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Objective: Proton therapy offers an advantageous dose distribution compared to the photon therapy, since it deposits most of the energy at the end of range, namely the Bragg peak (BP). Protoacoustic technique was developed to in vivo determine the BP locations. However, it requires large dose delivery to the tissue to obtain an averaged acoustic signal with a sufficient signal to noise ratio (SNR), which is not suitable in clinics. We propose a deep learning-based technique to acquire denoised acoustic signals and reduce BP range uncertainty with much lower doses. Approach: Three accelerometers were placed on the distal surface of a cylindrical polyethylene (PE) phantom to collect protoacoustic signals. In total 512 raw signals were collected at each device. Device-specific stack autoencoder (SAE) denoising models were trained to denoise the input signals, which were generated by averaging 1, 2, 4, 8, 16, or 32 raw signals. Both supervised and unsupervised learning training strategies were tested for comparison. Mean squared error (MSE), signal-to-noise ratio (SNR) and the Bragg peak (BP) range uncertainty were used for model evaluation. Main results: After SAE denoising, the MSE was substantially reduced, and the SNR was enhanced. Overall, the supervised SAEs outperformed the unsupervised SAEs in BP range verification. For the high accuracy detector, it achieved a BP range uncertainty of 0.20 +/- 3.44 mm by averaging over 8 raw signals, while for the other two low accuracy detectors, they achieved the BP uncertainty of 1.44 +/- 6.45 mm and -0.23 +/- 4.88 mm by averaging 16 raw signals, respectively. Significance: We have proposed a deep learning based denoising method to enhance the SNR of protoacoustic measurements and improve the accuracy in BP range verification, which greatly reduces the dose and time for potential clinical applications.