0:25
Preparing mop for floor cleaning
4 actions9 skillsMCAP 377 MB
Preparing cleaning supplies
Preparing cleaning supplies clips from EgoViz-120, each with egocentric and wrist video, depth, IMU, hand pose and action labels in one MCAP.
790 clips8.5 hCC-BY-4.0
Clips
790 clips
0:40
Wringing cleaning cloth
4 actions5 skillsMCAP 564 MB
0:31
Preparing cleaning cart
4 actions7 skillsMCAP 506 MB
0:26
Pouring water into floor drain
4 actions8 skillsMCAP 425 MB
0:18
Rinsing and wringing mop head
4 actions9 skillsMCAP 286 MB
0:27
Folding up classroom desks
4 actions4 skillsMCAP 600 MB
0:36
Preparing mop for cleaning
4 actions11 skillsMCAP 567 MB
0:25
Preparing cleaning tools
4 actions4 skillsMCAP 330 MB
0:26
Wringing cleaning cloth
4 actions9 skillsMCAP 388 MB
0:17
Changing mop head on cleaning cart
4 actions6 skillsMCAP 283 MB
0:17
Preparing cleaning solution
4 actions7 skillsMCAP 274 MB
0:28
Moving cleaning cart
4 actions3 skillsMCAP 463 MB
0:28
Preparing cleaning solution in bucket
4 actions11 skillsMCAP 445 MB
0:24
Preparing to mop floor
4 actions6 skillsMCAP 383 MB
0:30
Setting up cleaning cart
4 actions9 skillsMCAP 463 MB
0:31
Rinsing cloth under faucet
4 actions9 skillsMCAP 489 MB
0:39
Organizing cleaning cart and preparing bin
4 actions13 skillsMCAP 607 MB
0:17
Cleaning mop head
4 actions8 skillsMCAP 296 MB
0:33
Preparing mop for cleaning
4 actions8 skillsMCAP 467 MB
0:32
Preparing cleaning solution and cloth
4 actions10 skillsMCAP 523 MB
0:16
Organizing cleaning cart
4 actions4 skillsMCAP 283 MB
0:39
Preparing cleaning equipment
4 actions9 skillsMCAP 651 MB
0:24
Preparing mop for cleaning
4 actions10 skillsMCAP 385 MB
0:58
Cleaning dustpan and sponges
4 actions6 skillsMCAP 754 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/preparing_cleaning_supplies ./preparing_cleaning_suppliesPreviews 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}}
}