Surface Classification from Robot Internal Measurement Unit Time-Series Data Using Cascaded and Parallel Deep Learning Fusion Models

Ghaith Al-refai, Dina Karasneh,Hisham Elmoaqet,Mutaz Ryalat, Natheer Almtireen

Machines（2025）

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Key words

time-series data,LSTM,1-D CNN,CNN-LSTM,multi-head attention mechanism,IMU,feature fusion,IMU,robot navigation

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