1:26
Preparing and coating bread with sauce
12 actions9 skillsMCAP 1.4 GB
Preparing food
Preparing food clips from EgoViz-120, each with egocentric and wrist video, depth, IMU, hand pose and action labels in one MCAP.
541 clips13.4 hCC-BY-4.0
Clips
541 clips
1:11
Preparing a full meal on plate
12 actions26 skillsMCAP 1.1 GB
1:17
Serving food into bowl
11 actions15 skillsMCAP 1.4 GB
2:23
Preparing instant noodles
11 actions16 skillsMCAP 2.4 GB
1:24
Slicing green peppers
11 actions12 skillsMCAP 1.5 GB
1:51
Assembling hot dog sandwich
11 actions10 skillsMCAP 2.0 GB
1:05
Organizing kitchen items
11 actions18 skillsMCAP 1.1 GB
1:08
Assembling noodle bowls with garnishes
11 actions8 skillsMCAP 1.2 GB
1:08
Adding water to stove and seasoning meal with spices
11 actions11 skillsMCAP 1.1 GB
1:03
Transferring rice from dish to another dish
11 actions15 skillsMCAP 1.1 GB
1:02
Shaping dough on counter
11 actions13 skillsMCAP 799 MB
6:10
Cutting meat on board
11 actions2 skillsMCAP 6.2 GB
1:34
Slicing cooked chicken on cutting board
11 actions17 skillsMCAP 1.5 GB
1:11
Retrieving ingredients from refrigerators
11 actions14 skillsMCAP 1.2 GB
1:07
Preparing dumplings in a pot
11 actions10 skillsMCAP 1.1 GB
1:38
Chopping bell peppers on cutting board
11 actions21 skillsMCAP 1.6 GB
1:33
Chopping carrots on board
11 actions17 skillsMCAP 1.7 GB
1:02
Plating food onto a dish
10 actions12 skillsMCAP 1.1 GB
1:09
Cutting potatoes into pieces
10 actions5 skillsMCAP 1.1 GB
2:42
Chopping Potatoes
10 actions13 skillsMCAP 2.6 GB
0:53
Stirring meal and taking fried potatoes from oil
10 actions11 skillsMCAP 976 MB
1:30
Preparing bottle at sink
10 actions15 skillsMCAP 1.3 GB
0:49
Plating food
10 actions10 skillsMCAP 737 MB
1:39
Cooking meal and garnishing before serving
10 actions15 skillsMCAP 1.9 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/preparing_food ./preparing_foodPreviews 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}}
}