CycloFormer
A rotation-invariant transformer for wrist-sEMG hand pose estimation, with a variance-corrected scaling law for the data-limited regime.
NeurIPS 2026 (under review)
- Exact ℤ₁₆ invariance to wristband donning rotation, built from a channel-shared TDS-CNN, circular rotary position embeddings, and permutation-invariant attention pooling.
- New state of the art on emg2pose: a 4M-parameter model surpasses the strongest prior baseline on every generalization split with 33% fewer parameters.
- A variance-corrected scaling law for the data-limited regime, fit on a 5×8 model–data grid and explaining 98.8% of the observed variance.
- First controlled quantitative comparison of sEMG and egocentric vision under fingertip occlusion.