Mathur, P., Lipka, N., Jin, Z., & Manocha, D. (2026). DuplexSpeechBench-Document Grounding: Benchmarking Document Grounding and Hallucinations in Voice Agents. https://omanscience.com/en/articles/duplexspeechbench-document-grounding-benchmarking-document-grounding-and-hallucinations-in-voice-agents