EgoViz-120

Real-world egocentric data recorded on the job: egocentric and wrist video, depth, IMU, hand pose and frame-level action labels in one MCAP per clip. Free to use with attribution.

120.4 h5,392 clips12 categories7.3 TBCC-BY-4.0

Categories12

Mopping floor1,595 clips · 56.8 h

Wiping surfaces777 clips · 14.7 h

Preparing food541 clips · 13.4 h

Preparing cleaning supplies clip preview

Preparing cleaning supplies790 clips · 8.5 h

Cleaning restroom332 clips · 5.7 h

Cleaning windows172 clips · 4.3 h

Organizing items279 clips · 3.8 h

Sweeping floor159 clips · 3.4 h

Cooking food193 clips · 2.8 h

Managing laundry210 clips · 2.5 h

Managing trash208 clips · 2.2 h

Cleaning kitchen136 clips · 2.1 h

Browse all clips

100 clips

Object: broom Clear all

Managing laundry0:45

Loading laundry into washing machine

5 actions6 skillsMCAP 712 MB

Managing trash1:29

Collecting trash and bagging it

11 actions21 skillsMCAP 1.3 GB

Mopping floor9:00

Mopping hallway floor

59 actions21 skillsMCAP 8.5 GB

Organizing items1:35

Removing cleaning items from restroom

13 actions24 skillsMCAP 1.2 GB

Preparing cleaning supplies1:12

Preparing mop bucket

13 actions17 skillsMCAP 1.2 GB

Sweeping floor6:44

Sweeping floor with brush

52 actions25 skillsMCAP 6.0 GB

Mopping floor3:07

Mopping office floor

30 actions21 skillsMCAP 2.6 GB

Organizing items1:08

Washing and storing broom and dustpan

10 actions17 skillsMCAP 1.0 GB

Preparing cleaning supplies1:18

Preparing mop cart with water

12 actions13 skillsMCAP 1.1 GB

Sweeping floor8:29

Sweeping kitchen floor

36 actions15 skillsMCAP 7.9 GB

Mopping floor1:30

Mopping tiled floor

17 actions36 skillsMCAP 1.3 GB

Preparing cleaning supplies1:13

Preparing cleaning supplies

10 actions20 skillsMCAP 1.2 GB

Sweeping floor4:49

Sweeping floor with broom and dustpan

35 actions17 skillsMCAP 4.5 GB

Mopping floor1:47

Mopping floor

12 actions9 skillsMCAP 1.7 GB

Preparing cleaning supplies0:58

Cleaning dustpan and sponges

4 actions6 skillsMCAP 754 MB

Sweeping floor9:00

Sweeping floor with dustpan

35 actions11 skillsMCAP 8.5 GB

Mopping floor3:00

Mopping lecture hall floor

11 actions6 skillsMCAP 3.7 GB

Preparing cleaning supplies0:35

Transporting cleaning equipment

2 actions4 skillsMCAP 750 MB

Sweeping floor3:40

Sweeping floor with brush and dustpan

34 actions17 skillsMCAP 3.3 GB

Mopping floor1:54

Mopping office floor

11 actions10 skillsMCAP 1.8 GB

Preparing cleaning supplies0:35

Wringing out mop head

1 action7 skillsMCAP 430 MB

Sweeping floor4:16

Sweeping floor with brush and dustpan

33 actions12 skillsMCAP 4.1 GB

Mopping floor1:13

Mopping tiled floor

8 actions11 skillsMCAP 1.1 GB

Sweeping floor3:24

Sweeping and collecting debris from floor

26 actions15 skillsMCAP 3.1 GB

In every MCAP

23 channels · one clock · ROS 2

MCAP topics, message schemas and rates
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.parquet

One category

hf sync $B/data/cleaning_kitchen ./cleaning_kitchen

Previews 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}}
}