lokutor-ai/oido

¡Oído! is what cooks call out in a Spanish kitchen to confirm an order: heard, got it.

Animated demo; full video with sound. The transcripts are Oído's output, sped up. Footage from a physical board is coming.

Speech-to-text for any English or Spanish sentence, running entirely on an ESP32-S3 (240 MHz dual-core Xtensa LX7, 8 MB PSRAM, 16 MB flash). No cloud, no command list, no neural accelerator. Built by Lokutor. Models on Hugging Face: int8 · int4.

Audio samples: random clips in a quiet room, a car, a kitchen, a cafeteria, reverberant rooms and real meetings, each with the reference, the on-chip transcript (errors marked) and the compute it took on the chip.

Status (9 October 2026). Measured on an ESP32-S3-WROOM-1-N16R8 board, one core at 240 MHz: the English int8 model with the language model runs at 1.97× real time (1.91–2.02 over 27 clips of 3.6–10.6 s). Spanish runs at 2.06×, int4 at 1.76×, the transducer at 1.89× (see Speed and memory). That is not real time yet: a 4-second command shows its text about 8.7 s after it ends (including the 0.8 s end-of-speech wait). The two-core mode, which emulation had predicted would approach real time, gives wrong transcripts on silicon and is disabled (see Dual core). The board's transcripts are identical to the instruction-exact emulator's on all 27 clips. Accuracy numbers come from the host build of the same C code; it differs from the board on some hard clips because of the laptop's math library (22 of the 27 clips are identical, and the word error rate on those 27 clips is the same, 7.14 %).

There is one model per language, and the models that stream also run in full-context ("utterance") mode.

• Streaming vs utterance: oido_stream.tnm and oido_es.tnm carry a streaming flag. The firmware's microphone mode and live_demo.py stream with them automatically; the full-context (utterance) accuracy figures in the tables come from the same files run through tasr_nemo_transcribe / eval_engine.py. The original English models (nemo8, nemo4) are utterance-only.
• What streaming costs: some accuracy (English LibriSpeech 4.9 / 11.0 instead of 3.3 / 7.2 with the language model). On the board it runs at 1.96× real time on one core, so the final text arrives about half as late as in utterance mode (4.1–11.1 s after clips of 3.6–10.6 s, against 7.2–22.4 s), not within 1–2 s.
• No bilingual model: English and Spanish have different vocabularies, so each is its own file.

Word error rate (%) on LibriSpeech, same text normalization for every system.

• On-chip rows use the full test sets. Laptop baselines use 500 evenly spaced utterances per set. MultiNet7 figures are from Espressif's ESP-SR benchmark page.
• The int8 engine is within 0.1 points of full precision: 3.70 / 8.23 on chip vs 3.68 / 8.11 for the original fp32 model.
• The language model is a 1.3 M-parameter GRU trained only on public-domain books (the LibriSpeech LM corpus). The device runs CTC prefix beam search with it (beam 4). It is optional: without it the engine decodes greedily.
• To our knowledge this is the most accurate LibriSpeech result published for any microcontroller. It is not the first open-vocabulary recognizer on one (Arm has shown Conformer models on Cortex-M55 + Ethos-U NPUs).

Robustness (300 LibriSpeech utterances under real DEMAND noise, babble and room reverb; eval/make_robust.py, full numbers in results/robustness.json):

For the transducer, car and kitchen noise at 5 dB SNR cost under 1 point, and living-room noise about 1.7. Four-talker babble at 5 dB and very reverberant rooms are the hard cases.

models/oido_es.tnm + models/oido_es.tlm is a Spanish model for the same chip and engine: NVIDIA's Conformer fine-tuned on 2,492 hours of Spanish (Common Voice, VoxPopuli, Multilingual LibriSpeech, FLEURS) with noise and reverberation augmentation and a new Spanish vocabulary, plus a Spanish language model. 14.0 MB + 1.3 MB, the same speed as the English model.

Word error rate (%), same normalization for every system (lowercase, accents kept, punctuation removed, references with digits excluded), on the same 400 evenly spaced utterances per test set (333 for FLEURS, after dropping references with digits):

On the complete test sets (60 hours) the numbers are 13.8 / 10.9 / 15.7 / 11.3 with the language model (results/es_benchmark.json).

