0:29
Applying cleaning solution to bathroom fixtures
3 actions6 skillsMCAP 382 MB
Cleaning restroom
Cleaning restroom clips from EgoViz-120, each with egocentric and wrist video, depth, IMU, hand pose and action labels in one MCAP.
332 clips5.7 hCC-BY-4.0
Clips
332 clips
0:31
Cleaning restroom stalls
3 actions11 skillsMCAP 400 MB
0:23
Cleaning toilet bowls
3 actions5 skillsMCAP 334 MB
0:44
Cleaning toilet bowl
3 actions9 skillsMCAP 670 MB
0:16
Cleaning bathroom fixtures
3 actions4 skillsMCAP 200 MB
0:24
Cleaning restroom fixtures and tools
3 actions10 skillsMCAP 370 MB
0:24
Cleaning toilet and surrounding area
2 actions4 skillsMCAP 297 MB
0:21
Cleaning restroom sinks
2 actions6 skillsMCAP 209 MB
0:40
Cleaning bathroom mirrors and dispensers
2 actions2 skillsMCAP 574 MB
0:25
Wiping bathroom surfaces
2 actions5 skillsMCAP 423 MB
0:16
Cleaning toilet bowl
2 actions6 skillsMCAP 196 MB
0:22
Applying cleaner to toilet and floor
2 actions6 skillsMCAP 298 MB
0:18
Cleaning toilet
2 actions4 skillsMCAP 172 MB
0:28
Cleaning and emptying toilet stalls
2 actions6 skillsMCAP 396 MB
0:33
Cleaning shower door
2 actions3 skillsMCAP 391 MB
0:23
Cleaning toilet
2 actions4 skillsMCAP 250 MB
0:15
Cleaning restroom toilet
2 actions5 skillsMCAP 187 MB
0:16
Wiping down urinals
2 actions3 skillsMCAP 217 MB
0:16
Cleaning urinal interior
2 actions1 skillMCAP 165 MB
0:20
Cleaning toilet bowl
2 actions4 skillsMCAP 269 MB
0:22
Cleaning toilet
2 actions5 skillsMCAP 312 MB
0:35
Wiping bathroom counters and sinks
2 actions4 skillsMCAP 396 MB
0:15
Cleaning toilet bowl and seat
2 actions4 skillsMCAP 199 MB
0:17
Cleaning sink and faucet
2 actions2 skillsMCAP 193 MB
In every MCAP
23 channels · one clock · ROS 2| Topic | Schema | Rate |
|---|---|---|
| /action | tad_msgs/msg/ActionPhase | 30 Hz |
| /ego/zed_head/depth/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /ego/zed_head/depth/image/compressed | sensor_msgs/msg/CompressedImage | 30 Hz |
| /ego/zed_head/imu/data | sensor_msgs/msg/Imu | 199.8 Hz |
| /ego/zed_head/left/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /ego/zed_head/left/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /ego/zed_head/odom | nav_msgs/msg/Odometry | 30 Hz |
| /ego/zed_head/right/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /ego/zed_head/right/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /hands/left/detected | std_msgs/msg/Bool | 30 Hz |
| /hands/left/keypoints | visualization_msgs/msg/MarkerArray | 30 Hz |
| /hands/left/odom | nav_msgs/msg/Odometry | 30 Hz |
| /hands/right/detected | std_msgs/msg/Bool | 30 Hz |
| /hands/right/keypoints | visualization_msgs/msg/MarkerArray | 30 Hz |
| /hands/right/odom | nav_msgs/msg/Odometry | 30 Hz |
| /tf | tf2_msgs/msg/TFMessage | 30 Hz |
| /tf_static | tf2_msgs/msg/TFMessage | 2.9 Hz |
| /wrist_left/image/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /wrist_left/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /wrist_left/imu/data | sensor_msgs/msg/Imu | 199.4 Hz |
| /wrist_right/image/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /wrist_right/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /wrist_right/imu/data | sensor_msgs/msg/Imu | 200 Hz |
Get the data
EgoViz-120 is 7.3 TB, served from a public Hugging Face Storage Bucket. Start with the index: one row per clip with category, title, skills, objects and paths, before you download any video.
Install and index
pip install -U huggingface_hub
hf auth login
B=hf://buckets/humaidtech/EgoViz-120
hf buckets cp $B/index.parquet index.parquetThis category
hf sync $B/data/cleaning_restroom ./cleaning_restroomPreviews and metadata only
hf sync $B/data ./egoviz --include "*.mp4" --include "*.json"Cite
@misc{egoviz120_2026,
title = {EgoViz-120: 120 Hours of Synchronized Real-World Egocentric Data},
author = {Humaid Tech Inc.},
year = {2026},
publisher = {Hugging Face},
howpublished = {\url{https://huggingface.co/datasets/humaidtech/EgoViz-120}}
}