5:29
Mopping hallway floor
26 actions14 skillsMCAP 5.3 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
4:59
Mopping gym floor and wall
25 actions17 skillsMCAP 4.5 GB
3:19
Mopping the floor
25 actions14 skillsMCAP 2.9 GB
2:45
Mopping office floor
25 actions12 skillsMCAP 2.3 GB
3:49
Mopping office floor
25 actions13 skillsMCAP 3.7 GB
4:20
Mopping the floor
25 actions3 skillsMCAP 3.6 GB
3:37
Mopping office floor
25 actions13 skillsMCAP 3.1 GB
5:35
Mopping the floor
25 actions12 skillsMCAP 5.8 GB
4:23
Mopping gymnasium floor
25 actions18 skillsMCAP 4.5 GB
6:14
Mopping building floor
25 actions5 skillsMCAP 6.3 GB
3:06
Mopping floor with string mop
25 actions14 skillsMCAP 2.8 GB
2:56
Mopping hallway floor
25 actions11 skillsMCAP 2.8 GB
2:04
Mopping floor
25 actions4 skillsMCAP 2.1 GB
6:00
Mopping auditorium floor
24 actions15 skillsMCAP 5.7 GB
2:47
Mopping floor
24 actions16 skillsMCAP 2.3 GB
2:27
Mopping entrance floor
24 actions9 skillsMCAP 2.5 GB
3:00
Mopping tiled floor
24 actions7 skillsMCAP 2.6 GB
3:51
Mopping lecture hall floor
24 actions29 skillsMCAP 4.4 GB
2:11
Mopping gym floor
24 actions9 skillsMCAP 2.0 GB
3:50
Mopping lecture hall floor
24 actions3 skillsMCAP 4.6 GB
2:49
Mopping office floor
24 actions15 skillsMCAP 2.7 GB
2:52
Mopping building stairs
24 actions15 skillsMCAP 2.9 GB
6:30
Mopping the floor
24 actions11 skillsMCAP 6.1 GB
5:30
Mopping floor
23 actions9 skillsMCAP 4.9 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}}
}