3:10
Mopping the floor
10 actions5 skillsMCAP 2.8 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
1:13
Mopping floor with flat mop
10 actions6 skillsMCAP 1.1 GB
1:36
Mopping reception area floor
10 actions11 skillsMCAP 1.5 GB
2:18
Mopping floor near window
10 actions12 skillsMCAP 1.8 GB
1:23
Mopping gymnasium floor edges
10 actions2 skillsMCAP 1.3 GB
3:00
Mopping the floor
10 actions9 skillsMCAP 2.5 GB
0:58
Mopping office floor
10 actions8 skillsMCAP 880 MB
1:14
Mopping restroom floor
10 actions4 skillsMCAP 992 MB
1:11
Mopping reception area floor
10 actions2 skillsMCAP 1.1 GB
2:18
Mopping bathroom floor
10 actions5 skillsMCAP 2.4 GB
1:15
Mopping the floor
10 actions8 skillsMCAP 1.1 GB
1:02
Mopping bathroom floor
10 actions9 skillsMCAP 826 MB
1:16
Mopping tiled floor
10 actions4 skillsMCAP 1.0 GB
1:15
Mopping cafe floor
10 actions1 skillMCAP 1.1 GB
2:03
Mopping reception area floor
10 actions6 skillsMCAP 1.9 GB
1:11
Mopping floor
10 actions10 skillsMCAP 1.1 GB
1:49
Mopping shower floor
10 actions6 skillsMCAP 1.6 GB
2:50
Mopping staircase floor
10 actions13 skillsMCAP 2.9 GB
1:47
Mopping hallway floor
10 actions12 skillsMCAP 1.5 GB
1:56
Mopping lecture hall floor
10 actions7 skillsMCAP 2.4 GB
3:50
Mopping lecture hall floor
10 actions12 skillsMCAP 4.3 GB
2:52
Mopping floor
10 actions10 skillsMCAP 2.5 GB
1:25
Mopping floor
10 actions6 skillsMCAP 1.4 GB
2:46
Mopping floor with flat mop
10 actions8 skillsMCAP 2.4 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}}
}