2:27
Cleaning whiteboard
17 actions12 skillsMCAP 1.7 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
1:45
Wiping table structure
17 actions10 skillsMCAP 2.0 GB
1:25
Wiping wooden table
17 actions11 skillsMCAP 1.1 GB
2:14
Wiping kitchen countertop
17 actions9 skillsMCAP 2.3 GB
1:40
Wiping furniture and surfaces
16 actions12 skillsMCAP 1.4 GB
2:11
Wiping outdoor tables
16 actions14 skillsMCAP 2.8 GB
3:17
Cleaning whiteboard
16 actions6 skillsMCAP 2.3 GB
1:18
Cleaning lockers with mop
16 actions24 skillsMCAP 986 MB
4:04
Wiping cooking surface
16 actions8 skillsMCAP 4.0 GB
2:26
Wiping various surfaces
16 actions8 skillsMCAP 2.1 GB
1:52
Wiping elevator interior
16 actions6 skillsMCAP 1.6 GB
2:38
Cleaning bathroom sinks and countertop
16 actions15 skillsMCAP 1.8 GB
1:52
Wiping elevator interior surfaces
16 actions9 skillsMCAP 1.6 GB
1:23
Wiping black cabinets and partitions
15 actions9 skillsMCAP 1.6 GB
1:33
Wiping whiteboard
15 actions9 skillsMCAP 1.2 GB
1:50
Cleaning table surface
15 actions7 skillsMCAP 1.5 GB
1:20
Wiping stair handrails
15 actions6 skillsMCAP 1.3 GB
2:00
Wiping glass railings
15 actions8 skillsMCAP 2.0 GB
1:17
Wiping various hallway surfaces
15 actions6 skillsMCAP 1.2 GB
1:38
Wiping window frame
15 actions7 skillsMCAP 2.0 GB
3:15
Wiping window frame
15 actions14 skillsMCAP 4.0 GB
1:34
Wiping office desk
15 actions16 skillsMCAP 1.4 GB
2:11
Mopping locker room surfaces
15 actions12 skillsMCAP 1.8 GB
1:55
Wiping whiteboard
15 actions11 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/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}}
}