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

390 clips

Object: door Clear all

Sweeping floor1:11

Sweeping kitchen floor

9 actions9 skillsMCAP 1.0 GB

Wiping surfaces2:44

Cleaning, organizing, and securing office room

28 actions22 skillsMCAP 2.3 GB

Cleaning restroom2:13

Collecting trash and cleaning restrooms

19 actions15 skillsMCAP 1.7 GB

Cleaning windows1:20

Cleaning building glass windows

14 actions8 skillsMCAP 2.0 GB

Managing trash2:15

Emptying and relining trash bins

20 actions23 skillsMCAP 1.9 GB

Mopping floor10:19

Mopping tiled floor with string mop

71 actions32 skillsMCAP 8.9 GB

Organizing items1:08

Washing and storing broom and dustpan

10 actions17 skillsMCAP 1.0 GB

Preparing cleaning supplies2:22

Preparing cleaning supplies and equipment

24 actions20 skillsMCAP 1.9 GB

Preparing food0:34

Retrieving and transporting diced food

4 actions3 skillsMCAP 596 MB

Sweeping floor1:16

Sweeping floor

7 actions14 skillsMCAP 1.2 GB

Wiping surfaces2:32

Cleaning office area surfaces

27 actions22 skillsMCAP 2.2 GB

Cleaning restroom1:42

Cleaning toilet

16 actions13 skillsMCAP 1.6 GB

Cleaning windows1:15

Cleaning window frames and sills

10 actions11 skillsMCAP 1.3 GB

Managing trash1:45

Transporting trash and items

17 actions9 skillsMCAP 1.8 GB

Mopping floor8:22

Mopping the room floor

62 actions22 skillsMCAP 7.5 GB

Organizing items0:48

Transporting quilt with cart

9 actions14 skillsMCAP 747 MB

Preparing cleaning supplies1:48

Preparing cleaning equipment and solutions

19 actions29 skillsMCAP 2.0 GB

Preparing food0:16

Placing water on stove to boil

3 actions9 skillsMCAP 284 MB

Sweeping floor0:49

Sweeping floor with broom and dustpan

6 actions6 skillsMCAP 680 MB

Wiping surfaces2:54

Wiping and locking office doors

26 actions11 skillsMCAP 2.5 GB

Cleaning restroom2:11

Cleaning Shower Walls and Partitions

16 actions28 skillsMCAP 1.8 GB

Cleaning windows0:48

Cleaning windows and frames

8 actions8 skillsMCAP 851 MB

Managing trash1:29

Collecting trash and bagging it

11 actions21 skillsMCAP 1.3 GB

Mopping floor9:25

Mopping the floor

61 actions24 skillsMCAP 8.1 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}}
}