A method of gesture detection in a controller includes; storing, in a memory connected with the controller: (i) a primary inference model definition corresponding to a plurality of gesture identifiers, and (ii) a set of auxiliary model definitions, each corresponding to a respective one of the gesture identifiers; obtaining, at the controller, motion sensor data; selecting a candidate gesture identifier from the plurality of gesture identifiers, based on the motion sensor data and the primary inference model definition; validating the candidate gesture identifier using the auxiliary model definition that corresponds to the candidate gesture identifier; and when the candidate gesture identifier is validated, presenting the candidate gesture identifier.
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