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

197 clips

Object: mop cloth Clear all

Cleaning restroom1:45

Cleaning the restroom

16 actions29 skillsMCAP 1.6 GB

Cleaning windows12:00

Cleaning windows with pole

105 actions40 skillsMCAP 11.6 GB

Managing trash0:24

Collecting trash from bin

4 actions7 skillsMCAP 458 MB

Mopping floor34:50

Mopping cafeteria floor

146 actions40 skillsMCAP 32.7 GB

Organizing items1:12

Storing Towels

9 actions15 skillsMCAP 1.1 GB

Preparing cleaning supplies1:30

Preparing cleaning cart and supplies

14 actions15 skillsMCAP 1.3 GB

Sweeping floor2:12

Performing general floor cleaning tasks

10 actions12 skillsMCAP 2.1 GB

Wiping surfaces1:33

Wiping whiteboard

15 actions9 skillsMCAP 1.2 GB

Cleaning restroom3:16

Mopping restroom floor

14 actions7 skillsMCAP 2.8 GB

Cleaning windows1:52

Cleaning glass windows

20 actions19 skillsMCAP 1.9 GB

Mopping floor21:25

Mopping the floor

129 actions31 skillsMCAP 17.8 GB

Organizing items0:21

Storing cleaning tools

3 actions8 skillsMCAP 322 MB

Preparing cleaning supplies1:30

Preparing cleaning tools

14 actions19 skillsMCAP 1.6 GB

Sweeping floor0:41

Sweeping office floor

6 actions11 skillsMCAP 510 MB

Wiping surfaces1:35

Wiping sinks and countertop

13 actions12 skillsMCAP 1.1 GB

Cleaning restroom2:18

Mopping restroom

8 actions7 skillsMCAP 2.0 GB

Cleaning windows1:56

Wiping window frames with cloth

15 actions9 skillsMCAP 2.5 GB

Mopping floor16:47

Mopping cafeteria floor

119 actions36 skillsMCAP 17.4 GB

Preparing cleaning supplies1:01

Rinsing and wringing mop head

11 actions8 skillsMCAP 959 MB

Sweeping floor1:03

Cleaning Chill Zone floor with squeegee and dustpan

3 actions9 skillsMCAP 973 MB

Wiping surfaces1:05

Mopping the ping-pong table

6 actions12 skillsMCAP 1.0 GB

Cleaning restroom0:24

Cleaning restroom fixtures and tools

3 actions10 skillsMCAP 370 MB

Mopping floor14:01

Mopping the floor

109 actions40 skillsMCAP 13.9 GB

Preparing cleaning supplies1:10

Preparing cleaning tools

10 actions8 skillsMCAP 1.3 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}}
}