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: corridor Clear all

Cleaning restroom11:06

Cleaning restroom facilities

101 actions40 skillsMCAP 8.8 GB

Managing trash1:31

Servicing public restroom bins

13 actions15 skillsMCAP 1.5 GB

Mopping floor10:19

Mopping tiled floor with string mop

71 actions32 skillsMCAP 8.9 GB

Organizing items0:51

Setting up ladder for work

1 action5 skillsMCAP 849 MB

Preparing cleaning supplies1:03

Preparing cleaning equipment and solution

10 actions15 skillsMCAP 1.0 GB

Sweeping floor4:49

Sweeping floor with broom and dustpan

35 actions17 skillsMCAP 4.5 GB

Wiping surfaces6:03

Wiping office desk surface

64 actions17 skillsMCAP 5.5 GB

Cleaning restroom0:41

Collecting waste and restocking supplies in bathroom

7 actions14 skillsMCAP 536 MB

Managing trash1:11

Emptying trash bins in bathroom

7 actions12 skillsMCAP 977 MB

Mopping floor7:56

Mopping office floor

62 actions20 skillsMCAP 7.8 GB

Preparing cleaning supplies0:39

Transporting cleaning cart

5 actions4 skillsMCAP 763 MB

Wiping surfaces4:41

Wiping window frames

42 actions12 skillsMCAP 4.9 GB

Mopping floor7:22

Mopping hallway floor

60 actions40 skillsMCAP 6.4 GB

Wiping surfaces3:34

Cleaning office room

40 actions34 skillsMCAP 3.4 GB

Mopping floor5:55

Mopping office floor

48 actions29 skillsMCAP 5.7 GB

Wiping surfaces5:19

Wiping staircase handrail

39 actions13 skillsMCAP 5.0 GB

Mopping floor5:09

Mopping hallway floor

44 actions25 skillsMCAP 4.7 GB

Wiping surfaces2:49

Wiping various surfaces and equipment

28 actions12 skillsMCAP 2.5 GB

Mopping floor6:55

Mopping floor

43 actions22 skillsMCAP 5.7 GB

Wiping surfaces5:29

Wiping ceiling vent

24 actions32 skillsMCAP 4.9 GB

Mopping floor6:40

Mopping floor

42 actions28 skillsMCAP 6.4 GB

Wiping surfaces1:39

Wiping office surfaces

14 actions8 skillsMCAP 1.5 GB

Mopping floor7:07

Mopping the room floor

41 actions17 skillsMCAP 6.1 GB

Wiping surfaces3:03

Wiping ceiling vent

11 actions8 skillsMCAP 3.2 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}}
}