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Inertial sensors provide a low-power and high-fidelity pathway for state estimation and sensor fusion. Inertial measurement units now feature on-chip processors for ultra-low-power information fusion, signal processing, and neural network-based classification at the extreme edge. However, accounting for domain shifts, personalized inference requirements, and application diversity makes adopting existing learning-enabled on-device training, classification, and fusion frameworks for on-sensor processors difficult. This paper introduces a method for personalized and on-device learning for on-chip classification, inference, and information fusion applications. The proposed framework automatically segments and stores quantized gravity vector image templates and axes variance information of motion artifacts during training. During inference, templates created from the time-series windows are matched against uniform …