Hugging Face's logo

Datasets:
Hubdata
/
egocentric-iphone-rgb-imu

Tasks:
Robotics
Modalities:
Tabular
Text
Video
Formats:
parquet
Languages:
English
Size:
< 1K
Tags:
egocentric
human-demonstration
manipulation
imu
video
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
Dataset Viewer
Auto-converted to Parquet Duplicate
clip_id
stringlengths
22
33
task
stringlengths
11
22
device
stringclasses
3 values
environment
stringclasses
6 values
duration_s
float64
96.9
2.15k
fps
float64
30
30
resolution
stringclasses
1 value
modalities
stringclasses
1 value
files
stringclasses
1 value
#01_iPhone_Pack_Travel_Bag
Pack Travel Bag
iPhone 15 Pro Max
Bedroom
1,267.9
30
1920x1080
RGB video · IMU + attitude (30 Hz)
Data.mcap, IMU.csv, IMU.json, IMU.parquet, Metadata.yaml, RGB.mp4
#02_iPhone_Peel_Garlic
Peel Garlic
iPhone 13
Bedroom
1,421.2
30
1920x1080
RGB video · IMU + attitude (30 Hz)
Data.mcap, IMU.csv, IMU.json, IMU.parquet, Metadata.yaml, RGB.mp4
#03_iPhone_Set_Dining_Table
Set Dining Table
iPhone 13
Dining Room
96.9
30
1920x1080
RGB video · IMU + attitude (30 Hz)
Data.mcap, IMU.csv, IMU.json, IMU.parquet, Metadata.yaml, RGB.mp4
#04_iPhone_Wipe_Dining_Table
Wipe Dining Table
iPhone 15
Dining Room
368
30
1920x1080
RGB video · IMU + attitude (30 Hz)
Data.mcap, IMU.csv, IMU.json, IMU.parquet, Metadata.yaml, RGB.mp4
#05_iPhone_Sort_Vegetables
Sort Vegetables
iPhone 15
General
666.3
30
1920x1080
RGB video · IMU + attitude (30 Hz)
Data.mcap, IMU.csv, IMU.json, IMU.parquet, Metadata.yaml, RGB.mp4
#06_iPhone_Organize_Kitchen_Shelf
Organize Kitchen Shelf
iPhone 15
Kitchen
323.8
30
1920x1080
RGB video · IMU + attitude (30 Hz)
Data.mcap, IMU.csv, IMU.json, IMU.parquet, Metadata.yaml, RGB.mp4
#07_iPhone_Prepare_Snack_Box
Prepare Snack Box
iPhone 13
Kitchen
1,229
30
1920x1080
RGB video · IMU + attitude (30 Hz)
Data.mcap, IMU.csv, IMU.json, IMU.parquet, Metadata.yaml, RGB.mp4
#08_iPhone_Wash_Utensils
Wash Utensils
iPhone 15 Pro Max
Kitchen
2,152.5
30
1920x1080
RGB video · IMU + attitude (30 Hz)
Data.mcap, IMU.csv, IMU.json, IMU.parquet, Metadata.yaml, RGB.mp4
#09_iPhone_Arrange_Bookshelf
Arrange Bookshelf
iPhone 15
Living Room
863.5
30
1920x1080
RGB video · IMU + attitude (30 Hz)
Data.mcap, IMU.csv, IMU.json, IMU.parquet, Metadata.yaml, RGB.mp4
#10_iPhone_Full_Room_Reset
Full Room Reset
iPhone 15
Living Room
1,106.1
30
1920x1080
RGB video · IMU + attitude (30 Hz)
Data.mcap, IMU.csv, IMU.json, IMU.parquet, Metadata.yaml, RGB.mp4
#11_iPhone_Remove_Dry_Leaves
Remove Dry Leaves
iPhone 15
Living Room
915.8
30
1920x1080
RGB video · IMU + attitude (30 Hz)
Data.mcap, IMU.csv, IMU.json, IMU.parquet, Metadata.yaml, RGB.mp4
#12_iPhone_Water_Plants
Water Plants
iPhone 13
Terrace
243.9
30
1920x1080
RGB video · IMU + attitude (30 Hz)
Data.mcap, IMU.csv, IMU.json, IMU.parquet, Metadata.yaml, RGB.mp4

Hub Egocentric: iPhone RGB+IMU

12 egocentric human-manipulation clips captured on iPhone, with nominal 30 Hz CoreMotion + ARKit IMU/attitude on the shared media timeline, delivered as CSV/Parquet/JSON sidecars plus a Foxglove MCAP recording and per-clip camera intrinsics.

