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

1,645 clips

Object: floor Clear all

Cleaning restroom3:30

Mopping tiled floor

28 actions10 skillsMCAP 2.9 GB

Cleaning windows3:14

Cleaning large windows

24 actions13 skillsMCAP 3.3 GB

Managing laundry0:15

Transferring laundry between machines

3 actions5 skillsMCAP 251 MB

Managing trash1:29

Collecting trash and bagging it

11 actions21 skillsMCAP 1.3 GB

Mopping floor16:47

Mopping cafeteria floor

119 actions36 skillsMCAP 17.4 GB

Organizing items2:05

Folding down classroom desks

21 actions10 skillsMCAP 2.5 GB

Preparing cleaning supplies3:19

Preparing mopping supplies

32 actions33 skillsMCAP 2.9 GB

Preparing food0:54

Preparing a hot dog

7 actions14 skillsMCAP 841 MB

Sweeping floor8:29

Sweeping kitchen floor

36 actions15 skillsMCAP 7.9 GB

Wiping surfaces3:45

Wiping window frame

43 actions32 skillsMCAP 3.5 GB

Cleaning restroom3:00

Cleaning and restocking public restroom

24 actions28 skillsMCAP 2.5 GB

Cleaning windows3:31

Cleaning window with squeegee

24 actions9 skillsMCAP 4.1 GB

Managing trash1:35

Collecting trash and relining bins

9 actions9 skillsMCAP 1.4 GB

Mopping floor16:05

Mopping office floor

109 actions30 skillsMCAP 14.2 GB

Organizing items1:52

Folding up lecture hall desks

20 actions7 skillsMCAP 2.5 GB

Preparing cleaning supplies2:59

Preparing cleaning equipment

30 actions36 skillsMCAP 3.1 GB

Sweeping floor4:49

Sweeping floor with broom and dustpan

35 actions17 skillsMCAP 4.5 GB

Wiping surfaces3:34

Cleaning office room

40 actions34 skillsMCAP 3.4 GB

Cleaning restroom2:18

Cleaning and stocking bathroom

20 actions16 skillsMCAP 2.0 GB

Cleaning windows1:20

Cleaning building glass windows

14 actions8 skillsMCAP 2.0 GB

Managing trash0:50

Collecting and sorting trash into bins

8 actions15 skillsMCAP 886 MB

Mopping floor14:01

Mopping the floor

109 actions40 skillsMCAP 13.9 GB

Organizing items1:48

Folding desks in auditorium

19 actions10 skillsMCAP 2.0 GB

Preparing cleaning supplies2:54

Preparing cleaning tools and mopping floor

26 actions40 skillsMCAP 2.7 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}}
}