Cleaning restroom1:30
Cleaning restroom
11 actions11 skillsMCAP 1.3 GB
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
Browse all clips
15 clips
Managing trash2:15
Emptying and relining trash bins
20 actions23 skillsMCAP 1.9 GB
Mopping floor10:19
Mopping tiled floor with string mop
71 actions32 skillsMCAP 8.9 GB
Organizing items0:25
Organizing cleaning cart supplies
3 actions5 skillsMCAP 384 MB
Preparing cleaning supplies4:36
Organizing and stocking cleaning cart
46 actions40 skillsMCAP 4.1 GB
Cleaning restroom1:05
Cleaning restroom fixtures and surfaces
8 actions9 skillsMCAP 814 MB
Mopping floor6:54
Mopping classroom floor
34 actions16 skillsMCAP 7.2 GB
Preparing cleaning supplies4:15
Preparing cleaning supplies
41 actions33 skillsMCAP 3.6 GB
Preparing cleaning supplies3:56
Preparing mop and bucket for cleaning
36 actions32 skillsMCAP 3.4 GB
Preparing cleaning supplies4:58
Organizing and stocking cleaning cart
35 actions32 skillsMCAP 4.2 GB
Preparing cleaning supplies2:59
Preparing cleaning equipment
30 actions36 skillsMCAP 3.1 GB
Preparing cleaning supplies1:28
Preparing cleaning supplies
12 actions25 skillsMCAP 1.4 GB
Preparing cleaning supplies0:41
Organizing and preparing cleaning supplies
8 actions7 skillsMCAP 683 MB
Preparing cleaning supplies0:51
Changing mop head
6 actions14 skillsMCAP 794 MB
Preparing cleaning supplies0:21
Wringing mop head
3 actions10 skillsMCAP 352 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.parquetOne category
hf sync $B/data/cleaning_kitchen ./cleaning_kitchenPreviews 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}}
}