1:02
Organizing ingredients in refrigerator
11 actions13 skillsMCAP 1.0 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
1:26
Transporting and distributing bedding with cart
10 actions20 skillsMCAP 1.3 GB
1:08
Organizing paper towel supplies
10 actions13 skillsMCAP 958 MB
1:51
Stacking metal stools
10 actions4 skillsMCAP 1.7 GB
0:48
Organizing clothes on rack
10 actions16 skillsMCAP 774 MB
1:08
Washing and storing broom and dustpan
10 actions17 skillsMCAP 1.0 GB
0:51
Folding Lecture Hall Desks
10 actions6 skillsMCAP 890 MB
0:58
Lifting chairs onto tables
9 actions6 skillsMCAP 838 MB
1:12
Storing Towels
9 actions15 skillsMCAP 1.1 GB
1:04
Clearing items from tables
9 actions10 skillsMCAP 888 MB
1:03
Arranging chairs in the room
9 actions19 skillsMCAP 983 MB
1:06
Arranging chairs and tabletops
9 actions15 skillsMCAP 1.0 GB
1:12
Closing lecture hall desks
9 actions12 skillsMCAP 1.6 GB
0:48
Folding down desk surfaces
9 actions7 skillsMCAP 777 MB
1:24
Pushing luggage cart
9 actions6 skillsMCAP 1.7 GB
1:00
Stocking cleaning supplies on shelves
9 actions15 skillsMCAP 946 MB
0:48
Transporting quilt with cart
9 actions14 skillsMCAP 747 MB
1:12
Folding down lecture hall desks
9 actions8 skillsMCAP 1.6 GB
0:56
Organizing auditorium chairs and desks
9 actions8 skillsMCAP 1.3 GB
0:53
Preparing lecture hall
9 actions10 skillsMCAP 1.1 GB
1:12
Stocking paper towels
9 actions18 skillsMCAP 1.1 GB
1:02
Arranging chairs in room
8 actions7 skillsMCAP 1.1 GB
0:45
Arranging chairs in room
8 actions11 skillsMCAP 740 MB
0:58
Refilling paper towel dispensers
8 actions16 skillsMCAP 691 MB
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}}
}