair, Navid Hashemi, Hongchao Zhang, Waseem Abbas, Ipek Oguz, Meiyi Ma, Taylor T. JohnsonAbstract
We present NNV3, the latest version of the Neural Network Verification (NNV) tool, a MATLAB framework for formal verification of deep learning models and learning-enabled cyber-physical systems. Building on the set-based reachability foundation of NNV 1.0 (FFNNs, CNNs, NNCS) and NNV 2.0 (RNNs, SSNNs, neural ODEs), NNV3 introduces new members of the Star-set family: ModelStar for verifying networks under weight perturbation, VolumeStar for video and 3D volumetric inputs, and GraphStar for graph neural networks. A conformal-inference-based probabilistic reachability mode complements sound analysis for problems where deterministic verification is intractable, while FairNNV certifies counterfactual and individual fairness properties over continuous input regions. NNV3 introduces new benchmarks for malware detection, graph-based power-system models, medical imaging, variable-length time series data, and action recognition. NNV3 also incorporates tutorials and developer guides through a unified documentation site. This paper details these major updates, demonstrating NNV's maturation into a comprehensive, robust, and accessible verification tool for a diverse range of AI systems.
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https://arxiv.org/abs/2609.30050
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An Explainable DistilBERT-BiLSTM-Attention Framework for Binary and Multi-Class Hate Speech Detection
2026-09-23 18:39:07Rameesha Zia, Muhammad Shahid Iqbal MalikAbstract
Hate speech on social media poses serious risks to social harmony, mental well-being, and public safety, making its timely and accurate detection essential for content moderation systems. Most existing studies focus on binary classification, evaluated their frameworks on a single dataset, and provide limited insight into how decisions are made, which limits their real-world applicability. In addition, limited work is done on the explainability of their predictive inference. To address these challenges, this study proposes a multilevel and explainable hate speech detection framework. The proposed model integrates DistilBERT (Distilled Bidirectional Encoder Representations from Transformers) embeddings with a Bi-LSTM (Bidirectional Long Short-Term Memory) model, and an attention mechanism to capture both contextual meaning and sequential dependencies in text. To enhance trust and transparency, LIME (Local Interpretable Model-agnostic Explanations) is employed to explain model predictions by highlighting influential textual features. The framework is evaluated on two benchmark datasets using both binary and multi-class classification to examine robustness and generalization. In addition, an ablation study is presented to highlight the significance of various components of proposed framework. For binary classification, the proposed model achieves F1-scores of 96.78% on the Davidson dataset and 99.53% on the SMHS dataset. In the multi-class setting, it attains F1-scores of 97.00% and 94.99% on the Davidson and SMHS datasets, respectively, outperforming existing baseline approaches. The results demonstrate that multilevel evaluation improves the reliability that the proposed framework effectively balances performance and efficiency. This makes the framework suitable for practical hate speech moderation systems that require accurate, generalizable, and explainable decisions.
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URL
https://arxiv.org/abs/2609.28703
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Data-driven discrete-time deep recurrent neural network-based modeling for dissipative systems
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Physical AI has gained increasing attention for its role in developing AI systems that better understand, predict, and control real-world dynamics. Achieving this requires AI models that not only achieve high prediction accuracy but also preserve fundamental physical properties of dynamical systems. In this paper, we propose a deep discrete-time dissipative recurrent neural network (DissipNet) that explicitly enforces dissipativity, a key property related to stability and energy dissipation, through structural weight constraints and a dedicated training algorithm. By construction, the proposed network is capable of learning dissipative dynamics while preserving their inherent stability, which is formally analyzed using Lyapunov theory. In contrast to Physics-Informed Neural Networks (PINNs), which incorporate governing equations into the training loss but do not guarantee preservation of internal analytical properties such as dissipativity or passivity, our approach provides explicit guarantees on stability at the model level. We demonstrate the effectiveness of the proposed method through several modeling applications, and compare its performance with a naive recurrent neural network (RNN) and a PINN-based model.
