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XP Robotics Egocentric Activities (22h)
A multimodal egocentric dataset of everyday manual activities, collected and released by XP Robotics. Each recording captures a first-person view of a person performing a task, together with synchronized motion, position, and audio signals.
Overview
- 152 recordings, 23.7 hours total, across 6 activity categories
- Single egocentric camera, AV1-encoded video
- Synchronized IMU, GPS, audio, camera pose, and coordinate transforms
- Stored as MCAP with Foxglove/protobuf message schemas
| Category | Recordings | Duration (min) | Size (GB) |
|---|---|---|---|
| Assembling furniture | 24 | 218 | 23.1 |
| Commercial kitchen activity | 41 | 272 | 29.3 |
| Knitting/Sewing | 39 | 522 | 56.7 |
| Tidying and organizing | 14 | 139 | 14.9 |
| Vehicle maintenance | 21 | 160 | 16.6 |
| Yard care | 13 | 111 | 12.5 |
Recording schema
Every recording is a single MCAP file containing the following synchronized streams:
| Topic | Schema | Description |
|---|---|---|
/top-left-camera/image-raw |
foxglove.CompressedVideo |
Egocentric camera video (AV1) |
/top-left-camera/camera-info |
foxglove.CameraCalibration |
Camera intrinsics / calibration |
/camera/pose |
foxglove.PoseInFrame |
Camera pose over time |
/tf |
foxglove.FrameTransforms |
Dynamic coordinate transforms |
/tf-static |
foxglove.FrameTransforms |
Static coordinate transforms |
/imu/data |
xphi.Imu |
Filtered IMU (orientation, angular velocity, acceleration) |
/imu/data_raw |
xphi.Imu |
Raw IMU measurements |
/gps/fix |
foxglove.LocationFix |
GPS location fix |
/audio |
foxglove.RawAudio |
Audio stream |
/metadata/header |
xphi.HeaderMetadata |
Per-recording metadata (resolution, frame rate, codec, task) |
/metadata/footer |
xphi.FooterMetadata |
Per-frame image timestamps |
Technical details
- Video: AV1, YUV420P, ~30 fps. Resolution is 1920x1080 (125 recordings) or 1920x1440 (27 recordings).
- Camera: single egocentric view,
plumb_bobdistortion model, intrinsics in/top-left-camera/camera-info. - Motion: 6-axis IMU at the camera frame rate, both filtered (
/imu/data) and raw (/imu/data_raw). - Position: GPS fixes in
/gps/fix. - Audio: raw audio in
/audio.
Directory structure
22hr_data/
metadata.csv
assembling_furniture/ assembling_furniture_001.mcap ...
commercial_kitchen_activity/ commercial_kitchen_activity_001.mcap ...
knitting_sewing/ knitting_sewing_001.mcap ...
tidying_and_organizing/ tidying_and_organizing_001.mcap ...
vehicle_maintenance/ vehicle_maintenance_001.mcap ...
yard_care/ yard_care_001.mcap ...
Files follow a uniform <category>/<category>_<NNN>.mcap naming scheme, numbered by recording start time within each category. metadata.csv lists every file with its category, duration, size, resolution, video format, start time, and message count.
Reading the data
The recordings use protobuf message encoding. Read them with the mcap and mcap-protobuf-support packages:
from mcap.reader import make_reader
from mcap_protobuf.decoder import DecoderFactory
with open("knitting_sewing/knitting_sewing_001.mcap", "rb") as f:
reader = make_reader(f, decoder_factories=[DecoderFactory()])
for schema, channel, message, proto in reader.iter_decoded_messages(
topics=["/top-left-camera/image-raw", "/imu/data"]
):
print(channel.topic, message.log_time, type(proto).__name__)
Install with:
pip install mcap mcap-protobuf-support
The files can also be opened directly in Foxglove for visual inspection.
Attribution
Collected and released by XP Robotics.
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