1:30
Cleaning gym walls and windows
12 actions12 skillsMCAP 1.4 GB
Cleaning windows
Cleaning windows clips from EgoViz-120, each with egocentric and wrist video, depth, IMU, hand pose and action labels in one MCAP.
172 clips4.3 hCC-BY-4.0
Clips
172 clips
1:09
Cleaning large window frame
12 actions6 skillsMCAP 1.5 GB
0:58
Cleaning glass
12 actions25 skillsMCAP 982 MB
1:30
Wiping windows with cloth
12 actions10 skillsMCAP 1.5 GB
1:18
Wiping large windows
11 actions16 skillsMCAP 2.1 GB
1:30
Cleaning window
11 actions17 skillsMCAP 1.3 GB
1:15
Cleaning window frames and sills
10 actions11 skillsMCAP 1.3 GB
1:11
Cleaning glass panels with squeegee
10 actions10 skillsMCAP 1.2 GB
1:06
Wiping glass panels
10 actions5 skillsMCAP 1.0 GB
0:50
Wiping glass frames with cloth
10 actions15 skillsMCAP 717 MB
1:30
Dusting glass entrance doors and frames
9 actions8 skillsMCAP 1.9 GB
0:50
Cleaning windows and frames
8 actions10 skillsMCAP 862 MB
1:24
Scrubbing glass door with pole scrubber
8 actions8 skillsMCAP 1.7 GB
0:40
Wiping window frame and glass
8 actions5 skillsMCAP 926 MB
0:44
Wiping window frames and glass
8 actions8 skillsMCAP 767 MB
2:15
Cleaning glass panels with squeegee
8 actions6 skillsMCAP 2.6 GB
0:48
Cleaning windows and frames
8 actions8 skillsMCAP 851 MB
0:48
Cleaning building windows
8 actions6 skillsMCAP 1.0 GB
0:37
Cleaning large windows and frames
7 actions10 skillsMCAP 614 MB
0:44
Cleaning window frame
7 actions9 skillsMCAP 779 MB
1:39
Cleaning glass door with squeegee
7 actions3 skillsMCAP 1.6 GB
0:52
Wiping window glass
7 actions6 skillsMCAP 802 MB
0:40
Wiping window frames with cloth
7 actions12 skillsMCAP 574 MB
0:49
Cleaning glass doors and frames
7 actions9 skillsMCAP 892 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_windows ./cleaning_windowsPreviews 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}}
}