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The CAD-60 and CAD-120 data sets comprise of RGB-D video sequences of humans performing activities which are recording using the Microsoft Kinect sensor. Being able to detect human activities is important for making personal assistant robots useful in performing assistive tasks. Our CAD dataset comprises twelve different activities (composed of several sub-activities) performed by four people in different environments, such as a kitchen, a living room, and office, etc. Tested on robots reactively responding to the detected activities.