3:25
Emptying and replacing trash bags
32 actions24 skillsMCAP 3.4 GB
Managing trash
Managing trash clips from EgoViz-120, each with egocentric and wrist video, depth, IMU, hand pose and action labels in one MCAP.
208 clips2.2 hCC-BY-4.0
Clips
208 clips
2:47
Collecting trash from toilet stalls
24 actions25 skillsMCAP 2.5 GB
2:23
Emptying trash bins
22 actions22 skillsMCAP 2.3 GB
2:11
Collecting and sorting food waste
21 actions31 skillsMCAP 2.1 GB
2:24
Emptying trash bins
20 actions10 skillsMCAP 2.5 GB
1:52
Changing trash bags in restrooms
20 actions21 skillsMCAP 1.6 GB
2:15
Emptying and relining trash bins
20 actions23 skillsMCAP 1.9 GB
1:45
Transporting trash and items
17 actions9 skillsMCAP 1.8 GB
1:19
Breaking down cardboard boxes
14 actions20 skillsMCAP 1.3 GB
1:31
Servicing public restroom bins
13 actions15 skillsMCAP 1.5 GB
1:19
Replacing trash bags in bins
12 actions17 skillsMCAP 1.1 GB
1:12
Collecting trash from bins
12 actions16 skillsMCAP 948 MB
1:25
Picking up trash from classroom
12 actions11 skillsMCAP 1.7 GB
1:29
Collecting trash and bagging it
11 actions21 skillsMCAP 1.3 GB
1:02
Emptying restroom trash bins
10 actions8 skillsMCAP 882 MB
1:05
Changing trash bags in restroom bins
10 actions23 skillsMCAP 869 MB
1:00
Collecting trash and replacing supplies
10 actions7 skillsMCAP 900 MB
1:13
Collecting trash from desks
10 actions10 skillsMCAP 1.5 GB
1:29
Collecting trash
9 actions9 skillsMCAP 1.3 GB
1:30
Servicing trash bins in toilet stalls
9 actions10 skillsMCAP 1.3 GB
0:58
Collecting trash from room
9 actions11 skillsMCAP 852 MB
1:05
Cleaning and disposing reusable items
9 actions17 skillsMCAP 789 MB
1:01
Cleaning outdoor trash bin
9 actions16 skillsMCAP 1.1 GB
0:56
Emptying and lining restroom trash bins
9 actions8 skillsMCAP 821 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_trash ./managing_trashPreviews 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}}
}