8:37
Wiping conference room tables and chairs
75 actions27 skillsMCAP 8.9 GB
Wiping surfaces
Wiping surfaces clips from EgoViz-120, each with egocentric and wrist video, depth, IMU, hand pose and action labels in one MCAP.
777 clips14.7 hCC-BY-4.0
Clips
777 clips
7:58
Washing potted plants
73 actions33 skillsMCAP 8.2 GB
8:35
Cleaning glass window with squeegee
69 actions34 skillsMCAP 10.0 GB
6:03
Wiping office desk surface
64 actions17 skillsMCAP 5.5 GB
5:30
Wiping outdoor table frame
48 actions24 skillsMCAP 7.5 GB
5:35
Cleaning gym equipment
46 actions11 skillsMCAP 6.9 GB
4:10
Wiping table structure
44 actions29 skillsMCAP 6.0 GB
5:30
Cleaning table surface
44 actions13 skillsMCAP 4.8 GB
4:40
Wiping outdoor table frame
43 actions20 skillsMCAP 6.5 GB
3:45
Wiping window frame
43 actions32 skillsMCAP 3.5 GB
4:41
Wiping window frames
42 actions12 skillsMCAP 4.9 GB
4:30
Filling bucket and wiping window frames
42 actions22 skillsMCAP 4.5 GB
3:34
Cleaning office room
40 actions34 skillsMCAP 3.4 GB
4:39
Scrubbing underside of stairs
40 actions13 skillsMCAP 4.2 GB
8:10
Wiping glass partition
39 actions24 skillsMCAP 8.2 GB
5:19
Wiping staircase handrail
39 actions13 skillsMCAP 5.0 GB
4:25
Wiping conference room chairs
38 actions19 skillsMCAP 4.0 GB
3:41
Cleaning various surfaces
35 actions14 skillsMCAP 3.5 GB
4:27
Wiping conference room chairs
34 actions15 skillsMCAP 4.2 GB
3:30
Wiping office desks
33 actions13 skillsMCAP 3.0 GB
4:19
Wiping metal and glass railings
33 actions7 skillsMCAP 4.8 GB
3:38
Wiping window frames
32 actions10 skillsMCAP 4.9 GB
3:50
Cleaning various surfaces and objects
32 actions13 skillsMCAP 3.4 GB
3:29
Wiping stretcher frame
30 actions12 skillsMCAP 3.9 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/wiping_surfaces ./wiping_surfacesPreviews 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}}
}