PI-Dojo/EgoManipulation-RGBD-Beta

EgoManipulation RGB-D Beta

EgoManipulation RGB-D Beta is a collection of egocentric manipulation recordings containing RGB and depth streams time-synchronized using timestamps from a shared device clock.

• A Parquet catalog provides recording-level metadata and previews for browsing the dataset without downloading the full MCAP collection.
• Data recordings are stored as MCAP files, with one selected recording chunk per file.

Repository layout

README.md
data/
  <task_label>_01.mcap
  <task_label>_02.mcap
catalog/
  recordings.parquet

MCAP filenames use lowercase task labels with spaces replaced by underscores, followed by a two-digit recording number.

Dataset catalog

catalog/recordings.parquet contains one row per MCAP recording. The Hugging Face Dataset Viewer displays this catalog.

Data MCAP format

Each MCAP uses Protobuf messages with the following topics:

Topic	Schema	Description
/session/metadata	session.SessionMetadata	Recording and camera metadata
/annotation/task_label	annotation.TaskLabel	Manipulation task label
/sensor/camera/rgb/image	foxglove.RawImage (rgb8)	RGB frames
/sensor/camera/depth/image	foxglove.RawImage (16UC1, mm)	Depth frames
/sensor/camera/rgb/source_timestamp	source.SourceTimestamp	Original RGB capture timestamp
/sensor/camera/depth/source_timestamp	source.SourceTimestamp	Original depth capture timestamp

The Protobuf schemas are embedded directly in each MCAP file. MCAP files can be downloaded and read using any compatible MCAP reader.

Timestamps

Raw recordings are quality-checked to satisfy 1% frame-drop tolerance. Accepted recordings are timestamp-resampled onto a fixed-rate timeline before export to MCAP.

The source_timestamp topics preserve the original capture timestamps.

Note: This beta release contains RGB-D data, a subset of the supported modalities, and is primarily intended to validate the data delivery format with customers.