5:21
Folding and organizing laundry
47 actions40 skillsMCAP 5.4 GB
Managing laundry
Managing laundry clips from EgoViz-120, each with egocentric and wrist video, depth, IMU, hand pose and action labels in one MCAP.
210 clips2.5 hCC-BY-4.0
Clips
210 clips
2:07
Folding and storing clothes
25 actions30 skillsMCAP 2.0 GB
3:01
Sorting clothes from laundry basket
24 actions20 skillsMCAP 3.0 GB
2:54
Sorting and folding laundry
24 actions22 skillsMCAP 2.9 GB
2:24
Operating laundry machines
21 actions23 skillsMCAP 2.3 GB
2:23
Sorting and bagging clothes
20 actions27 skillsMCAP 2.5 GB
2:16
Folding and organizing linens
20 actions22 skillsMCAP 2.2 GB
1:54
Folding and organizing laundry items
18 actions31 skillsMCAP 1.7 GB
1:29
Folding and storing clothes
17 actions17 skillsMCAP 1.4 GB
1:42
Hanging clothes to dry
17 actions6 skillsMCAP 1.7 GB
1:39
Making bed with linens
16 actions20 skillsMCAP 1.4 GB
1:21
Unloading laundry from dryer
15 actions21 skillsMCAP 1.3 GB
1:46
Sorting laundry into basket
15 actions20 skillsMCAP 1.8 GB
1:30
Folding and sorting laundry
15 actions9 skillsMCAP 1.5 GB
1:48
Folding and sorting laundry items
14 actions14 skillsMCAP 1.7 GB
1:22
Processing and organizing laundry
14 actions20 skillsMCAP 1.4 GB
1:18
Folding and packing laundry
14 actions17 skillsMCAP 1.2 GB
1:15
Processing laundry
13 actions14 skillsMCAP 1.1 GB
1:30
Processing and organizing laundry
13 actions19 skillsMCAP 1.6 GB
1:22
Folding and storing laundry
12 actions17 skillsMCAP 1.3 GB
1:12
Folding and stacking laundry
12 actions11 skillsMCAP 1.2 GB
1:20
Sorting and packing laundry into bags
12 actions10 skillsMCAP 1.3 GB
1:29
Folding and placing clothes on shelf
12 actions6 skillsMCAP 1.4 GB
1:21
Operating laundry machines
12 actions16 skillsMCAP 1.2 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/managing_laundry ./managing_laundryPreviews 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}}
}