2:02
Wiping stair railing
10 actions9 skillsMCAP 2.2 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
0:53
Wiping office desk surface
10 actions6 skillsMCAP 706 MB
0:57
Wiping office desk surfaces
10 actions6 skillsMCAP 843 MB
0:51
Wiping window frame surface
10 actions6 skillsMCAP 661 MB
1:12
Wiping office desks and monitors
10 actions7 skillsMCAP 1.2 GB
1:08
Cleaning office shelving unit
10 actions10 skillsMCAP 1.4 GB
1:05
Wiping office desk surfaces
10 actions18 skillsMCAP 1.2 GB
0:59
Wiping inside lockers
10 actions12 skillsMCAP 651 MB
1:35
Wiping table surface
10 actions9 skillsMCAP 2.0 GB
0:59
Cleaning floor and pipes
9 actions8 skillsMCAP 1.1 GB
2:22
Wiping large office table
9 actions9 skillsMCAP 2.0 GB
1:15
Wiping table frame and top
9 actions8 skillsMCAP 1.3 GB
1:20
Cleaning desks in classroom
9 actions10 skillsMCAP 1.5 GB
0:48
Dusting locker tops
9 actions8 skillsMCAP 643 MB
1:40
Wiping surfaces in hallway
9 actions5 skillsMCAP 1.8 GB
2:08
Spraying water on sidewalk
9 actions13 skillsMCAP 2.6 GB
0:54
Cleaning fire hose reel cabinet
9 actions5 skillsMCAP 789 MB
0:49
Wiping Tables
9 actions12 skillsMCAP 772 MB
1:30
Wiping glass partition
9 actions9 skillsMCAP 1.4 GB
1:08
Cleaning kitchen counter
9 actions15 skillsMCAP 939 MB
2:26
Wiping handrail
9 actions5 skillsMCAP 2.2 GB
1:01
Cleaning kitchen counter and sink
9 actions11 skillsMCAP 823 MB
1:16
Cleaning metal tray
9 actions7 skillsMCAP 949 MB
1:02
Wiping yellow wall
9 actions3 skillsMCAP 797 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}}
}