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HALO: A Heterogeneity-Aware Language-Aligned IMU Foundation Model for Open-Set Human Activity Recognition

arXiv · AI, language, vision and robotics · article · Aug 27, 2026 · UTC

Human Activity Recognition (HAR) using inertial measurement units (IMUs) enables a wide range of applications, yet the field still lacks a unified model that can generalize across diverse subjects, devices, and activities. Training such a model is difficult due to two key challenges: sensing heterogeneity -- differences in sampling rates, channel configurations, and sensor placements -- and poor generalization to unseen activities and label vocabularies. We introduce HALO (Heterogeneity-Aware Language-aligned Open-set model), a domain-specific IMU foundation model that addresses both challenge

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