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

70 clips

Object: item Clear all

Cleaning kitchen2:25

Cleaning kitchen cabinet

15 actions18 skillsMCAP 3.2 GB

Cooking food4:21

Stirring ingredients in a pot

35 actions39 skillsMCAP 3.9 GB

Managing laundry5:21

Folding and organizing laundry

47 actions40 skillsMCAP 5.4 GB

Managing trash2:47

Collecting trash from toilet stalls

24 actions25 skillsMCAP 2.5 GB

Mopping floor9:00

Mopping classroom floor

54 actions17 skillsMCAP 9.2 GB

Organizing items1:52

Folding up lecture hall desks

20 actions7 skillsMCAP 2.5 GB

Preparing cleaning supplies4:36

Organizing and stocking cleaning cart

46 actions40 skillsMCAP 4.1 GB

Preparing food8:52

Cutting bell peppers

67 actions40 skillsMCAP 8.7 GB

Sweeping floor0:56

Sweeping debris into dustpan

6 actions9 skillsMCAP 800 MB

Wiping surfaces2:50

Wiping office furniture and equipment

21 actions17 skillsMCAP 2.6 GB

Cooking food2:35

Stir-frying ingredients in pans

21 actions18 skillsMCAP 2.6 GB

Managing laundry2:07

Folding and storing clothes

25 actions30 skillsMCAP 2.0 GB

Managing trash1:13

Collecting trash from desks

10 actions10 skillsMCAP 1.5 GB

Mopping floor5:16

Mopping office floor

36 actions21 skillsMCAP 5.2 GB

Organizing items1:55

Sorting items from boxes

19 actions23 skillsMCAP 1.7 GB

Preparing cleaning supplies4:58

Organizing and stocking cleaning cart

35 actions32 skillsMCAP 4.2 GB

Preparing food3:13

Cutting chicken on cutting board

26 actions23 skillsMCAP 3.3 GB

Wiping surfaces1:27

Wiping down medical equipment

14 actions11 skillsMCAP 1.3 GB

Cooking food0:49

Cooking and seasoning pan ingredients

9 actions8 skillsMCAP 788 MB

Managing laundry2:54

Sorting and folding laundry

24 actions22 skillsMCAP 2.9 GB

Managing trash0:58

Collecting trash from room

9 actions11 skillsMCAP 852 MB

Mopping floor3:55

Mopping classroom floor

32 actions7 skillsMCAP 3.9 GB

Organizing items1:33

Cleaning and organizing medical room

16 actions14 skillsMCAP 1.3 GB

Preparing cleaning supplies3:00

Preparing cleaning supplies

27 actions40 skillsMCAP 3.0 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}}
}