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

201 clips

Object: door handle Clear all

Cleaning kitchen3:41

Cleaning kitchen cabinets

26 actions20 skillsMCAP 3.0 GB

Cleaning restroom4:21

Cleaning sinks and counter

42 actions16 skillsMCAP 3.4 GB

Cleaning windows6:30

Cleaning glass door

58 actions24 skillsMCAP 7.1 GB

Cooking food0:38

Preparing and cooking diced potatoes

6 actions8 skillsMCAP 561 MB

Managing laundry1:22

Unloading and folding laundry

10 actions19 skillsMCAP 1.5 GB

Managing trash2:47

Collecting trash from toilet stalls

24 actions25 skillsMCAP 2.5 GB

Mopping floor16:05

Mopping office floor

109 actions30 skillsMCAP 14.2 GB

Organizing items1:30

Locking office doors

14 actions10 skillsMCAP 1.3 GB

Preparing cleaning supplies4:36

Organizing and stocking cleaning cart

46 actions40 skillsMCAP 4.1 GB

Preparing food2:35

Chopping onions on cutting board

18 actions22 skillsMCAP 2.7 GB

Sweeping floor3:40

Sweeping floor with brush and dustpan

34 actions17 skillsMCAP 3.3 GB

Wiping surfaces6:03

Wiping office desk surface

64 actions17 skillsMCAP 5.5 GB

Cleaning restroom4:00

Cleaning restroom stalls

39 actions21 skillsMCAP 3.2 GB

Cleaning windows4:45

Cleaning glass door and frame

44 actions14 skillsMCAP 5.1 GB

Managing trash2:23

Emptying trash bins

22 actions22 skillsMCAP 2.3 GB

Mopping floor14:01

Mopping the floor

109 actions40 skillsMCAP 13.9 GB

Organizing items1:20

Organizing cleaning supplies

13 actions14 skillsMCAP 1.2 GB

Preparing cleaning supplies3:58

Filling mop bucket and preparing equipment

35 actions20 skillsMCAP 3.5 GB

Preparing food1:30

Preparing bottle at sink

10 actions15 skillsMCAP 1.3 GB

Sweeping floor2:00

Vacuuming hotel room carpet

14 actions13 skillsMCAP 1.8 GB

Wiping surfaces3:45

Wiping window frame

43 actions32 skillsMCAP 3.5 GB

Cleaning restroom3:41

Wiping bathroom counters and sinks

28 actions14 skillsMCAP 2.7 GB

Cleaning windows3:41

Cleaning glass windows

32 actions13 skillsMCAP 4.2 GB

Managing trash2:24

Emptying trash bins

20 actions10 skillsMCAP 2.5 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}}
}