Cleaning kitchen counter and sink
25 actions22 skillsMCAP 2.6 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
28 clips
25 actions22 skillsMCAP 2.6 GB
11 actions4 skillsMCAP 1.1 GB
58 actions24 skillsMCAP 7.1 GB
12 actions7 skillsMCAP 3.0 GB
14 actions22 skillsMCAP 2.1 GB
33 actions12 skillsMCAP 4.1 GB
42 actions12 skillsMCAP 4.9 GB
9 actions16 skillsMCAP 727 MB
18 actions12 skillsMCAP 2.5 GB
3 actions7 skillsMCAP 689 MB
42 actions22 skillsMCAP 4.5 GB
8 actions5 skillsMCAP 926 MB
28 actions12 skillsMCAP 2.5 GB
6 actions6 skillsMCAP 502 MB
19 actions13 skillsMCAP 1.6 GB
4 actions1 skillMCAP 724 MB
15 actions7 skillsMCAP 2.0 GB
13 actions8 skillsMCAP 1.6 GB
12 actions8 skillsMCAP 930 MB
11 actions7 skillsMCAP 1.3 GB
10 actions8 skillsMCAP 864 MB
10 actions7 skillsMCAP 1.2 GB
6 actions8 skillsMCAP 520 MB
5 actions18 skillsMCAP 615 MB
| 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}}
}