Across this 12-clip sample, IMU row count is 0–4 boundary rows lower than decoded video frame count (≤0.035%).

Part of the Hub Egocentric Human Demonstrations Sample Set collection. Captured on iPhone 13, iPhone 15, and iPhone 15 Pro Max (mixed). Egocentric, human-demonstration data (passive; no robot action stream). July 2026.

Dataset structure

Each clip is a top-level folder named #NN_... holding its media, a Foxglove Data.mcap, the sensor sidecars, and a per-clip Metadata.yaml. A machine-readable catalog.parquet (rendered below) indexes every clip.

Catalog

clip_id task device environment duration_s fps resolution
#01_iPhone_Pack_Travel_Bag Pack Travel Bag iPhone 15 Pro Max Bedroom 1267.9 30.0 1920x1080
#02_iPhone_Peel_Garlic Peel Garlic iPhone 13 Bedroom 1421.2 30.0 1920x1080
#03_iPhone_Set_Dining_Table Set Dining Table iPhone 13 Dining Room 96.9 30.0 1920x1080
#04_iPhone_Wipe_Dining_Table Wipe Dining Table iPhone 15 Dining Room 368.0 30.0 1920x1080
#05_iPhone_Sort_Vegetables Sort Vegetables iPhone 15 General 666.3 30.0 1920x1080
#06_iPhone_Organize_Kitchen_Shelf Organize Kitchen Shelf iPhone 15 Kitchen 323.8 30.0 1920x1080
#07_iPhone_Prepare_Snack_Box Prepare Snack Box iPhone 13 Kitchen 1229.0 30.0 1920x1080
#08_iPhone_Wash_Utensils Wash Utensils iPhone 15 Pro Max Kitchen 2152.5 30.0 1920x1080
#09_iPhone_Arrange_Bookshelf Arrange Bookshelf iPhone 15 Living Room 863.5 30.0 1920x1080
#10_iPhone_Full_Room_Reset Full Room Reset iPhone 15 Living Room 1106.1 30.0 1920x1080
#11_iPhone_Remove_Dry_Leaves Remove Dry Leaves iPhone 15 Living Room 915.8 30.0 1920x1080
#12_iPhone_Water_Plants Water Plants iPhone 13 Terrace 243.9 30.0 1920x1080

Loading (IMU sidecars)

Each clip folder holds RGB.mp4, a Foxglove Data.mcap, and IMU sidecars in three formats (IMU.csv, IMU.parquet, IMU.json; time is relative, t_s from 0). Example:

import pandas as pd
from huggingface_hub import hf_hub_download
clip_id = "#01_iPhone_Pack_Travel_Bag"
p = hf_hub_download("Hubdata/egocentric-iphone-rgb-imu", f"{clip_id}/IMU.parquet", repo_type="dataset")
imu = pd.read_parquet(p)  # t_s, accel xyz, gyro xyz (+ gravity/attitude on iPhone)

Synchronization: align by t_s, not row index. Sample count may differ from decoded video frame count by a few rows at stream boundaries.

Terms

Provided by Hub Data, Inc. (hub.xyz). See LICENSE. Contact Hub Data, Inc. (hub.xyz) for data-use terms.

Citation 

@misc{hub_egocentric_2026,
  title  = {Hub Egocentric Human Demonstrations},
  author = {Hub Data, Inc.},
  howpublished = {\url{https://hub.xyz}},
  year   = {2026},
  note   = {Egocentric human-demonstration sample delivery}
}

Work with Hub: https://hub.xyz/
Downloads last month
649
Number of rows:
12
Total file size:
37.7 GB

Collection including Hubdata/egocentric-iphone-rgb-imu