IMU-Bench: Benchmarking Wrist IMU Representations Across Kinematic, Semantic and Clinical Tasks

arXiv:2610.19481 · cs.RO, cs.AI · Submitted 2026-10-14 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-10-14

Updated: 2026-10-14

Code: https://github.com/SPICExLAB/IMU-Bench

Project page: https://spicexlab.github.io/imubench

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmarking — 1× in this paper · explained in 4 episodes

Sources

• OpenWatch: A Multimodal Benchmark for Hand Gesture Recognition on Smartwatches
• TransfHAR: Self-Supervised Wrist Representations for On-Demand Activity Recognition
• BenchHAR: Benchmarking Self-Supervised Learning for Generalizable Sensor-based Activity Recognition
• SlotFM: A Motion Foundation Model with Slot Attention for Diverse Downstream Tasks
• Inertia-1: An Open Exploration of Wearable Motion Foundation Models

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies