1:48
Peeling carrots and performing other tasks
10 actions14 skillsMCAP 1.9 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
4:00
Sealing and placing meat-filled dough onto tray
10 actions6 skillsMCAP 3.5 GB
3:40
Cutting potatoes into pieces
10 actions6 skillsMCAP 3.4 GB
1:19
Preparing egg for cooking
10 actions13 skillsMCAP 1.3 GB
0:56
Adding components to boiling meal
10 actions7 skillsMCAP 845 MB
1:34
Shaping dough on counter
10 actions6 skillsMCAP 1.2 GB
0:50
Rolling dough pieces with rolling pin
10 actions2 skillsMCAP 724 MB
2:05
Rolling and flattening dough pieces
9 actions8 skillsMCAP 1.7 GB
0:51
Preparing ingredients for serving
9 actions14 skillsMCAP 998 MB
1:23
Preparing salad in bowl
9 actions9 skillsMCAP 1.4 GB
1:17
Peeling and washing a boiled egg
9 actions3 skillsMCAP 1.5 GB
0:49
Preparing meal ingredients
9 actions10 skillsMCAP 780 MB
1:10
Adding meat filling to dough circles
9 actions10 skillsMCAP 981 MB
4:51
Chopping carrots
9 actions7 skillsMCAP 4.7 GB
2:46
Dicing potatoes on cutting board
9 actions11 skillsMCAP 2.7 GB
0:45
Mixing ingredients in a small cup
9 actions4 skillsMCAP 720 MB
0:46
Organizing kitchen items
9 actions15 skillsMCAP 879 MB
0:48
Preparing and arranging a dish
9 actions13 skillsMCAP 871 MB
1:29
Preparing and transferring chopped green herbs
8 actions19 skillsMCAP 1.3 GB
0:59
Preparing and storing green vegetable
8 actions16 skillsMCAP 908 MB
0:55
Preparing noodle bowl
8 actions8 skillsMCAP 916 MB
1:09
Preparing and chopping green onions
8 actions14 skillsMCAP 1.1 GB
12:00
Filling dough pieces with meat
8 actions7 skillsMCAP 10.1 GB
1:43
Making meat dumplings
8 actions6 skillsMCAP 1.5 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}}
}