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https://arxiv.org/abs/2609.27186
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Manipulation of Deformable Linear Objects Using Model Predictive Path Integral Control with Bidirectional Long Short-Term Memory Learning
2026-09-22 12:01:11Lukas Zeh, Johannes Meiwaldt, Zexu Zhou, Armin Lechler, Alexander VerlAbstract
The manipulation of Deformable Linear Objects (DLOs) such as cables poses a significant challenge for automation due to their infinite degrees of freedom and non-linear dynamics. In this paper we present a machine learning based optimal control approach for the manipulation of DLOs. This approach is divided into two main components: modeling and control. For modeling the dynamics of the DLO, we propose a learning based approach using a bidirectional Long Short-Term Memory (biLSTM) network. The biLSTM network is trained on synthetic data generated by the MuJoCo physics engine. For manipulating the DLO, a model predictive control strategy that employs Model Predictive Path Integral (MPPI) control is selected. The proposed approach is evaluated through simulation and experiments. The results demonstrate the effectiveness of the proposed method in achieving accurate and efficient manipulation of DLOs.
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https://arxiv.org/abs/2609.26238
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CableVLA: Simulation-Privileged Global-Local Representation Learning for Cable Routing
2026-09-22 02:58:36Zhifei Teng, Bo Feng, Xiang Zou, Jinpeng Xiao, Min Li, Zhouping Yin, Yiqun LiAbstract
Cable routing requires coordinated control of global cable topology and changing local contacts. We present CableVLA, an end-to-end multimodal vision-language-action framework that converts simulation-privileged supervision into deployable cable-topology and tactile representations. TopoHead distills node-level physics and current and future cable-topology information into causal visual context for the action expert. TacSense uses complementary frame and taxel branches to learn contact dynamics from resistive arrays, with simulator-derived kinematics and contact events providing supervision beyond the measured force map. A contact gate activates force-tactile residuals that refine the next 8 arm-and-gripper actions of a frozen topology-conditioned policy. Across 345 MuJoCo evaluations, CableVLA improves success from 62.6% for the $\pi_{0.5}$-V visual baseline to 84.9%. TacSense achieves pronounced gains in slip-transition recognition over a CNN-LSTM baseline with a similar parameter count, and this advantage persists under frozen-encoder probes. Topology prediction and 57-task tactile evaluations assess representation quality, while policy adaptation studies evaluate downstream control performance. Cross-simulator and real-robot comparisons further examine zero-shot policy transfer under changes in dynamics and sensing.
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URL
https://arxiv.org/abs/2609.25606
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MT-ProtBERT: Multi-task Learning ProtBERT for Intrinsically Disordered Proteins Classification with Scarce Data
2026-09-21 19:27:24Jian Sun, Kingshuk Ghosh, Lilianna Houston, Mohammad H. MahoorAbstract
Intrinsically disordered proteins (IDPs) differ from folded proteins in that they are dynamic, lack a stable three-dimensional conformation, and have low sequence similarity between similar proteins. The conformational heterogeneity of IDPs - while beneficial for their diverse functions - limits the use of traditional experimental tools to determine their conformation. The experimental difficulty, along with low sequence similarity, results in data scarcity, and makes it difficult to classify/detect IDPs that are similar or dissimilar, a task relevant to understand biology and evolution. We address this challenge using Multi-task ProtBERT (MT-ProtBERT), a multi-task extension of ProtBERT tailored for low-data regimes. MT-ProtBERT integrates Dynamic Window Masking, a Multi-Scale 1D Convolutional classifier (MS-Conv1D), and auxiliary objectives that jointly optimize masked language modeling and biochemistry-informed tasks. We evaluate this framework on two tasks under limited data: (i) phosphorylation site prediction (S/T/Y) in short sequences and small datasets, and (ii) protein compaction prediction on two small datasets (684 and 530 sequences), including sequences comparable in length to typical disordered regions. MT-ProtBERT consistently outperforms PARROT, an RNN-based IDP-specific model, across all tasks. These results demonstrate that combining self-supervised and biochemistry-informed tasks, and multi-scale learning enables robust modeling of unstructured proteins under data scarcity.
