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[Submitted on 7 Oct 2026] Title:Temporal transformer CAN encoder with federated lightweight heads for anomaly detection View a PDF of the paper titled Temporal transformer CAN encoder with federated lightweight heads for anomaly detection, by Konstantinos Gyftodimos and 4 other authors View PDF Abstract:Modern vehicles rely on large numbers of Electronic Control Units (ECUs) that constantly exchange information over the Controller Area Network (CAN) bus. Due to the rapidity, structure, and repetition of this communication, even slight variations in timing, payload values, or message patterns can point to unusual activity. Whether due to errors, malfunctions, or deliberate interference, these anomalies are frequently subtle and challenging to identify with conventional methods that handle messages separately or rely on manually created rules. Motivated by this gap, we present a privacy-preserving framework for anomaly detection in in-vehicle networks, based on a Temporal Transformer CAN Encoder with Federated Lightweight Heads, to better capture these irregularities. The detection of subtle temporal and contextual anomalies is made possible by a lightweight Transformer encoder that learns how these signals evolve over time, while a federated learning mechanism enables several vehicles or ECUs to work together to improve a shared model without exchanging raw CAN data. This combination of federated learning and temporal sequence modeling provides robust anomaly detection performance while maintaining efficiency and privacy, according to experiments conducted on open-source datasets. Subjects: Machine Learning (cs.LG); Cryptography and Security (cs.CR) Cite as: arXiv:2610.10613 [cs.LG] (or arXiv:2610.10613v1 [cs.LG] for this version) https://doi.org/10.48550/arXiv.2610.10613 arXiv-issued DOI via DataCite Journal reference: Presented at ITS European Congress 2025 Submission history From: Eirini Liotou Dr. [view email] [v1] Wed, 7 Oct 2026 07:13:20 UTC (474 KB) Full-text links: Access Paper: View a PDF of the paper titled Temporal transformer CAN encoder with federated lightweight heads for anomaly detection, by Konstantinos Gyftodimos and 4 other authors View PDF view license Additional Features Audio Summary Current browse context: cs.LG new | recent | 2026-10 Change to browse by: cs cs.CR References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) IArxiv recommender toggle IArxiv Recommender (What is IArxiv?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)