• Read this fairly. Oído was fine-tuned on the training splits of these corpora, while Whisper tiny is zero-shot, so the comparison favors us on these domains; on phone calls, strong regional accents or specialized vocabulary expect higher error. We have not built a Spanish noise benchmark; the model is trained with the same noise and reverberation augmentation as the English streaming model.
• The language model weights (0.5 / 1.5) were picked from a small grid on subsets of the test sets; the optimum is flat (all of 0.4–0.6 / 1.5–2.0 are within 0.2 points).
• The model writes numbers as words (veinte), not digits.
• On the board the Spanish model runs at 2.06× real time (12 FLEURS clips, one core). Its transcripts equal the host build's on 9 of the 12 clips; on the others a single uncertain word differs because of the math library. On these 12 clips the board scores 9.3 % WER against 7.3 % for the host build (205 words, a difference of four words).
• It works in both modes: python live_demo.py --model es streams, and utterance mode runs the same file.

Measured on one ESP32-S3-WROOM-1-N16R8 board (DevKitC-1 class), ESP-IDF 5.5.1, CPU 240 MHz, flash QIO, octal PSRAM 80 MHz, one core, TASR_MODE=file (clips in flash, timed with the 64-bit microsecond timer). Raw numbers: results/board_esp32s3.json.

The firmware's transcripts equal the emulator's on all 27 clips, and for the two clips we traced layer by layer the activations of every stage are bit-identical between the board and the emulator. The host build differs in the last bit of the log-mel features (the laptop's math library), which changes a word on some hard clips.

For voice-to-voice and other interactive uses, the time between the end of a sentence and its final text matters more than the last tenth of a percent of accuracy. models/oido_stream.tnm is the same Conformer, fine-tuned to run on audio as it arrives: the encoder processes 1.28 s chunks (32 frames) with 5 s of left context while you speak, so when you stop only the last partial chunk is left to compute. Partial text appears while you talk.

• What we measured. When the chip has kept up with the audio, the last step after the final chunk takes 1.1 s on average on the board (0.8–1.6 s over 12 clips). But on one core the chip runs at 1.96× real time, so it falls behind the speaker and the backlog grows with the length of the utterance. Feeding six clips at the rate of speech (one 20 ms block when its last sample would have been spoken), the final text appeared 4.1–11.1 s after the last sample (3.6–10.6 s clips; mean 6.7 s), roughly (RTF − 1) × duration plus that last step. The 0.8 s end-of-speech wait (CONFIG_TASR_SEG_HANG_MS, or live_demo.py --pause) comes on top. Streaming halves the wait; it does not give the 1.1–1.4 s we had estimated from instruction counts before we had a board. That needs a real-time factor below one.
• It was trained with the original model's weights as a starting point and noise, music, babble and reverberation augmentation (MUSAN, simulated rooms), so it is as robust as the utterance model. The accuracy cost is the chunking: the encoder cannot see what comes after the chunk.
• Cost of chunking. A chunk re-reads every weight, so weight traffic is 2× the 64-frame blocks of utterance mode at 32 frames and 4× at 16 frames. On the board this does not show at the chip's present speed: streaming at 32 frames runs at 1.96× real time, slightly faster than the same model in utterance mode (2.04×), because one core is limited by instruction issue. It may matter once both cores work.
• On the board, the streaming model's transcripts equal the host build's on 10 of 12 clips in streaming mode and 12 of 12 in utterance mode.

TASR_DUAL=1 esp32/tools/flash.sh ... splits each job across both cores. On our boards at 240 MHz this mode is not correct: transcripts come out wrong, or the firmware crashes, when both cores run the heavy matrix products at the same time (Guillermo found this first). The same split is correct when its two halves run one after the other, when all the work runs on the second core, and with the PIE kernels compiled out (TASR_NO_SIMD). Until it is understood, firmware builds run on one core. QEMU's estimate for two cores was a real-time factor of 0.7–0.95; QEMU executes the cores in coarse alternation and cannot show this.

What we established on 9 October with one board (tools: esp32/tools/dual_bisect.py, dump_cmp.py; builds with TASR_DEBUG_SUMS=1 print a hash of every layer's output; clip: a 3.8 s VoxPopuli sentence; every line below is 3 runs):

• One core is exactly reproducible: 166 hashes identical in every run, and identical to the emulator's.

• Two cores at 240 MHz corrupt activations at random places (the hash values differ from run to run), always first in layer 1 or 2, almost always in the feed-forward block of layer 1; in roughly one run in eight the firmware crashes with IllegalInstruction and a corrupted backtrace, which looks like corrupted instruction or data fetches rather than a logic error.

• Two cores at 160 MHz are correct: 166 of 166 hashes identical to the one-core run, 3 of 3 runs (but no faster than one core at 240 MHz).

• Parallelizing everything except the matrix products is correct; parallelizing only the matrix products fails. Among them, the K=176 products and the front-end K=3520 products are correct on two cores, and the K=704 ones (the second linear layer of each feed-forward block) corrupt. These move the most weight data per cycle.

• Not the cause: PSRAM speed (80 → 40 MHz), data-cache line size (64 → 32 B), weights in flash versus PSRAM, FreeRTOS semaphores (a spin-wait barrier behaves the same), interrupts (masked while a job runs), where the activation tile lives (PSRAM, or a private copy for the second core), instruction fetch (kernel in IRAM, or a separate copy of the kernel per core), the split itself (by rows instead of by output channels).

• Also not the cause (a second investigation on another board of the same kind, ESP32-S3 rev v0.2 with octal PSRAM):

  • the engine's C code: two real threads on a laptop give the reference transcripts, and Valgrind's race detector (helgrind) finds no data race;
  • erratum CACHE-126: writing the whole data cache back with interrupts masked before every job, as the erratum's workaround describes, does not help;
  • flash and PSRAM at 40 MHz;
  • a FreeRTOS context switch: the failure persists with both cores spinning on shared flags.

  Two results from that board narrow it down:

  • Espressif's esp-nn bit-exactness tests with its own two-core mode pass on it (326 of 326, buffers in PSRAM). The chip can run PIE kernels on both cores; the trigger is specific to our workload.
  • With the whole engine linked into IRAM, the two-core language-model, front-end and im2col jobs pass repeatedly, but the encoder matrix products still crash inside the dot-product loop.

• Even a correct two-core mode would not reach real time on this evidence: the incorrect spin-wait build ran at 0.78 × the one-core time, not the 0.55 the instruction counts promised, so the cores contend for memory.

We do not know the cause. A hardware margin problem at 240 MHz (supply droop or timing) fits the 160 MHz result, the random values and the IllegalInstruction crashes, but a second engine (Lokutor's Ito TTS) running a synthetic two-core stress of the same shape on the same board at 240 MHz (K = 704, 64 rows, a shared 45 KB tile in internal SRAM, an 88/88 split, 3 × 90 s, plus other shapes, about 21 minutes in all, every call checked against a one-core reference) saw no mismatch and no crash, and its real firmware passed a 600-iteration soak. So a plain supply problem on this board looks unlikely; something specific to our kernel, to how the two cores are started and joined, or to streaming weights from external memory in lock-step is more likely, and we have not found it. If you can, try TASR_DUAL=1 on another board or supply and tell us what you see (python esp32/tools/dual_bisect.py --help).

• Front end: log-mel features, then 2× (3×3, stride 2) convolution subsampling to 25 Hz.
• Encoder: 16 Conformer layers (d = 176, 4 heads, relative-position attention, conv kernel 31).
• Decoding: CTC over 1024 BPE tokens. The engine also supports an RNN-T head (LSTM 320 + joint network) and a GRU language model with CTC prefix beam search.

The engine (esp32/components/tinyasr) is new C written for the ESP32-S3's PIE vector unit:

• int8 matrix kernels on EE.VMULAS.S8.ACCX (16 MACs per instruction), plus int4 outer-product kernels;
• int8 relative-position attention with a lookup-table softmax;
• dual-core scheduling (experimental, see Dual core);
• tiling so that each weight is streamed from flash once per 64 frames (weight traffic cut from 18 to 7.5 MB/s);
• a VAD/AGC utterance segmenter;
• an optional SSD1306 OLED that shows the live transcript.

On a laptop, with the same engine as the chip. Needs Python with numpy, soundfile, sentencepiece and sounddevice.

cd esp32/host && make
./tasr_cli ../../models/nemo8.tnm recording.wav      # 16 kHz mono PCM16 wav
python live_demo.py                                   # microphone -> the firmware's VAD + engine, with ESP32 time estimates
python live_demo.py --model fast --no_lm              # int4, greedy decoding
python live_demo.py --model stream                    # low latency: words appear while you speak (--pause 0.5 for a shorter pause)
python live_demo.py --model es                        # Spanish (models/oido_es.tnm + oido_es.tlm)

On a board. ESP32-S3-DevKitC-1 N16R8, an INMP441 I2S microphone (SCK→GPIO4, WS→GPIO5, SD→GPIO6, L/R→GND), and optionally a 0.96" SSD1306 OLED (SDA→GPIO8, SCL→GPIO9). Needs ESP-IDF v5.5.

