| --- |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| language: |
| - en |
| pretty_name: XP Robotics Egocentric Activities (22h) |
| tags: |
| - egocentric |
| - robotics |
| - multimodal |
| - imu |
| - gps |
| - audio |
| - video |
| - mcap |
| - foxglove |
| - activity-understanding |
| size_categories: |
| - n<1K |
| extra_gated_heading: "Request access to 22hr_data" |
| extra_gated_prompt: "22hr_data is free to use under the Apache-2.0 license. Please share a few details so XPhi Robotics can understand who is using the dataset and contact you about updates, extended data and custom collection. Use your real work email and phone number; requests with fake contact details will have access revoked." |
| extra_gated_fields: |
| "First Name": text |
| "Last Name": text |
| "Work Email": text |
| "Phone Number (with country code)": text |
| "Company / Affiliation": text |
| "City": text |
| "Country": country |
| "Intended use": |
| type: select |
| options: |
| - Research |
| - Commercial product |
| - Model evaluation / benchmarking |
| - Other |
| "I agree to be contacted by XPhi Robotics about this dataset": checkbox |
| "I confirm the details above are accurate and belong to me": checkbox |
| extra_gated_button_content: "Get access" |
| --- |
| |
| # 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](https://mcap.dev) with [Foxglove](https://foxglove.dev)/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_bob` distortion 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: |
|
|
| ```python |
| 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: |
|
|
| ```bash |
| pip install mcap mcap-protobuf-support |
| ``` |
|
|
| The files can also be opened directly in [Foxglove](https://foxglove.dev) for visual inspection. |
|
|
| ## Attribution |
|
|
| Collected and released by **XP Robotics**. |
|
|
