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cs.RO2026
IMU-Bench: Benchmarking Wrist IMU Representations Across Kinematic, Semantic and Clinical Tasks
Yiquan Li, Aidan Bradshaw, Chenfeng Gao +1
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 cli…
cs.RO2026
MARIO: Motion-Augmented Real-Time Multi-Sensor Inertial Odometry
Yiquan Li, Taeyoung Yeon, Chenfeng Gao +3
Inertial odometry (IO) using only Inertial Measurement Units (IMUs) provides a lightweight solution for human motion tracking in augmented reality (AR) and wearable devices. Recent…
cs.RO2025
Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation
Jianglong Ye, Keyi Wang, Chengjing Yuan +6
Generating large-scale demonstrations for dexterous hand manipulation remains challenging, and several approaches have been proposed in recent years to address this. Among them, ge…