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https://arxiv.org/abs/2609.25334
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Brain-Token Learning: Microstate-Based Tokenization and Multi-Scale Interaction for Long-Horizon EEG Sequence Modeling
2026-09-21 09:27:28Weishan Ye, Yue Pan, Li Zhang, Gan Huang, Zhen LiangAbstract
Electroencephalography (EEG) provides a non-invasive window into dynamic brain activity, yet modeling long-horizon EEG sequences remains challenging due to their high temporal complexity, substantial variability across subjects, and the lack of biologically meaningful sequence representations. Existing tokenization strategies, such as fixed-window and patch-based representations, discretize EEG signals according to artificial temporal boundaries, which may disrupt intrinsic brain-state dynamics. In this work, we propose Brain-Token Learning, a neuroscience-inspired framework that introduces Brain Tokenization for long-horizon EEG sequence modeling. Instead of partitioning EEG signals into predefined temporal segments, Brain Tokenization represents EEG as sequences of recurrent microstate-derived brain tokens, where each token corresponds to a quasi-stable large-scale brain state with variable temporal duration. Based on these biologically grounded tokens, we further develop a multi-scale token interaction module consisting of Latent State Aggregation and State Transition Modeling to jointly capture global brain-state context and local microstate transitions. We evaluate Brain-Token on five heterogeneous EEG datasets, including the newly collected long-horizon NeuroLong dataset and four affective or clinical EEG datasets (SEED, DEAP, MDD, and NSSI). Extensive experiments demonstrate that Brain-Token consistently outperforms conventional CNN/LSTM architectures, Transformer-based models, and domain adaptation methods across diverse EEG scenarios. Further analysis verifies the effectiveness of microstate-based tokenization and multi-scale interaction for learning robust and interpretable EEG representations. These results establish Brain-Token as a biologically grounded tokenization paradigm for long-horizon EEG sequence modeling.
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URL
https://arxiv.org/abs/2609.24324
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Echo State Network for Signal Recovery in RF-Impaired IBFD MIMO Systems
2026-09-20 23:40:47Conrad Prisby, Siyao Li, Chengtao Xu, Thomas YangAbstract
In-band full-duplex (IBFD) multiple-input multiple-output (MIMO) systems enable simultaneous transmission and reception on the same frequency band, improving spectral efficiency for next-generation wireless networks. However, IBFD-MIMO systems are susceptible to self-interference (SI), which may overpower signals of interest (SOI). In this scenario, blind source separation (BSS) algorithms can be adopted to remove SI and perform joint sensing and communication (JSAC), but BSS algorithms mostly assume an idealized linear and quasi-stationary signal model, which does not hold under realistic radio frequency (RF) impairments, such as I/Q imbalance, carrier frequency offset (CFO), phase noise, and power amplifier nonlinearity. This paper proposes a two-stage echo state network (ESN)-based scheme that is superior to BSS under these realistic conditions. A frozen ESN is trained offline to characterize the static SI path, while an adaptive ESN, updated online via recursive least squares, tracks the time-varying SOI path using sparse pilot symbols. We evaluate the proposed scheme's SOI recovery performance and acquisition speed with different block sizes, comparing it against other recurrent neural networks (RNN), such as long short-term memory (LSTM) and gated recurrent unit (GRU). Simulation results show that the proposed approach outperforms BSS, LSTM, and GRU in both efficiency and SOI recovery, demonstrating the viability of ESNs for real-time, nonlinear self-interference cancellation in realistic IBFD MIMO systems.
