20:46
Sweeping and collecting debris from turf
162 actions4 skillsMCAP 25.2 GB
Sweeping floor
Sweeping floor clips from EgoViz-120, each with egocentric and wrist video, depth, IMU, hand pose and action labels in one MCAP.
159 clips3.4 hCC-BY-4.0
Clips
159 clips
6:44
Sweeping floor with brush
52 actions25 skillsMCAP 6.0 GB
5:05
Sweeping kitchen floor
40 actions1 skillMCAP 4.6 GB
8:29
Sweeping kitchen floor
36 actions15 skillsMCAP 7.9 GB
4:49
Sweeping floor with broom and dustpan
35 actions17 skillsMCAP 4.5 GB
9:00
Sweeping floor with dustpan
35 actions11 skillsMCAP 8.5 GB
3:40
Sweeping floor with brush and dustpan
34 actions17 skillsMCAP 3.3 GB
4:16
Sweeping floor with brush and dustpan
33 actions12 skillsMCAP 4.1 GB
3:24
Sweeping and collecting debris from floor
26 actions15 skillsMCAP 3.1 GB
3:37
Sweeping kitchen floor
25 actions8 skillsMCAP 3.6 GB
2:42
Rinsing concrete ground
19 actions11 skillsMCAP 4.2 GB
2:55
Rinsing concrete ground
19 actions11 skillsMCAP 4.7 GB
2:21
Sweeping the floor
15 actions15 skillsMCAP 2.2 GB
1:30
Sweeping and collecting debris from ground
15 actions7 skillsMCAP 1.6 GB
1:36
Sweeping and collecting debris from ground
15 actions6 skillsMCAP 1.7 GB
2:00
Vacuuming hotel room carpet
14 actions13 skillsMCAP 1.8 GB
1:46
Sweeping cafeteria floor
14 actions10 skillsMCAP 1.8 GB
4:22
Rinsing concrete ground
12 actions25 skillsMCAP 6.4 GB
3:30
Sweeping stairs with broom
12 actions3 skillsMCAP 3.3 GB
0:52
Sweeping office floor
11 actions8 skillsMCAP 671 MB
2:20
Sweeping office floor
11 actions6 skillsMCAP 2.2 GB
2:12
Performing general floor cleaning tasks
10 actions12 skillsMCAP 2.1 GB
1:15
Sweeping hallway floor
10 actions6 skillsMCAP 1.1 GB
1:33
Sweeping floor with broom and dustpan
10 actions11 skillsMCAP 1.4 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/sweeping_floor ./sweeping_floorPreviews 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}}
}