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

45 clips

Object: cleaning bucket Clear all

Cleaning kitchen0:20

Cleaning kitchen sink

3 actions6 skillsMCAP 290 MB

Cleaning restroom1:34

Cleaning bathroom sink

13 actions14 skillsMCAP 1.2 GB

Cleaning windows3:58

Cleaning building windows

33 actions15 skillsMCAP 4.8 GB

Mopping floor12:00

Mopping sports court floor

69 actions26 skillsMCAP 11.7 GB

Organizing items1:35

Removing cleaning items from restroom

13 actions24 skillsMCAP 1.2 GB

Preparing cleaning supplies3:06

Filling buckets and rinsing cleaning items

25 actions38 skillsMCAP 3.1 GB

Mopping floor7:56

Mopping office floor

62 actions20 skillsMCAP 7.8 GB

Preparing cleaning supplies2:22

Preparing cleaning supplies and equipment

24 actions20 skillsMCAP 1.9 GB

Mopping floor5:16

Mopping floor

53 actions34 skillsMCAP 5.5 GB

Preparing cleaning supplies2:12

Preparing cleaning solution and tools

21 actions24 skillsMCAP 2.2 GB

Mopping floor6:02

Mopping office floor

47 actions24 skillsMCAP 5.5 GB

Preparing cleaning supplies1:48

Preparing cleaning equipment and solutions

19 actions29 skillsMCAP 2.0 GB

Mopping floor6:55

Mopping hallway floor

38 actions20 skillsMCAP 6.0 GB

Preparing cleaning supplies1:51

Preparing cleaning supplies

17 actions19 skillsMCAP 1.6 GB

Mopping floor4:02

Cleaning high ceiling/wall

34 actions37 skillsMCAP 4.5 GB

Preparing cleaning supplies0:36

Organizing and refilling cleaning supplies

7 actions8 skillsMCAP 596 MB

Mopping floor3:59

Mopping canteen floor

32 actions12 skillsMCAP 3.8 GB

Preparing cleaning supplies0:32

Collecting cleaning supplies into bucket

7 actions6 skillsMCAP 505 MB

Mopping floor5:51

Mopping floor

31 actions30 skillsMCAP 6.1 GB

Preparing cleaning supplies0:31

Preparing cleaning supplies in restroom

5 actions7 skillsMCAP 486 MB

Mopping floor3:36

Mopping floor

22 actions16 skillsMCAP 3.2 GB

Preparing cleaning supplies0:28

Preparing mop for cleaning

4 actions12 skillsMCAP 445 MB

Mopping floor2:53

Mopping the floor

22 actions18 skillsMCAP 2.7 GB

Preparing cleaning supplies0:17

Wringing out mop head

3 actions6 skillsMCAP 263 MB

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}}
}