1:05
Wiping storage shelves
11 actions9 skillsMCAP 944 MB
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
1:37
Wiping whiteboard surface
11 actions6 skillsMCAP 1.3 GB
1:29
Cleaning black table surface
11 actions2 skillsMCAP 1.2 GB
1:06
Wiping desk surface and electronics
11 actions9 skillsMCAP 931 MB
1:17
Cleaning washing machine door
11 actions10 skillsMCAP 1.3 GB
0:52
Wiping office desk surfaces
11 actions10 skillsMCAP 762 MB
0:55
Cleaning chairs
11 actions7 skillsMCAP 1.1 GB
1:28
Wiping equipment surfaces in medical lab room
11 actions10 skillsMCAP 1.3 GB
1:23
Wiping recycling bins
11 actions11 skillsMCAP 1.4 GB
1:09
Wiping medical surfaces and equipment
11 actions17 skillsMCAP 886 MB
3:01
Wiping washing machine
11 actions16 skillsMCAP 2.8 GB
1:17
Wiping office surfaces and chairs
11 actions9 skillsMCAP 1.1 GB
1:30
Wiping staircase handrail
11 actions2 skillsMCAP 1.7 GB
1:30
Wiping elevator interior
11 actions6 skillsMCAP 1.5 GB
1:03
Wiping window sill
10 actions8 skillsMCAP 864 MB
2:25
Wiping whiteboard surface
10 actions11 skillsMCAP 2.0 GB
1:35
Cleaning table surface
10 actions9 skillsMCAP 1.2 GB
2:17
Cleaning table surface with mop
10 actions6 skillsMCAP 2.0 GB
1:44
Wiping whiteboard
10 actions5 skillsMCAP 1.1 GB
2:20
Cleaning whiteboard
10 actions10 skillsMCAP 1.8 GB
0:59
Cleaning various surfaces
10 actions10 skillsMCAP 1.0 GB
1:10
Wiping whiteboard
10 actions8 skillsMCAP 879 MB
1:19
Wiping underside and frame of table
10 actions4 skillsMCAP 1.3 GB
0:48
Cleaning black table surface
10 actions15 skillsMCAP 661 MB
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}}
}