Walking with cleaning supplies
12 actions10 skillsMCAP 2.6 GB
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
790 clips
12 actions10 skillsMCAP 2.6 GB
12 actions5 skillsMCAP 2.8 GB
12 actions11 skillsMCAP 3.4 GB
12 actions20 skillsMCAP 1.5 GB
12 actions13 skillsMCAP 1.1 GB
11 actions11 skillsMCAP 1.1 GB
11 actions23 skillsMCAP 2.0 GB
11 actions8 skillsMCAP 959 MB
11 actions4 skillsMCAP 1.3 GB
11 actions11 skillsMCAP 1.2 GB
11 actions28 skillsMCAP 985 MB
11 actions19 skillsMCAP 1.8 GB
11 actions16 skillsMCAP 877 MB
10 actions11 skillsMCAP 1.3 GB
10 actions15 skillsMCAP 1.0 GB
10 actions20 skillsMCAP 1.0 GB
10 actions11 skillsMCAP 1.5 GB
10 actions11 skillsMCAP 1.3 GB
10 actions14 skillsMCAP 865 MB
10 actions8 skillsMCAP 1.3 GB
10 actions17 skillsMCAP 1.8 GB
10 actions16 skillsMCAP 1.2 GB
10 actions14 skillsMCAP 930 MB
10 actions20 skillsMCAP 1.2 GB
| 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 |
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.
pip install -U huggingface_hub
hf auth login
B=hf://buckets/humaidtech/EgoViz-120
hf buckets cp $B/index.parquet index.parquethf sync $B/data/preparing_cleaning_supplies ./preparing_cleaning_supplieshf sync $B/data ./egoviz --include "*.mp4" --include "*.json"@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}}
}