Cooking food2:35
Stir-frying ingredients in pans
21 actions18 skillsMCAP 2.6 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
20 clips
Preparing food7:10
Cutting chicken on cutting board
55 actions36 skillsMCAP 7.5 GB
Cooking food2:15
Cooking food in pan
19 actions12 skillsMCAP 2.1 GB
Preparing food3:13
Cutting chicken on cutting board
26 actions23 skillsMCAP 3.3 GB
Cooking food1:12
Cooking instant noodles
11 actions13 skillsMCAP 1.2 GB
Preparing food1:33
Adding topping to noodle bowls
12 actions14 skillsMCAP 1.4 GB
Cooking food0:47
Cooking pasta with various ingredients
9 actions15 skillsMCAP 703 MB
Preparing food0:48
Adding toppings to noodle bowls
6 actions7 skillsMCAP 692 MB
Cooking food0:40
Cooking ingredients in pan
6 actions12 skillsMCAP 617 MB
Preparing food0:40
Organizing kitchen items
5 actions8 skillsMCAP 705 MB
Cooking food1:12
Stirring ingredients in pan
6 actions6 skillsMCAP 1.3 GB
Preparing food0:25
Chopping chicken on cutting board
3 actions5 skillsMCAP 364 MB
Cooking food0:31
Cooking food on stove
4 actions8 skillsMCAP 444 MB
Preparing food0:30
Cutting raw meat on board
3 actions10 skillsMCAP 505 MB
Cooking food0:15
Frying food in pan
1 action4 skillsMCAP 240 MB
Preparing food0:16
Transferring fried food to board
2 actions8 skillsMCAP 243 MB
Cooking food0:17
Stirring chicken in pan
1 action2 skillsMCAP 291 MB
Preparing food0:20
Cutting cooked chicken on board
2 actions5 skillsMCAP 301 MB
Cooking food0:17
Cooking meat in pan
1 action4 skillsMCAP 262 MB
Preparing food0:37
Slicing cooked chicken
2 actions5 skillsMCAP 562 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}}
}