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

90 clips

Object: dustpan Clear all

Sweeping floor1:36

Sweeping and collecting debris from ground

15 actions6 skillsMCAP 1.7 GB

Sweeping floor1:46

Sweeping cafeteria floor

14 actions10 skillsMCAP 1.8 GB

Sweeping floor0:52

Sweeping office floor

11 actions8 skillsMCAP 671 MB

Sweeping floor2:20

Sweeping office floor

11 actions6 skillsMCAP 2.2 GB

Sweeping floor1:15

Sweeping hallway floor

10 actions6 skillsMCAP 1.1 GB

Sweeping floor1:33

Sweeping floor with broom and dustpan

10 actions11 skillsMCAP 1.4 GB

Sweeping floor3:13

Sweeping floor with broom and dustpan

10 actions6 skillsMCAP 2.7 GB

Sweeping floor1:11

Sweeping kitchen floor

9 actions9 skillsMCAP 1.0 GB

Sweeping floor0:40

Sweeping tiled floor

8 actions6 skillsMCAP 507 MB

Sweeping floor3:00

Collecting debris with dustpan

8 actions6 skillsMCAP 2.7 GB

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 floor1:20

Sweeping floor with broom and dustpan

7 actions5 skillsMCAP 1.1 GB

Sweeping floor0:57

Sweeping hallway floor

7 actions6 skillsMCAP 1.1 GB

Sweeping floor0:49

Sweeping floor with broom and dustpan

6 actions6 skillsMCAP 680 MB

Sweeping floor0:41

Sweeping and disposing debris from floor

6 actions5 skillsMCAP 551 MB

Sweeping floor0:56

Sweeping debris into dustpan

6 actions9 skillsMCAP 800 MB

Sweeping floor1:06

Sweeping office floor

6 actions4 skillsMCAP 954 MB

Sweeping floor0:45

Sweeping floor with brush and dustpan

6 actions5 skillsMCAP 599 MB

Sweeping floor0:57

Sweeping tiled floor

6 actions11 skillsMCAP 889 MB

Sweeping floor1:06

Sweeping lecture hall floor

6 actions9 skillsMCAP 1.0 GB

Sweeping floor0:41

Sweeping office floor

6 actions11 skillsMCAP 510 MB

Sweeping floor1:10

Sweeping floor with dustpan and brush

6 actions5 skillsMCAP 1.0 GB

Sweeping floor0:38

Sweeping floor in lecture hall

5 actions4 skillsMCAP 550 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}}
}