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URL
https://arxiv.org/abs/2609.23945
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DFD-Lab: A Modular Audio-Visual Deepfake Detection Pipeline
2026-09-20 19:29:40Jan Rybarczyk, Mateusz Roszkowski, Jacek KomorowskiAbstract
Comparing audio-visual deepfake detectors requires coordinating dataset adaptation, temporal input representation, model interfaces and experimental conditions. We present DFD-Lab, a modular pipeline that separates these responsibilities while supporting shared training and evaluation workflows. We integrate three implementations: Xception-based maximum-logit fusion, ResNet with temporal LSTM fusion, and our AVFF reimplementation. Experiments cover external testing, degradation-based training augmentation and evaluation-time corruption. On a filtered subset of Deepfake-Eval-2024, models trained on FakeAVCeleb attain baseline AUROC values of 0.504, 0.538 and 0.458. JPEG50 training augmentation raises these to 0.691, 0.605 and 0.570, respectively, while all three accuracies decrease. These results illustrate why training interventions, evaluation corruptions and metric-dependent outcomes should remain distinct within a common pipeline. The contribution is the integration of audio-visual processing, interchangeable detectors and configurable experimental workflows, supported by empirical case studies. The findings highlight the challenge of cross-dataset detection and the complementary information provided by ranking and classification metrics.
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https://arxiv.org/abs/2609.23830
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Comparative review of hybrid forecasting models for short-term prediction of building thermal load
2026-09-19 09:22:00Nikolaos A. Efkarpidis, Despoina Kothona, Georgios C. ChristoforidisAbstract
In this paper, a comparative review of different hybrid models for short-term forecasting of building thermal demand is carried out. Particularly, the assessment tackles the comparison of data-driven models enhanced with other state-of-the-art techniques. At the first step, the existing techniques reported in the literature are analysed. It is concluded that Metaheuristics or a data-driven model are used to identify the parameters of the basic model. The qualitative evaluation includes for each method the input and output features, main advantages and drawbacks. At the second step, an existing dataset of historical thermal demand from Scottish households, as well as historical weather forecasts are utilized to assess additionally the performance of existing hybrid methods. From the assessment of 13 hybrid methods, the Empirical Modal Decomposition - long short-term memory - Markov (EMD-LSTM-Markov) model can predict with the highest accuracy the day-ahead power pattern of heating and domestic hot water (DHW) demands. Though local power peaks are also accurately predicted, high power swells and spikes are underestimated. Other methods, such as Support Vector Machine - Simulated Annealing (SVM-SA) and Random Forest - Improved Sparrow Search Algorithm - LSTM (RF-ISSA-LSTM) predict a smooth pattern of heating and DHW demand profiles with rapid changes underestimating most power peaks.
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URL
https://arxiv.org/abs/2610.06881
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SmoLSTM: A Compact Vision-Language-Action Model with Recurrent Memory that Persists
2026-09-19 07:48:00Jan-Gerrit Habekost, Parsa Mastouri Kashani, Connor G\"ade, Matthias Kerzel, Philipp Allgeuer, Cornelius Weber, Stefan Wermter, Jae Hee LeeAbstract
Vision-language-action models often predict actions from only the current observation, which can leave tasks involving object occlusion or visually identical objects ambiguous without episode history. The usual countermeasure, widening the observation window, turns the horizon into a hyperparameter and lets per-step cost grow with it. We instead capture the episode in a recurrent state. SmoLSTM couples a frozen 256M-parameter SmolVLM backbone to a matrix-memory LSTM control layer in which observation tokens and action queries are unified in a single causal stream that is never reset throughout the entire episode. Recurrent-state storage is therefore O(1) in episode length. A flow-matching action head predicts chunks of 10 end-effector pose deltas and gripper commands at each control step. Our single policy, trained jointly on 7,461 demonstrations across 140 tasks and evaluated on held-out initial states, performs best, reaching 85.1% subgoal coverage and 77.5% full-task success on LIBERO-Mem with 0.04B trainable parameters, surpassing both the benchmark's own object-centric baseline and recent memory-based approaches. Resetting the recurrent state at every control step reduces full-task success to 7.0%, showing that the trained policy relies on context carried between decisions. The same model achieves 79.6% average success on standard LIBERO.
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https://arxiv.org/abs/2609.22854
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