Xingyu Liu | Searcharxiv

arXiv2026

ProLombard: Structured Multi-Scale Modeling for Normal-to-Lombard Speech Conversion

Normal-to-Lombard (N2L) speech conversion aims to improve speech intelligibility in noisy environments by transforming normal speech into Lombard-style speech while preserving linguistic content, speaker identity, and speech quality. Despite recent progress, existing methods typically model the Lombard effect at the utterance level or the frame level, overlooking its hierarchical nature and its entanglement with both speaker identity and phoneme-level content. This limitation leads to Lombard leakage in speaker representations and incomplete separation between Lombard characteristics and linguistic content. In this work, we propose ProLombard, a structured multi-scale N2L framework that explicitly models the Lombard effect across utterance-, phoneme-, and frame-level representations. To address Lombard-speaker entanglement, we introduce an aligned speaker encoder (ASE) that suppresses Lombard leakage by aligning Lombard-speech speaker embeddings with their normal-speech counterparts. To achieve more complete Lombard-content disentanglement, we develop a phoneme-aware disentanglement and injection mechanism that extends conventional frame-level modeling to the phoneme level. Furthermore, we design a vector quantization (VQ)-median module that provides robust phoneme-level representations through VQ-based segmentation and median-frame-based aggregation. Extensive experiments on Mandarin and English Lombard datasets demonstrate that the proposed approach consistently improves speech intelligibility, Lombard similarity, and perceptual quality over baselines while maintaining speaker identity. These results highlight the importance of structured multi-scale modeling for effective N2L speech conversion.

cs.SD↗

arXiv2026

APEX-RBD: Mixed-Precision Exploration Framework for Hardware-Efficient Robot Dynamics Accelerator Design

Rigid Body Dynamics (RBD) forms the computational core of real-time robotic control, but its immense computational complexity creates a performance bottleneck that necessitates dedicated hardware accelerators. However, the substantial hardware resource and power costs of these accelerators make their deployment on resource-constrained edge platforms highly challenging. While quantization offers a promising path to optimize RBD hardware for edge computing, existing uniform-precision approaches remain inefficient by ignoring the diverse quantization sensitivities of different variables. Although mixed-precision offers a superior alternative, its exploration is intractable due to a vast search space and the prohibitive cost of closed-loop simulation for motion accuracy evaluation. To address these challenges, we introduce APEX-RBD, an automated framework that makes mixed-precision exploration computationally tractable while effectively identifying hardware-efficient configurations. Specifically, it performs physics-driven search space pruning via variable grouping and sensitivity analysis, and employs a data-efficient, prior-informed surrogate model to enable rapid trajectory error prediction. This formulation guides a hybrid optimizer to identify area- and power-efficient designs under user-defined accuracy and performance constraints. Experimental results demonstrate that APEX-RBD discovers designs achieving up to 1.9$\times$ area reduction and 1.8$\times$ power savings compared to uniform-precision baselines across diverse robotic platforms.

cs.AR↗