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

arXiv: https://arxiv.org/abs/2605.16797 · HTML: https://mlsanity.com/paper/2605.16797/

## Key facts

- Cited by 1 papers 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 (most cited first, 30 of 35)

- [Assembly101: A Large-Scale Multi-View Video Dataset for Understanding Procedural Activities](https://mlsanity.com/paper/2203.14712/) (2022)
- [EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video](https://mlsanity.com/paper/2505.11709/) (2025)
- [Project Aria: A New Tool for Egocentric Multi-Modal AI Research](https://mlsanity.com/paper/2308.13561/) (2023)
- [mimic-video: Video-Action Models for Generalizable Robot Control Beyond VLAs](https://mlsanity.com/paper/2512.15692/) (2025)
- [DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos](https://mlsanity.com/paper/2602.06949/) (2026)
- [EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos](https://mlsanity.com/paper/2507.12440/) (2025)
- [EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data](https://mlsanity.com/paper/2602.16710/) (2026)
- [Scalable Vision-Language-Action Model Pretraining for Robotic Manipulation with Real-Life Human Activity Videos](https://mlsanity.com/paper/2510.21571/) (2025)
- [EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World](https://mlsanity.com/paper/2604.07607/) (2026)
- [UmeTrack: Unified multi-view end-to-end hand tracking for VR](https://mlsanity.com/paper/2211.00099/) (2022)
- [InternVLA-A1: Unifying Understanding, Generation and Action for Robotic Manipulation](https://mlsanity.com/paper/2601.02456/) (2026)
- [SAGE: Scalable Agentic 3D Scene Generation for Embodied AI](https://mlsanity.com/paper/2602.10116/) (2026)
- [Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Tracking](https://mlsanity.com/paper/2406.09598/) (2024)
- [Egocentric Whole-Body Motion Capture with FisheyeViT and Diffusion-Based Motion Refinement](https://mlsanity.com/paper/2311.16495/) (2023)
- [Harmony4D: A Video Dataset for In-The-Wild Close Human Interactions](https://mlsanity.com/paper/2410.20294/) (2024)
- [World Models for Learning Dexterous Hand-Object Interactions from Human Videos](https://mlsanity.com/paper/2512.13644/) (2025)
- [CLAP: Contrastive Latent Action Pretraining for Learning Vision-Language-Action Models from Human Videos](https://mlsanity.com/paper/2601.04061/) (2026)
- [HO-Cap: A Capture System and Dataset for 3D Reconstruction and Pose Tracking of Hand-Object Interaction](https://mlsanity.com/paper/2406.06843/) (2024)
- [EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration](https://mlsanity.com/paper/2602.10106/) (2026)
- [EgoLive: A Large-Scale Egocentric Dataset from Real-World Human Tasks](https://mlsanity.com/paper/2604.23570/) (2026)
- [HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations](https://mlsanity.com/paper/2603.03243/) (2026)
- [OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control](https://mlsanity.com/paper/2602.23843/) (2026)
- [HumanNet: Scaling Human-centric Video Learning to One Million Hours](https://mlsanity.com/paper/2605.06747/) (2026)
- [XRoboToolkit: A Cross-Platform Framework for Robot Teleoperation](https://mlsanity.com/paper/2508.00097/) (2025)
- [One Hand to Rule Them All: Canonical Representations for Unified Dexterous Manipulation](https://mlsanity.com/paper/2602.16712/) (2026)
- [ActiveGlasses: Learning Manipulation with Active Vision from Ego-centric Human Demonstration](https://mlsanity.com/paper/2604.08534/) (2026)
- [Aria Gen 2 Pilot Dataset](https://mlsanity.com/paper/2510.16134/) (2025)
- [Robot Learning from Human Videos: A Survey](https://mlsanity.com/paper/2604.27621/) (2026)
- [OmniStream: Mastering Perception, Reconstruction and Action in Continuous Streams](https://mlsanity.com/paper/2603.12265/) (2026)
- [Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation](https://mlsanity.com/paper/2605.00244/) (2026)

## Built on by (most cited first, 1 of 1)

- [From Seeing to Acting: Smart Glasses as First-Person Intelligence Platforms](https://mlsanity.com/paper/2608.24877/) (2026)

## 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/.