arXiv:2510.25960v1 Announce Type: cross
Abstract: In this paper, we present a framework that uses acoustic side- channel analysis (ASCA) to monitor and verify whether a robot correctly executes its intended commands. We develop and evaluate a machine-learning-based workflow verification system that uses acoustic emissions generated by robotic movements. The system can determine whether real-time behavior is consistent with expected commands. The evaluation takes into account movement speed, direction, and microphone distance. The results show that individual robot movements can be validated with over 80% accuracy under baseline conditions using four different classifiers: Support Vector Machine (SVM), Deep Neural Network (DNN), Recurrent Neural Network (RNN), and Convolutional Neural Network (CNN). Additionally, workflows such as pick-and-place and packing could be identified with similarly high confidence. Our findings demonstrate that acoustic signals can support real-time, low-cost, passive verification in sensitive robotic environments without requiring hardware modifications.
The Hidden Power of Normalization: Exponential Capacity Control in Deep Neural Networks
arXiv:2511.00958v1 Announce Type: cross Abstract: Normalization methods are fundamental components of modern deep neural networks (DNNs). Empirically, they are known to stabilize optimization dynamics and