Methods and systems for learning, recognition, classification and analysis of real-world cyclic patterns using a model having n oscillators, with primary frequency ω1, ω2, . . . , ωn. The state of the oscillators is evolved over time using sensor observations, which are also used to determine the sensor characteristics, or the sensor observation functions. Once trained, a set of activity detection filters may be used to classify a sensor data stream as being associated with an activity.