# Millimeter Wave Radar-based Human Activity Recognition for Healthcare Monitoring Robot

arXiv: https://arxiv.org/abs/2405.01882 · HTML: https://mlsanity.com/paper/2405.01882/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 20 of its 50 references that are in the map.
- First posted on arXiv 3 May 2024.

## Builds on (most cited first, 20 of 20)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Dynamic Graph CNN for Learning on Point Clouds](https://mlsanity.com/paper/1801.07829/) (2018)
- [Informer: Beyond Efficient Transformer for Long Sequence Time-Series Forecasting](https://mlsanity.com/paper/2012.07436/) (2020)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [Are Transformers Effective for Time Series Forecasting?](https://mlsanity.com/paper/2205.13504/) (2022)
- [VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection](https://mlsanity.com/paper/1711.06396/) (2017)
- [PointCNN: Convolution On X-Transformed Points](https://mlsanity.com/paper/1801.07791/) (2018)
- [Point Transformer V3: Simpler, Faster, Stronger](https://mlsanity.com/paper/2312.10035/) (2023)
- [Point Transformer V2: Grouped Vector Attention and Partition-based Pooling](https://mlsanity.com/paper/2210.05666/) (2022)
- [SCINet: Time Series Modeling and Forecasting with Sample Convolution and Interaction](https://mlsanity.com/paper/2106.09305/) (2021)
- [Point Mamba: A Novel Point Cloud Backbone Based on State Space Model with Octree-Based Ordering Strategy](https://mlsanity.com/paper/2403.06467/) (2024)
- [Mamba3D: Enhancing Local Features for 3D Point Cloud Analysis via State Space Model](https://mlsanity.com/paper/2404.14966/) (2024)
- [A Survey of mmWave-based Human Sensing: Technology, Platform and Applications](https://mlsanity.com/paper/2308.03149/) (2023)
- [Sensor-based Gait Parameter Extraction with Deep Convolutional Neural Networks](https://mlsanity.com/paper/1609.03323/) (2016)
- [Seeing Text in the Dark: Algorithm and Benchmark](https://mlsanity.com/paper/2404.08965/) (2024)
- [LiteLSTM Architecture for Deep Recurrent Neural Networks](https://mlsanity.com/paper/2201.11624/) (2022)
- [A Deep Learning Framework using Passive WiFi Sensing for Respiration Monitoring](https://mlsanity.com/paper/1704.05708/) (2017)

## Built on by (most cited first, 5 of 5)

- [A Lightweight 3D-CNN for Event-Based Human Action Recognition with Privacy-Preserving Potential](https://mlsanity.com/paper/2511.03665/) (2025)
- [Wave2Body: Rethinking mmWave Human Pose Estimation as Radar-to-Body Token Translation](https://mlsanity.com/paper/2607.18875/) (2026)
- [Multi-Head Adaptive Graph Convolution Network for Sparse Point Cloud-Based Human Activity Recognition](https://mlsanity.com/paper/2504.02778/) (2025)
- [DAP: Doppler-aware Point Network for Heterogeneous mmWave Action Recognition](https://mlsanity.com/paper/2605.09604/) (2026)
- [DiFF: Doppler-informed Flow Matching for Human Motion Flow](https://mlsanity.com/paper/2609.39098/) (2026)

## Abstract (arXiv)

Healthcare monitoring is crucial, especially for the daily care of elderly individuals living alone. It can detect dangerous occurrences, such as falls, and provide timely alerts to save lives. Non-invasive millimeter wave (mmWave) radar-based healthcare monitoring systems using advanced human activity recognition (HAR) models have recently gained significant attention. However, they encounter challenges in handling sparse point clouds, achieving real-time continuous classification, and coping with limited monitoring ranges when statically mounted. To overcome these limitations, we propose RobHAR, a movable robot-mounted mmWave radar system with lightweight deep neural networks for real-time monitoring of human activities. Specifically, we first propose a sparse point cloud-based global embedding to learn the features of point clouds using the light-PointNet (LPN) backbone. Then, we learn the temporal pattern with a bidirectional lightweight LSTM model (BiLiLSTM). In addition, we implement a transition optimization strategy, integrating the Hidden Markov Model (HMM) with Connectionist Temporal Classification (CTC) to improve the accuracy and robustness of the continuous HAR. Our experiments on three datasets indicate that our method significantly outperforms the previous studies in both discrete and continuous HAR tasks. Finally, we deploy our system on a movable robot-mounted edge computing platform, achieving flexible healthcare monitoring in real-world scenarios.