2:09
Wiping outdoor structures with cloth
24 actions14 skillsMCAP 2.6 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
2:20
Wiping chairs and desk surfaces
23 actions12 skillsMCAP 2.2 GB
2:23
Wiping various surfaces in the room
23 actions9 skillsMCAP 2.0 GB
2:25
Cleaning restroom sinks and counter
23 actions19 skillsMCAP 1.8 GB
2:48
Cleaning white cabinet/wall
23 actions8 skillsMCAP 2.0 GB
2:41
Cleaning glass partition
22 actions9 skillsMCAP 2.4 GB
2:58
Wiping whiteboard
22 actions10 skillsMCAP 2.5 GB
2:23
Wiping surfaces in room
22 actions5 skillsMCAP 2.0 GB
2:27
Cleaning glass partition
22 actions15 skillsMCAP 2.2 GB
2:47
Cleaning metal railing
22 actions4 skillsMCAP 2.5 GB
3:37
Cleaning kitchen surfaces
22 actions12 skillsMCAP 3.0 GB
2:45
Cleaning building model
22 actions12 skillsMCAP 2.3 GB
2:17
Scrubbing bathroom surfaces
22 actions6 skillsMCAP 1.9 GB
1:51
Wiping various surfaces in hallway and office
21 actions15 skillsMCAP 1.6 GB
2:26
Wiping whiteboard
21 actions10 skillsMCAP 1.8 GB
5:27
Cleaning whiteboard
21 actions14 skillsMCAP 3.9 GB
2:50
Wiping office furniture and equipment
21 actions17 skillsMCAP 2.6 GB
2:06
Cleaning whiteboard and tracks
21 actions8 skillsMCAP 1.5 GB
2:07
Wiping locker interiors
21 actions19 skillsMCAP 1.6 GB
2:24
Wiping office surfaces
21 actions23 skillsMCAP 2.1 GB
2:36
Wiping ceiling vents
20 actions10 skillsMCAP 3.6 GB
2:20
Cleaning chairs
20 actions13 skillsMCAP 2.7 GB
2:31
Wiping window frame
20 actions13 skillsMCAP 2.2 GB
2:07
Wiping elevator interior
20 actions14 skillsMCAP 2.0 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}}
}