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

29 clips

Object: debris Clear all

Cleaning windows4:50

Cleaning glass panels with squeegee

46 actions40 skillsMCAP 5.4 GB

Managing trash1:12

Collecting trash from bins

12 actions16 skillsMCAP 948 MB

Mopping floor34:50

Mopping cafeteria floor

146 actions40 skillsMCAP 32.7 GB

Preparing cleaning supplies2:54

Preparing cleaning tools and mopping floor

26 actions40 skillsMCAP 2.7 GB

Preparing food1:30

Preparing and portioning various ingredients

16 actions13 skillsMCAP 1.5 GB

Sweeping floor6:44

Sweeping floor with brush

52 actions25 skillsMCAP 6.0 GB

Managing trash0:32

Emptying trash from toilet stalls

5 actions7 skillsMCAP 465 MB

Mopping floor4:28

Mopping lecture hall floor

37 actions16 skillsMCAP 5.2 GB

Preparing cleaning supplies0:16

Stocking cleaning cart supplies

2 actions9 skillsMCAP 211 MB

Preparing food1:29

Preparing and transferring chopped green herbs

8 actions19 skillsMCAP 1.3 GB

Sweeping floor3:40

Sweeping floor with brush and dustpan

34 actions17 skillsMCAP 3.3 GB

Managing trash0:17

Collecting trash from bin

3 actions5 skillsMCAP 281 MB

Mopping floor2:54

Mopping office floor

16 actions9 skillsMCAP 2.4 GB

Sweeping floor4:16

Sweeping floor with brush and dustpan

33 actions12 skillsMCAP 4.1 GB

Managing trash0:39

Picking up trash from bin

3 actions10 skillsMCAP 512 MB

Mopping floor2:45

Mopping kitchen floor

12 actions7 skillsMCAP 3.0 GB

Sweeping floor3:24

Sweeping and collecting debris from floor

26 actions15 skillsMCAP 3.1 GB

Managing trash0:17

Collecting paper cutouts by hand

3 actions4 skillsMCAP 193 MB

Mopping floor0:48

Cleaning floor and mop

6 actions13 skillsMCAP 727 MB

Sweeping floor1:36

Sweeping and collecting debris from ground

15 actions6 skillsMCAP 1.7 GB

Sweeping floor0:52

Sweeping office floor

11 actions8 skillsMCAP 671 MB

Sweeping floor0:57

Sweeping and collecting floor debris

8 actions8 skillsMCAP 830 MB

Sweeping floor1:16

Sweeping floor

7 actions14 skillsMCAP 1.2 GB

Sweeping floor0:41

Sweeping and disposing debris from floor

6 actions5 skillsMCAP 551 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}}
}