A computer-implemented system and method relate to gesture recognition. A machine learning model includes a first subnetwork, a second subnetwork, and a third subnetwork. The first subnetwork generates feature data based on sensor data, which includes a gesture. The feature data is divided into a set of patches. The second subnetwork selects a target patch of feature data from among the set of patches. The third subnetwork generates gesture data based on the target patch of feature data. The gesture data identifies the gesture of the sensor data. Command data is generated based on the gesture data. A device is controlled based on the command data.