1:33
Organizing and folding laundry
12 actions10 skillsMCAP 1.5 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
1:28
Operating laundry machines
12 actions23 skillsMCAP 1.5 GB
1:47
Cleaning dryer lint filters
11 actions12 skillsMCAP 1.7 GB
1:19
Packing folded laundry into bag
11 actions15 skillsMCAP 1.3 GB
1:09
Folding and organizing laundry items
11 actions12 skillsMCAP 1.1 GB
1:04
Folding and shelving laundry
11 actions7 skillsMCAP 1.1 GB
1:22
Transferring clothes from machines to basket
11 actions13 skillsMCAP 1.3 GB
0:48
Loading laundry into washing machines
10 actions21 skillsMCAP 721 MB
0:59
Adding detergent and starting washing machines
10 actions15 skillsMCAP 874 MB
1:11
Folding and packing clothes into bag
10 actions10 skillsMCAP 1.0 GB
1:29
Sorting items from bags
10 actions16 skillsMCAP 1.5 GB
1:22
Unloading and folding laundry
10 actions19 skillsMCAP 1.5 GB
1:11
Sorting and folding socks
10 actions14 skillsMCAP 1.2 GB
1:09
Preparing and sorting laundry items
9 actions11 skillsMCAP 1.0 GB
1:12
Processing laundry
9 actions20 skillsMCAP 1.1 GB
0:53
Loading laundry and starting washing machine
9 actions16 skillsMCAP 778 MB
0:59
Sorting and organizing laundry
8 actions10 skillsMCAP 951 MB
1:07
Sorting and loading laundry into machines
8 actions10 skillsMCAP 1.1 GB
0:59
Preparing laundry with detergent and bag
8 actions11 skillsMCAP 888 MB
1:03
Folding laundry and placing on shelf
8 actions13 skillsMCAP 960 MB
0:58
Loading and unloading laundry
8 actions11 skillsMCAP 952 MB
0:52
Folding and sorting clothes
8 actions6 skillsMCAP 853 MB
0:49
Transferring clothes to dryer and setting cycle
8 actions16 skillsMCAP 693 MB
0:40
Sorting clothes into bag
8 actions17 skillsMCAP 648 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/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}}
}