Sweeping floor with dustpan
35 actions11 skillsMCAP 8.5 GB
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
1,645 clips
35 actions11 skillsMCAP 8.5 GB
40 actions13 skillsMCAP 4.2 GB
17 actions16 skillsMCAP 2.0 GB
12 actions12 skillsMCAP 1.4 GB
8 actions12 skillsMCAP 852 MB
100 actions33 skillsMCAP 10.9 GB
18 actions9 skillsMCAP 1.7 GB
24 actions20 skillsMCAP 1.9 GB
34 actions17 skillsMCAP 3.3 GB
39 actions13 skillsMCAP 5.0 GB
16 actions22 skillsMCAP 1.2 GB
12 actions6 skillsMCAP 1.5 GB
7 actions17 skillsMCAP 781 MB
94 actions36 skillsMCAP 17.1 GB
17 actions28 skillsMCAP 1.9 GB
17 actions13 skillsMCAP 2.1 GB
33 actions12 skillsMCAP 4.1 GB
38 actions19 skillsMCAP 4.0 GB
16 actions28 skillsMCAP 1.8 GB
7 actions2 skillsMCAP 1.2 GB
6 actions9 skillsMCAP 561 MB
86 actions40 skillsMCAP 14.7 GB
15 actions13 skillsMCAP 2.5 GB
15 actions25 skillsMCAP 1.9 GB
| 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 |
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.
pip install -U huggingface_hub
hf auth login
B=hf://buckets/humaidtech/EgoViz-120
hf buckets cp $B/index.parquet index.parquethf sync $B/data/cleaning_kitchen ./cleaning_kitchenhf sync $B/data ./egoviz --include "*.mp4" --include "*.json"@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}}
}