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

42 clips

Object: food Clear all

Cooking food5:03

Frying potatoes in deep fryer

46 actions25 skillsMCAP 4.7 GB

Preparing food1:41

Managing meal and storing product in refrigerator

19 actions22 skillsMCAP 2.1 GB

Cooking food3:05

Cooking instant noodles

29 actions27 skillsMCAP 3.0 GB

Preparing food2:23

Preparing instant noodles

11 actions16 skillsMCAP 2.4 GB

Cooking food2:28

Preparing and cooking vegetables in pan

22 actions18 skillsMCAP 2.3 GB

Preparing food1:07

Preparing dumplings in a pot

11 actions10 skillsMCAP 1.1 GB

Cooking food2:45

Stirring ingredients in pan

21 actions24 skillsMCAP 3.0 GB

Preparing food0:49

Plating food

10 actions10 skillsMCAP 737 MB

Cooking food1:29

Cooking food in pan

16 actions18 skillsMCAP 1.5 GB

Preparing food1:09

Preparing and chopping green onions

8 actions14 skillsMCAP 1.1 GB

Cooking food1:56

Cooking ingredients in pan

13 actions17 skillsMCAP 1.8 GB

Preparing food1:15

Assembling ramen bowls

8 actions11 skillsMCAP 1.2 GB

Cooking food1:27

Frying food and managing ingredients

13 actions9 skillsMCAP 1.6 GB

Preparing food1:20

Serving instant noodles into bowls

6 actions7 skillsMCAP 1.4 GB

Cooking food1:09

Seasoning and stirring noodles in pot

11 actions13 skillsMCAP 1.1 GB

Preparing food0:54

Assembling ingredients onto plate

6 actions15 skillsMCAP 734 MB

Cooking food0:56

cooking dumplings

9 actions10 skillsMCAP 943 MB

Preparing food0:58

Placing prepared meal into white dish

6 actions9 skillsMCAP 1.0 GB

Cooking food0:55

Cooking food in a pot

9 actions10 skillsMCAP 882 MB

Preparing food0:32

Scooping meat filling into bowl

5 actions5 skillsMCAP 452 MB

Cooking food0:49

Cooking and seasoning pan ingredients

9 actions8 skillsMCAP 788 MB

Preparing food0:25

Serving cooked food onto plate

4 actions4 skillsMCAP 376 MB

Cooking food1:08

Cooking ingredients on stove

9 actions7 skillsMCAP 1.0 GB

Preparing food0:52

Assembling ingredients for a dish

4 actions14 skillsMCAP 859 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}}
}