11:07
Pulling room curtains
93 actions40 skillsMCAP 7.9 GB
Organizing items
Organizing items clips from EgoViz-120, each with egocentric and wrist video, depth, IMU, hand pose and action labels in one MCAP.
279 clips3.8 hCC-BY-4.0
Clips
279 clips
3:52
Adjusting room curtains
32 actions20 skillsMCAP 3.1 GB
3:29
Cleaning and organizing lockers
31 actions19 skillsMCAP 2.8 GB
2:22
Folding desks in lecture hall
27 actions14 skillsMCAP 2.9 GB
2:26
Organizing and cleaning workspace
24 actions24 skillsMCAP 2.0 GB
2:37
Arranging classroom furniture
22 actions26 skillsMCAP 3.2 GB
1:59
Organizing lecture hall desks
21 actions19 skillsMCAP 2.3 GB
2:05
Folding down classroom desks
21 actions10 skillsMCAP 2.5 GB
2:23
Folding down desks in lecture hall
21 actions39 skillsMCAP 2.7 GB
1:52
Folding up lecture hall desks
20 actions7 skillsMCAP 2.5 GB
2:20
Adjusting lecture hall desks
19 actions23 skillsMCAP 2.9 GB
2:27
Organizing classroom furniture and items
19 actions11 skillsMCAP 2.3 GB
1:55
Sorting items from boxes
19 actions23 skillsMCAP 1.7 GB
1:53
Arranging blue chairs
19 actions19 skillsMCAP 1.8 GB
1:48
Folding desks in auditorium
19 actions10 skillsMCAP 2.0 GB
1:41
Moving chairs to clear floor
18 actions9 skillsMCAP 1.7 GB
1:33
Adjusting lecture hall chairs
18 actions19 skillsMCAP 2.1 GB
1:42
Lowering auditorium desks
18 actions3 skillsMCAP 2.0 GB
2:00
Organizing classroom desks
17 actions28 skillsMCAP 1.9 GB
2:02
Cleaning and organizing kitchen cabinet
17 actions14 skillsMCAP 2.0 GB
1:33
Cleaning and organizing medical room
16 actions14 skillsMCAP 1.3 GB
1:32
Sorting and packing various items
16 actions17 skillsMCAP 1.5 GB
1:22
Folding office chairs
16 actions11 skillsMCAP 1.5 GB
2:04
Organizing classroom desks
15 actions21 skillsMCAP 2.7 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/organizing_items ./organizing_itemsPreviews 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}}
}