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

444 clips

Object: cleaning cloth Clear all

Preparing cleaning supplies0:22

Attaching mop head to pole

2 actions6 skillsMCAP 286 MB

Wiping surfaces1:12

Wiping various lobby surfaces

14 actions6 skillsMCAP 1.2 GB

Cleaning restroom0:44

Wiping mirrors above sinks

2 actions4 skillsMCAP 607 MB

Preparing cleaning supplies0:23

Preparing cleaning supplies

2 actions6 skillsMCAP 318 MB

Wiping surfaces1:32

Wiping inside of lockers

14 actions14 skillsMCAP 1.0 GB

Cleaning restroom0:15

Wiping bathroom sinks and faucets

2 actions3 skillsMCAP 150 MB

Preparing cleaning supplies0:22

Washing cleaning cloth

2 actions2 skillsMCAP 244 MB

Wiping surfaces1:18

Wiping office surfaces

14 actions9 skillsMCAP 1.1 GB

Cleaning restroom0:23

Wiping bathroom countertop and sinks

1 action2 skillsMCAP 248 MB

Preparing cleaning supplies0:18

Wringing cleaning cloths

2 actions5 skillsMCAP 326 MB

Wiping surfaces1:42

Cleaning chairs

14 actions13 skillsMCAP 2.0 GB

Preparing cleaning supplies0:21

Washing and wringing mop head

1 action5 skillsMCAP 304 MB

Wiping surfaces1:57

Cleaning wooden table

13 actions14 skillsMCAP 1.9 GB

Preparing cleaning supplies0:16

Assembling cleaning tools

1 action6 skillsMCAP 212 MB

Wiping surfaces1:35

Wiping sinks and countertop

13 actions12 skillsMCAP 1.1 GB

Preparing cleaning supplies0:15

Cleaning and wringing mop head

1 action5 skillsMCAP 217 MB

Wiping surfaces1:50

Wiping glass partition

13 actions8 skillsMCAP 1.7 GB

Preparing cleaning supplies0:15

Cleaning mop head

1 action7 skillsMCAP 215 MB

Wiping surfaces2:12

Wiping glass partition

13 actions13 skillsMCAP 2.2 GB

Wiping surfaces1:06

Wiping table surface

12 actions8 skillsMCAP 930 MB

Wiping surfaces1:34

Cleaning bathroom surfaces

12 actions9 skillsMCAP 1.2 GB

Wiping surfaces1:30

Cleaning ping pong table with long-handled tool

12 actions8 skillsMCAP 1.2 GB

Wiping surfaces2:28

Wiping glass partition

12 actions7 skillsMCAP 2.3 GB

Wiping surfaces1:22

Cleaning restroom sinks and counter

11 actions7 skillsMCAP 1.0 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}}
}