1:35
Mopping floor with cleaning cart
12 actions13 skillsMCAP 1.4 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
1:11
Mopping hallway floor
12 actions5 skillsMCAP 1.0 GB
1:29
Mopping kitchen floor
12 actions17 skillsMCAP 1.4 GB
2:29
Mopping office hallway floor
12 actions7 skillsMCAP 2.5 GB
3:26
Mopping floor
12 actions6 skillsMCAP 3.0 GB
5:59
Mopping auditorium floor
12 actions8 skillsMCAP 6.9 GB
3:44
Mopping classroom floor
12 actions6 skillsMCAP 4.1 GB
2:26
Wiping room floor
12 actions4 skillsMCAP 1.4 GB
4:20
Mopping the floor
11 actions4 skillsMCAP 3.5 GB
2:17
Mopping bathroom floor
11 actions17 skillsMCAP 2.0 GB
1:17
Mopping floor
11 actions9 skillsMCAP 1.1 GB
1:14
Mopping office floor
11 actions6 skillsMCAP 1.0 GB
1:30
Mopping office floor
11 actions5 skillsMCAP 1.5 GB
1:27
Mopping room floor
11 actions2 skillsMCAP 1.4 GB
1:35
Mopping entrance floor
11 actions7 skillsMCAP 1.4 GB
4:02
Mopping hallway floor
11 actions14 skillsMCAP 3.4 GB
1:01
Mopping hallway floor
11 actions4 skillsMCAP 940 MB
1:25
Mopping floor with flat mop
11 actions4 skillsMCAP 1.4 GB
1:52
Mopping floor and walls
11 actions12 skillsMCAP 2.0 GB
1:29
Mopping floor
11 actions9 skillsMCAP 1.6 GB
1:42
Mopping floor
11 actions7 skillsMCAP 1.5 GB
2:18
Mopping bathroom floor
11 actions13 skillsMCAP 1.9 GB
2:43
Mopping tiled floor with string mop
11 actions12 skillsMCAP 2.2 GB
3:00
Mopping lecture hall floor
11 actions6 skillsMCAP 3.7 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}}
}