4:08
Mopping the room floor
23 actions13 skillsMCAP 3.8 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
6:48
Mopping classroom floor
23 actions10 skillsMCAP 6.5 GB
6:10
Mopping floor with mop
23 actions6 skillsMCAP 6.1 GB
5:04
Mopping cafeteria floor
23 actions22 skillsMCAP 5.4 GB
4:30
Cleaning floor with mop
23 actions18 skillsMCAP 3.9 GB
2:17
Mopping tiled floor
23 actions10 skillsMCAP 2.0 GB
4:12
Mopping office floor
23 actions26 skillsMCAP 3.5 GB
6:18
Mopping lecture hall floor
22 actions17 skillsMCAP 6.3 GB
4:56
Mopping entrance floor
22 actions16 skillsMCAP 5.2 GB
4:54
Mopping office floor
22 actions16 skillsMCAP 3.9 GB
4:12
Mopping cafeteria floor
22 actions18 skillsMCAP 4.2 GB
3:36
Mopping floor
22 actions16 skillsMCAP 3.2 GB
4:30
Mopping lecture hall floor
22 actions11 skillsMCAP 4.4 GB
5:34
Mopping office floor
22 actions16 skillsMCAP 5.1 GB
7:43
Mopping lecture hall floor
22 actions9 skillsMCAP 8.6 GB
2:53
Mopping the floor
22 actions18 skillsMCAP 2.7 GB
4:15
Mopping floor
22 actions15 skillsMCAP 4.3 GB
4:43
Mopping cafeteria floor
22 actions20 skillsMCAP 4.5 GB
2:08
Mopping restroom floor
22 actions5 skillsMCAP 1.8 GB
4:10
Mopping floor
22 actions21 skillsMCAP 3.7 GB
2:58
Mopping stairwell floor
22 actions3 skillsMCAP 2.8 GB
4:13
Mopping tiled floor
22 actions10 skillsMCAP 4.0 GB
4:30
Mopping hallway floor
21 actions18 skillsMCAP 4.0 GB
2:00
Mopping the floor
21 actions4 skillsMCAP 2.1 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}}
}