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However, developing sensory applications using earables is currently quite cumbersome with several barriers in the way. First, time-series data from earable sensors incorporate information about physical phenomena in complex settings, requiring machine-learning (ML) models learned from large-scale labeled data. This is challenging in the context of earables because large-scale open-source datasets are missing. Secondly, the small size and compute constraints of earable devices make on-device integration of many existing algorithms for tasks such as human activity and head-pose estimation difficult. To address these challenges, we introduce Auritus, an extendable and open-source optimization toolkit designed to enhance and replicate earable applications. Auritus serves two primary functions. Firstly, Auritus handles data collection, pre-processing, and labeling tasks for creating customized earable datasets using graphical tools. The system includes an open-source dataset with 2.43 million inertial samples related to head and full-body movements, consisting of 34 head poses and 9 activities from 45 volunteers. Secondly, Auritus provides a tightly-integrated hardware-in-the-loop (HIL) optimizer and TinyML interface to develop lightweight and real-time machine-learning (ML) models for activity detection and filters for head-pose tracking. To validate the utlity of Auritus, we showcase three sample applications, namely fall detection, spatial audio rendering, and augmented reality (AR) interfacing. Auritus recognizes activities with 91% leave 1-out test accuracy (98% test accuracy) using real-time models as small as 6-13 kB. Our models are 98-740x smaller and 3-6% more accurate over the state-of-the-art. We also estimate head pose with absolute errors as low as 5 degrees using 20kB filters, achieving up to 1.6x precision improvement over existing techniques. We make the entire system open-source so that researchers and developers can contribute to any layer of the system or rapidly prototype their applications using our dataset and algorithms.<\/jats:p>","DOI":"10.1145\/3534586","type":"journal-article","created":{"date-parts":[[2022,7,7]],"date-time":"2022-07-07T18:50:18Z","timestamp":1657219818000},"page":"1-34","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":15,"title":["Auritus"],"prefix":"10.1145","volume":"6","author":[{"given":"Swapnil Sayan","family":"Saha","sequence":"first","affiliation":[{"name":"University of California - Los Angeles, Los Angeles, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sandeep Singh","family":"Sandha","sequence":"additional","affiliation":[{"name":"University of California - Los Angeles, Los Angeles, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Siyou","family":"Pei","sequence":"additional","affiliation":[{"name":"University of California - Los Angeles, Los Angeles, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vivek","family":"Jain","sequence":"additional","affiliation":[{"name":"University of California - Los Angeles, Los Angeles, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ziqi","family":"Wang","sequence":"additional","affiliation":[{"name":"University of California - Los Angeles, Los Angeles, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuchen","family":"Li","sequence":"additional","affiliation":[{"name":"University of California - Los Angeles, Los Angeles, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ankur","family":"Sarker","sequence":"additional","affiliation":[{"name":"University of California - Los Angeles, Los Angeles, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mani","family":"Srivastava","sequence":"additional","affiliation":[{"name":"University of California - Los Angeles, Los Angeles, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2022,7,7]]},"reference":[{"key":"e_1_2_2_1_1","volume-title":"Accessed: 29th","year":"2021","unstructured":"2021. 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