esp32/tools/flash.sh /dev/ttyUSB0 models/nemo8.tnm              # live microphone, most accurate (+ models/nemo_lm.tlm)
esp32/tools/flash.sh /dev/ttyUSB0 models/nemo4.tnm              # int4: 8.3 MB, leaves 6 MB of flash for your app
TASR_OLED=1 esp32/tools/flash.sh /dev/ttyUSB0 models/nemo8.tnm  # + transcript on the OLED
TASR_MODE=file esp32/tools/flash.sh /dev/ttyUSB0 models/nemo8.tnm clip.wav "reference"   # prints measured RTF
NO_LM=1 esp32/tools/flash.sh /dev/ttyUSB0 models/nemo8.tnm      # greedy decoding, no language model
TASR_MODE=file TASR_PACED=1 esp32/tools/flash.sh <port> models/oido_stream.tnm clip.wav "reference"   # streaming models: also feed at the rate of speech and print when the final text appears

Boards with the native USB port (/dev/cu.usbmodem*, /dev/ttyACM*): after flashing, a normal reset leaves the chip in download mode, so flash.sh boots the application with esptool --after watchdog_reset; if you read the console yourself, open the serial port with DTR and RTS low (pyserial: Serial(), set dtr = rts = False, then open()), or the bridge resets the chip into download mode. After a crash the USB device can stop answering until it is reset (libusb libusb_reset_device) or the cable is replugged.

To benchmark a set of clips and compare with the emulator and the host build: python esp32/tools/board_bench.py --port <port> --model models/nemo8.tnm --lm models/nemo_lm.tlm --clips clips.json --out result.json (run it with ESP-IDF's Python, which has pyserial; PYTHON= points the tools that need numpy and soundfile to another interpreter), then tools/merge_board.py.

In the emulator (Espressif QEMU 9.x): runs the real firmware, then reports the transcript and instruction counts.

esp32/tools/emulate.sh clip.wav

The transducer model. Its weights are NVIDIA's, distributed on NGC under NVIDIA's terms, so they are not included here. You can fetch and convert them yourself:

cd train && python fetch_nemo_small.py ../models/nemo_rnnt --transducer
python export_nemo.py ../models/nemo_rnnt ../models/rnnt8.tnm 8

esp32/components/tinyasr/  on-chip engine: tasr_nemo.c (Conformer CTC/RNN-T), kernels.c (PIE SIMD), tinyasr_lm.c
                           (GRU LM + beam search), tasr_seg.c (VAD), tinyasr.c (streaming engine)
esp32/firmware/            ESP-IDF app: live I2S microphone or benchmark mode, OLED, partition layouts
esp32/host/                host build of the engine: tasr_cli, live_demo.py, seg_test, eval_engine.py, benchmark.py
esp32/tools/               flash.sh, emulate.sh, run_qemu.sh, bench_latency.py, mkimages.py, board_bench.py (clips on a real board),
                           summarize_board.py / merge_board.py, dual_bisect.py / dump_cmp.py (two-core debugging)
train/                     PyTorch port of NVIDIA's model (nemo_small.py, rnnt_small.py), exporters, GRU LM training,
                           int4 QAT (train_nemo_qat.py), streaming + new-language fine-tuning (train_nemo_stream.py,
                           augment.py, filter_teacher.py, make_tok.py, prep_es.py)
eval/                      WER normalization, robustness benchmark builder, laptop baselines
results/                   benchmark outputs behind the numbers above
models/                    nemo8.tnm (int8, 14.0 MB), nemo4.tnm (int4, 8.3 MB), oido_stream.tnm (streaming int8, 14.0 MB),
                           nemo_lm.tlm (language model, 1.3 MB), oido_es.tnm + oido_es.tlm (Spanish, 14.0 + 1.3 MB), and the tokenizers

• English and Spanish only.
• Utterance mode prints text after each utterance; streaming mode shows partial text but is less accurate (see above).
• Very noisy crowds and reverberant rooms remain hard.
• Speed: about twice slower than real time on one core today (see Speed and memory); the two-core mode is not correct on silicon yet.
• Requires an ESP32-S3 with 16 MB flash and 8 MB octal PSRAM (N16R8).

• Code is licensed under the GNU GPL v3 (LICENSE).
• For products that cannot meet GPLv3 terms (for example, consumer devices that do not allow users to install modified firmware), Lokutor offers commercial licenses and support. See COMMERCIAL.md.
• Model weights are derived from NVIDIA's stt_en_conformer_ctc_small: nemo8.tnm is under CC-BY-4.0, while nemo4.tnm and oido_stream.tnm (fine-tuned on public corpora that include share-alike data) are under CC-BY-SA-4.0. The language model nemo_lm.tlm is under CC-BY-4.0. The Spanish model oido_es.tnm (fine-tuned only on CC0 and CC-BY data) and its language model oido_es.tlm are under CC-BY-4.0. See NOTICE.

Lokutor also has models for other languages (Catalan, Basque, Galician and more) and an on-device TTS for the same chip. Contact us for these.