The authors evaluated NEXUS-MI through offline replay using BCI Competition IV Dataset 2a (BCICIV-2a; 9 subjects, 4 classes) and OpenBMI (54 subjects, 2 classes). Session 1 supports backbone learning, while Session 2 provides limited-calibration personalization and held-out testing. Beyond an ideal-link reference, 6 heterogeneous-link policies characterize gateway participation, buffering, stale-update admission and backbone-download control. The principal comparison holds delayed-update handling fixed while contrasting non-adaptive and communication-aware synchronization; paired subject-level comparisons use Holm adjustment, and robustness across 5 matched realizations is assessed by hierarchical bootstrap.
Communication-aware coordination reduced server-to-client backbone traffic by approximately 42% on both datasets, while cohort-level accuracy differences were small and realization-dependent. Cohort averages also concealed subject-level vulnerability, with losses reaching approximately 12 percentage points on BCICIV-2a relative to the ideal-link reference. The authors conclude that gateway synchronization should be an explicit design variable in federated motor-imagery personalization, motivating joint evaluation of personalized accuracy, communication cost, update freshness and subject-level reliability.