IMU-Bench: Benchmarking Wrist IMU Representations Across Kinematic, Semantic and Clinical Tasks
Wrist-worn inertial measurement units (IMUs) provide a common sensing modality for tasks ranging from activity and gesture recognition to pose estimation, inertial odometry and clinical motor assessment. Existing wearable benchmarks evaluate performance across multiple tasks, but leave open how supervision for one task affects transfer to others and whether these tasks benefit from a shared representation. We present IMU-Bench, a benchmark of ten tasks from eight datasets for studying IMU multi-task performance and cross-task transfer. We compare six self-supervised methods pretrained on unlabeled recorded and simulated wrist motion, evaluating classification, pose and velocity estimation...
| Authors | Yiquan Li, Aidan Bradshaw, Chenfeng Gao et al. |
|---|---|
| Primary category | cs.RO |
| Published | 14 October 2026 |
| Last updated at source | 14 October 2026 |
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