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We extract a small number of joint angles at each frame to form a feature vector. Continuous hidden Markov models are then trained with the resulting time series, one for each of a variety of human activity, using the Baum\u2010Welch algorithm. Motion classification is then attempted by evaluation of the forward variable for each model using previously unseen test data. Experimental results based on real\u2010world human motion capture data demonstrate the performance of the algorithm and some degree of robustness to data noise and human motion irregularity. 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