mlsanityData to 14 Oct 2026

EgoKit: Towards Unified Low-Cost Egocentric Data Collection with Heterogeneous Devices

arXiv 2605.16797 ↗First posted 16 May 2026cs.CV cs.ROcited by 1

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Abstract (arXiv)

Egocentric video is increasingly used as a data source for robot learning, activity understanding, and embodied AI research, but collecting it at scale remains fragmented in practice: each candidate host device, such as an Android phone, iPhone, iPad, smart glasses, or extended reality (XR) headset, exposes a different SDK, a different policy on raw camera access, and different limitations on external USB cameras and on-device tracking. Synchronized ego-view and wrist-view capture is therefore typically obtained by either committing to a single proprietary platform or building one-off rigs that do not transfer across devices. To address this gap, we present EgoKit, a toolkit that exposes the same egocentric recording workflow across six heterogeneous host devices. Across all supported devices, EgoKit presents the same recording interaction and produces locally stored video with a uniform log format; on XR headsets, it additionally logs head pose and OpenXR-standard 26-joint hand tracking aligned to the video streams. The companion accessories, including two wrist cameras with mounts, a head strap, and a USB-C hub, add wrist-view capture to any supported host without custom hardware fabrication. EgoKit is available at urlhttps://egokit.chuange.org/.

Key facts. Cited by 1 paper in the map (data through 14 Oct 2026). Builds on 35 of its 42 references that are in the map. First posted on arXiv 16 May 2026.

Builds on

35 of 42 references.

References · 35

  1. 2022Assembly101: A Large-Scale Multi-View Video Dataset for Understanding Procedural Activitiescited by 287
  2. 2025EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Videocited by 211
  3. 2023Project Aria: A New Tool for Egocentric Multi-Modal AI Researchcited by 208
  4. 2025mimic-video: Video-Action Models for Generalizable Robot Control Beyond VLAscited by 142
  5. 2026DreamDojo: A Generalist Robot World Model from Large-Scale Human Videoscited by 135
  6. 2025EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videoscited by 128
  7. 2026EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Datacited by 94
  8. 2025Scalable Vision-Language-Action Model Pretraining for Robotic Manipulation with Real-Life Human Activity Videoscited by 70
  9. 2026EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the Worldcited by 57
  10. 2022UmeTrack: Unified multi-view end-to-end hand tracking for VRcited by 50
  11. 2026InternVLA-A1: Unifying Understanding, Generation and Action for Robotic Manipulationcited by 50
  12. 2026SAGE: Scalable Agentic 3D Scene Generation for Embodied AIcited by 50
23 more
  1. 2024Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Trackingcited by 48
  2. 2023Egocentric Whole-Body Motion Capture with FisheyeViT and Diffusion-Based Motion Refinementcited by 31
  3. 2024Harmony4D: A Video Dataset for In-The-Wild Close Human Interactionscited by 31
  4. 2025World Models for Learning Dexterous Hand-Object Interactions from Human Videoscited by 31
  5. 2026CLAP: Contrastive Latent Action Pretraining for Learning Vision-Language-Action Models from Human Videoscited by 31
  6. 2024HO-Cap: A Capture System and Dataset for 3D Reconstruction and Pose Tracking of Hand-Object Interactioncited by 29
  7. 2026EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstrationcited by 21
  8. 2026EgoLive: A Large-Scale Egocentric Dataset from Real-World Human Taskscited by 20
  9. 2026HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrationscited by 16
  10. 2026OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Controlcited by 13
  11. 2026HumanNet: Scaling Human-centric Video Learning to One Million Hourscited by 11
  12. 2025XRoboToolkit: A Cross-Platform Framework for Robot Teleoperationcited by 8
  13. 2026One Hand to Rule Them All: Canonical Representations for Unified Dexterous Manipulationcited by 8
  14. 2026ActiveGlasses: Learning Manipulation with Active Vision from Ego-centric Human Demonstrationcited by 8
  15. 2025Aria Gen 2 Pilot Datasetcited by 6
  16. 2026Robot Learning from Human Videos: A Surveycited by 5
  17. 2026OmniStream: Mastering Perception, Reconstruction and Action in Continuous Streamscited by 4
  18. 2026Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulationcited by 4
  19. 2026DemoBot: Efficient Learning of Bimanual Manipulation with Dexterous Hands From Third-Person Human Videoscited by 3
  20. 2025mimic-one: a Scalable Model Recipe for General Purpose Robot Dexteritycited by 2
  21. 2026UltraDexGrasp: Learning Universal Dexterous Grasping for Bimanual Robots with Synthetic Datacited by 2
  22. 2026HumDex: Humanoid Dexterous Manipulation Made Easycited by 2
  23. 2026Moving Through Clutter: Scaling Data Collection and Benchmarking for 3D Scene-Aware Humanoid Locomotion via Virtual Realitycited by 1

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 1.

1 paper.

  1. 2026From Seeing to Acting: Smart Glasses as First-Person Intelligence Platformscited by 0