---
license: other
license_name: maginoresell
license_link: https://huggingface.co/datasets/MicroAGI-Labs/MicroAGI01/blob/main/LICENSE
task_categories:
- robotics
- text-generation
tags:
- egocentric
- fov
- VLA
- VLM
size_categories:
- 100M<n<1B
---
# MicroAGI01: Egocentric Manipulation Dataset

> **License:** See `maginoresell`

MicroAGI01 is an egocentric RGB-D dataset of human household manipulation with full pose annotations. 676 recordings spanning 137 task types across 14 activity categories.

## What's Included Per Recording

- RGB + depth streams
- Camera pose (6DoF)
- Hand poses (3D landmarks)
- Task segmentation with text annotations

## Quick Facts

| | |
|---|---|
| **Recordings** | 676 mcaps (283 cut, 393 uncut) |
| **Task types** | 137 |
| **Container** | `.mcap` |
| **Previews** | 1 sample `.mp4` file |

## Folder Structure

```
MicroAGI01/
├── uncut_mcaps/          # Full-length recordings, ≥80% hands validity
├── cut_mcaps/            # Shorter semantic chunks, ≥95% hands validity
├── task_mapping.csv      # Task labels per recording
├── microagi01viewerfoxglove.json
└── LICENSE
```

**Start with `uncut_mcaps`** — full-length recordings with all annotations included.

**`cut_mcaps`** contains shorter, semantically-complete segments with stricter hand tracking validity.

## Task Categories

Kitchen: `kitchen_cooking`, `kitchen_prep`, `kitchen_dishes`, `kitchen_organization`, `kitchen_dining`, `kitchen_general`

Cleaning: `cleaning_general`, `cleaning_floor`

Laundry: `laundry`

Organization: `general_organization`, `general_household`

Rooms: `bedroom`, `bathroom`, `living_room`

## Topic Structure

### Overview

```
Meta      /meta
Camera
          /tf_static
          /camera/color/image, /camera/color/info (+ /camera/color/health)
          /camera/depth/image, /camera/depth/info, /camera/depth/unit_of_depth_in_mm
SLAM      /tf/camera (+ .../health, .../state)
Hands     /tf/hands, /hands/left, /hands/right (+ .../health)
IMU       /imu/accel/sample, /imu/gyro/sample
Task      /task (includes task_title)
```

### Descriptions (of relevant topics)

```
/meta: Information about the mcap, the operator, ... (operator_height_in_m, metadata for general task description)
/tf_static: Any static transforms (Includes transforms between camera, imu, depth and color)
/camera/.../image: JPEG@90 image for color, PNG for depth
/camera/.../info: Parameters for sensor (especially intrinsics)
/camera/depth/unit_of_depth_in_mm: Defines the depth unit conversion. Currently set to 1, meaning the raw pixel values in the depth image are measured directly in millimeters (e.g., a pixel value of 1000 equals 1 meter)
/camera/color/health: Signals bad images which are e.g. too dark, blurry, ...
/tf/camera: Pose of camera (Only valid if a msg on .../health exists with the same timestamp and valid == true, otherwise they should be ignored. Poses are only coherent to poses in the same block of valid poses.)
/tf/camera/health: Signals regions which successful tracking
/tf/hands: Pose of left and right wrist
/hands/...: Positions of Hand keypoints (In wrist frame)
/hands/.../health: Signals whether to trust the hands position or not
/imu/.../sample: Raw imu samples
/task: Description of the current task (includes task_title)
```

### TF-Tree (Across all tf (static) topics)

```
TF_TREE (RightHanded Coordinate Systems):
world (On the ground; z is up, gravity aligned)
	camera (Center of camera; z is up, x is front)
        # Camera data
		depth (Reference for the depth image; x to the right, y is down)
			accel (Reference for the accel)
			gyro (Reference for the gyro)
			color (Reference for the color image; x to the right, y is down)

		left_wrist (x is in direction from pinky to thumb, z is in direction of arm)
		right_wrist (x is in direction from pinky to thumb, z is in direction of arm)
```

## Download

Everything:
```bash
huggingface-cli download MicroAGI-Labs/MicroAGI01 --repo-type dataset --local-dir ./MicroAGI01
```

Single file:
```bash
huggingface-cli download MicroAGI-Labs/MicroAGI01 uncut_mcaps/open-source-06.mcap --repo-type dataset --local-dir ./
```

## Viewing

We use [Foxglove](https://foxglove.dev/). A layout template is included in the repo:

1. Open Foxglove
2. Layout → Import layout → select `microagi01viewerfoxglove.json`
3. Load any `.mcap` file

This sets up the 3D view, camera feed, hand validity state transitions, and task annotations panel.


## Extracting protobuf
  We use [our github repo](https://github.com/MicroAGI-Labs/mcap-topic-extractor). A script is included in the repo.

## Intended Uses

- Policy and skill learning (robotics / VLA)
- Action detection and segmentation
- Hand/pose estimation and grasp analysis
- World-model pre/post training

## Attribution

```
This work uses the MicroAGI01 dataset (MicroAGI, Inc. 2026).
```

## Contact

Questions: `info@micro-agi.com`

Custom data or derived signals: `data@micro-agi.com`