8:51
Mopping lecture hall floor
14 actions15 skillsMCAP 9.1 GB
Mopping floor
Mopping floor clips from EgoViz-120, each with egocentric and wrist video, depth, IMU, hand pose and action labels in one MCAP.
1,595 clips56.8 hCC-BY-4.0
Clips
1,595 clips
2:04
Mopping office floor
14 actions10 skillsMCAP 1.8 GB
3:01
Mopping hallway floor
14 actions7 skillsMCAP 2.8 GB
1:51
Mopping restroom floor
13 actions4 skillsMCAP 1.6 GB
2:31
Mopping room floor
13 actions14 skillsMCAP 2.3 GB
1:09
Cleaning lounge area floor
13 actions8 skillsMCAP 1.0 GB
1:36
Mopping stairs
13 actions14 skillsMCAP 1.4 GB
6:30
Mopping cafe floor
13 actions15 skillsMCAP 6.9 GB
2:00
Mopping floor
13 actions8 skillsMCAP 2.1 GB
1:35
Mopping stairs with flat mop
13 actions2 skillsMCAP 1.5 GB
2:15
Mopping cafeteria floor
13 actions14 skillsMCAP 1.8 GB
1:47
Wringing and reattaching mop head
13 actions27 skillsMCAP 1.6 GB
6:50
Mopping auditorium floor
13 actions6 skillsMCAP 7.1 GB
5:56
Mopping lecture hall floor
13 actions8 skillsMCAP 7.1 GB
4:16
Mopping floor and moving furniture
13 actions12 skillsMCAP 4.1 GB
2:51
Mopping white tiled floor
13 actions11 skillsMCAP 2.5 GB
1:30
Cleaning staircase and railings
13 actions11 skillsMCAP 1.3 GB
1:44
Mopping room floor
13 actions6 skillsMCAP 1.5 GB
1:55
Mopping upper wall and ceiling
13 actions15 skillsMCAP 1.7 GB
2:19
Mopping the hallway floor
13 actions10 skillsMCAP 2.0 GB
2:11
Mopping floor
13 actions17 skillsMCAP 1.9 GB
3:30
Mopping cafeteria floor
13 actions8 skillsMCAP 3.3 GB
1:50
Mopping hallway floor
13 actions2 skillsMCAP 1.8 GB
3:38
Mopping lecture hall floor
13 actions18 skillsMCAP 4.0 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/mopping_floor ./mopping_floorPreviews 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}}
}