0:49
Operating washing machines
7 actions10 skillsMCAP 756 MB
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
0:49
Processing laundry and notes
7 actions11 skillsMCAP 800 MB
0:43
Sorting and folding clothes from basket
7 actions5 skillsMCAP 720 MB
0:50
Sorting clothes into baskets
7 actions17 skillsMCAP 796 MB
0:46
Loading and starting washing machine
7 actions6 skillsMCAP 693 MB
0:47
Hanging laundry on drying rack
7 actions15 skillsMCAP 835 MB
0:41
Unloading laundry from machines
7 actions6 skillsMCAP 638 MB
0:49
Removing bed linens
7 actions14 skillsMCAP 628 MB
0:45
Sorting and bagging clothes
7 actions15 skillsMCAP 763 MB
0:52
Operating washing machines
7 actions13 skillsMCAP 767 MB
0:33
Unloading washing machine and sorting clothes
7 actions11 skillsMCAP 534 MB
0:53
Folding and storing clothes
7 actions8 skillsMCAP 898 MB
0:56
Processing and organizing laundry
7 actions13 skillsMCAP 898 MB
0:37
Packing clothes into a bag
6 actions10 skillsMCAP 644 MB
0:42
Washing cloths in sinks
6 actions5 skillsMCAP 540 MB
0:42
Unloading, folding, and bagging laundry
6 actions12 skillsMCAP 702 MB
0:30
Labeling machines with sticky notes
6 actions11 skillsMCAP 510 MB
0:59
Unloading and folding laundry into storage
6 actions13 skillsMCAP 944 MB
0:53
Sorting laundry into basket
6 actions19 skillsMCAP 819 MB
0:41
Packing laundry into bag
6 actions20 skillsMCAP 665 MB
0:36
Adding detergent and setting second washing machine
6 actions10 skillsMCAP 569 MB
0:41
Sorting and folding laundry
6 actions6 skillsMCAP 687 MB
0:29
Inspecting and marking washing machines
6 actions8 skillsMCAP 468 MB
0:42
Loading and starting washing machine
6 actions16 skillsMCAP 610 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}}
}