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RevalExo: A Functional Daily-Activity Benchmark for Inertial and Visual Locomotion Mode Recognition in Older Adults and Clinical Cohorts

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Updated 2 h ago · first seen 11 Sept 2026

paper_01M294GPAKJ0YHKQ3JMNJTBVYJ

Published: 11 Sept 2026; T1 · 2 h ago
arXiv: 2609.08090; T1 · 2 h ago
Category: cs.AI; T1 · 2 h ago

Abstract

Assistive devices for people with mobility impairments, such as powered exoskeletons, rely on accurate locomotion mode recognition to adapt control strategies and provide appropriate assistance during daily activities. However, public benchmarks are typically collected from healthy adults, lack temporally precise labels necessary for detecting mode transitions, or focus on a limited set of tasks. To support development and evaluation under realistic clinical constraints and daily mobility demands, we introduce RevalExo, a functional daily-activity benchmark for inertial and visual locomotion mode recognition. RevalExo is built around a standardized, clinically and ecologically validated daily-activity protocol reflecting the cumulative everyday mobility demands in ageing and clinical populations. The benchmark includes 27 participants across three cohorts: older adults without mobility impairments, stroke survivors, and older adults with probable sarcopenia. The full cohort was recorded with lower-body IMUs, while synchronized egocentric video was collected for a clinically feasible subset of 13 participants. RevalExo provides 10.1 hours of frame-level annotations across 11 locomotion modes, including 5.1 hours of paired inertial--visual recordings. We benchmark three challenges: unimodal and multimodal locomotion mode recognition across multiple horizons, cross-population generalization from older adults without mobility impairments to clinical cohorts, and vision-guided knowledge transfer to IMU-only models. Results confirm consistent gains from fusing inertial and visual inputs but reveal a substantial gap between general recognition ($\sim$93\% F1) and recognition during transitions ($\sim$68\% F1), alongside persistent challenges in cross-population generalization and cross-modal transfer. We release RevalExo to stimulate further research on these open challenges.

Authors 11

Diwas Lamsal, Juha Carlon, Reinhard Claeys, Maxim Yudayev, Louis Flynn, Tom Verstraten, David Beckw\'ee, Eva Swinnen, Mihai B\^ace, Bart Vanrumste, Benjamin Filtjens

Specification

Official page: arxiv.org/abs/2609.08090
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Arxiv announce type: replace
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
arXiv id: 2609.08090
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Categories: cs.AI, cs.CV
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
PDF: arxiv.org/pdf/2609.08090
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Primary category: cs.AI
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Published: 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh

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T19

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2 h ago

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Claim history · Abstract

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Abstractabstract1

Claim history for Abstract
Value	Valid from → to	Status	Source	Confidence	Extractor
Assistive devices for people with mobility impairments, such as powered exoskeletons, rely on accurate locomotion mode recognition to adapt control strategies and provide appropriate assistance during daily activities. However, public benchmarks are typically collected from healthy adults, lack temporally precise labels necessary for detecting mode transitions, or focus on a limited set of tasks. To support development and evaluation under realistic clinical constraints and daily mobility demands, we introduce RevalExo, a functional daily-activity benchmark for inertial and visual locomotion mode recognition. RevalExo is built around a standardized, clinically and ecologically validated daily-activity protocol reflecting the cumulative everyday mobility demands in ageing and clinical populations. The benchmark includes 27 participants across three cohorts: older adults without mobility impairments, stroke survivors, and older adults with probable sarcopenia. The full cohort was recorded with lower-body IMUs, while synchronized egocentric video was collected for a clinically feasible subset of 13 participants. RevalExo provides 10.1 hours of frame-level annotations across 11 locomotion modes, including 5.1 hours of paired inertial--visual recordings. We benchmark three challenges: unimodal and multimodal locomotion mode recognition across multiple horizons, cross-population generalization from older adults without mobility impairments to clinical cohorts, and vision-guided knowledge transfer to IMU-only models. Results confirm consistent gains from fusing inertial and visual inputs but reveal a substantial gap between general recognition ($\sim$93\% F1) and recognition during transitions ($\sim$68\% F1), alongside persistent challenges in cross-population generalization and cross-modal transfer. We release RevalExo to stimulate further research on these open challenges.	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

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Source	Document	Type	Tier	Last observed	Snapshots
arXiv (Atom API + RSS)	rss.arxiv.org/rss/cs.AI	feed	T1· Official	2 min ago	1

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