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

89 clips

Object: cleaning trolley Clear all

Wiping surfaces0:16

Cleaning floor with mop

2 actions5 skillsMCAP 238 MB

Mopping floor7:31

Mopping restroom floor

54 actions30 skillsMCAP 6.6 GB

Preparing cleaning supplies3:06

Filling buckets and rinsing cleaning items

25 actions38 skillsMCAP 3.1 GB

Mopping floor10:30

Mopping office floor

52 actions20 skillsMCAP 9.7 GB

Preparing cleaning supplies2:12

Preparing cleaning solution and tools

21 actions24 skillsMCAP 2.2 GB

Mopping floor7:10

Mopping kitchen floor

49 actions23 skillsMCAP 6.3 GB

Preparing cleaning supplies1:56

Preparing cleaning equipment and solutions

16 actions29 skillsMCAP 2.1 GB

Mopping floor9:56

Mopping cafe floor

49 actions25 skillsMCAP 10.1 GB

Preparing cleaning supplies1:03

Preparing cleaning equipment and solution

10 actions15 skillsMCAP 1.0 GB

Mopping floor4:00

Mopping floor

48 actions27 skillsMCAP 3.8 GB

Preparing cleaning supplies1:10

Preparing cleaning equipment

8 actions14 skillsMCAP 1.1 GB

Mopping floor6:09

Mopping restroom floor

44 actions27 skillsMCAP 5.4 GB

Preparing cleaning supplies1:14

Washing cleaning cloths

8 actions10 skillsMCAP 1.2 GB

Mopping floor7:51

Mopping pool deck

43 actions20 skillsMCAP 7.3 GB

Preparing cleaning supplies0:42

Organizing cleaning supplies

6 actions12 skillsMCAP 758 MB

Mopping floor7:18

Mopping tiled floor with flat mop

41 actions20 skillsMCAP 5.8 GB

Preparing cleaning supplies0:42

Preparing mop for floor cleaning

5 actions8 skillsMCAP 687 MB

Mopping floor5:16

Mopping office floor

36 actions21 skillsMCAP 5.2 GB

Preparing cleaning supplies0:40

Wringing mop head

5 actions9 skillsMCAP 632 MB

Mopping floor8:28

Mopping classroom floor

35 actions14 skillsMCAP 8.5 GB

Preparing cleaning supplies0:34

Filling mop bucket and organizing tools

5 actions12 skillsMCAP 537 MB

Mopping floor5:48

Mopping the tiled floor

35 actions15 skillsMCAP 5.6 GB

Preparing cleaning supplies0:28

Moving cleaning cart

4 actions3 skillsMCAP 463 MB

Mopping floor3:44

Mopping the floor

30 actions17 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}}
}