RF-sensing, the analysis and interpretation of movement or environment-induced patterns in received electromagnetic signals, has been actively investigated for more than a decade. Since electromagnetic signals, through cellular communication systems, are omnipresent, RF sensing has the potential to become a universal sensing mechanism with applications in smart home, retail, localization, gesture recognition, intrusion detection, etc. Specifically, existing cellular network installations might

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... e dual-used for both communication and sensing. Such communications and sensing convergence is envisioned for future communication networks. We propose the use of NR-sidelink direct device-to-device communication to achieve device-initiated,flexible sensing capabilities in beyond 5G cellular communication systems. In this article, we specifically investigate a common issue related to sidelink-based RF-sensing, which is its angle and rotation dependence. In particular, we discuss transformations of mmWave point-cloud data which achieve rotational invariance, as well as distributed processing based on such rotational invariant inputs, at angle and distance diverse devices. To process the distributed data, we propose a graph based encoder to capture spatio-temporal features of the data and propose four approaches for multi-angle learning. The approaches are compared on a newly recorded and openly available dataset comprising 15 subjects, performing 21 gestures which are recorded from 8 angles.