5:45
Mopping classroom floor
35 actions9 skillsMCAP 5.6 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
6:12
Mopping hallway floor
35 actions18 skillsMCAP 6.2 GB
8:28
Mopping classroom floor
35 actions14 skillsMCAP 8.5 GB
5:48
Mopping the tiled floor
35 actions15 skillsMCAP 5.6 GB
6:39
Mopping floor
35 actions23 skillsMCAP 6.0 GB
4:21
Mopping lounge area floor
34 actions8 skillsMCAP 4.3 GB
6:54
Mopping classroom floor
34 actions16 skillsMCAP 7.2 GB
6:00
Mopping classroom floor
34 actions21 skillsMCAP 6.3 GB
5:16
Mopping bathroom floor
34 actions14 skillsMCAP 4.6 GB
4:02
Cleaning high ceiling/wall
34 actions37 skillsMCAP 4.5 GB
8:55
Mopping the floor
34 actions36 skillsMCAP 8.3 GB
4:24
Mopping lecture hall floor
34 actions32 skillsMCAP 4.4 GB
4:16
Mopping light-colored floor
34 actions26 skillsMCAP 3.9 GB
3:16
Mopping main hall floor
34 actions4 skillsMCAP 2.6 GB
4:44
Mopping the floor
34 actions21 skillsMCAP 4.6 GB
3:28
Mopping room floor
33 actions18 skillsMCAP 3.2 GB
3:43
Mopping floor
32 actions23 skillsMCAP 3.2 GB
3:20
Mopping office floor
32 actions15 skillsMCAP 3.2 GB
4:59
Mopping stairs and landing
32 actions24 skillsMCAP 4.4 GB
5:10
Mopping hallway floor
32 actions30 skillsMCAP 4.4 GB
3:55
Mopping classroom floor
32 actions7 skillsMCAP 3.9 GB
8:30
Mopping floor
32 actions18 skillsMCAP 6.8 GB
3:59
Mopping canteen floor
32 actions12 skillsMCAP 3.8 GB
4:47
Mopping floor
32 actions23 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}}
}