1:30
Wiping bathroom countertop
13 actions10 skillsMCAP 882 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
1:34
Cleaning bathroom sink
13 actions14 skillsMCAP 1.2 GB
2:35
Cleaning bathroom sink and countertop
12 actions9 skillsMCAP 1.8 GB
1:35
Cleaning bathroom sinks and countertop
12 actions14 skillsMCAP 1.1 GB
1:26
Cleaning toilet
12 actions11 skillsMCAP 1.1 GB
1:24
Wiping sinks and counters
12 actions6 skillsMCAP 1.1 GB
1:45
Wiping bathroom sink and counter
12 actions9 skillsMCAP 1.3 GB
1:23
Cleaning toilet
12 actions13 skillsMCAP 1.0 GB
1:06
Cleaning bathroom sinks and countertops
12 actions5 skillsMCAP 679 MB
1:15
Wiping surfaces in toilet area
12 actions18 skillsMCAP 973 MB
1:50
Cleaning bathroom sink and counter
12 actions13 skillsMCAP 1.4 GB
1:20
Wiping toilet exterior and seat
12 actions14 skillsMCAP 914 MB
1:28
Cleaning public restroom facilities
11 actions9 skillsMCAP 1.2 GB
1:41
Mopping restroom floor
11 actions5 skillsMCAP 1.3 GB
1:33
Wiping bathroom surfaces
11 actions4 skillsMCAP 1.1 GB
1:18
Cleaning public toilets
11 actions9 skillsMCAP 975 MB
1:30
Cleaning restroom
11 actions11 skillsMCAP 1.3 GB
1:04
Cleaning toilet stalls
11 actions13 skillsMCAP 823 MB
1:11
Cleaning bathroom sink
11 actions7 skillsMCAP 877 MB
1:30
Cleaning toilet bowl and seat
11 actions4 skillsMCAP 1.1 GB
1:35
Cleaning bathroom sinks and counter
11 actions6 skillsMCAP 1.1 GB
1:05
Wiping mirrors
11 actions15 skillsMCAP 881 MB
0:52
Cleaning toilet stalls
10 actions12 skillsMCAP 760 MB
1:23
Wiping restroom fixtures
10 actions7 skillsMCAP 1.1 GB
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}}
}