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

107 clips

Object: shelf Clear all

Preparing cleaning supplies3:00

Preparing cleaning supplies

27 actions40 skillsMCAP 3.0 GB

Preparing food1:23

Preparing noodles on plate

13 actions31 skillsMCAP 1.4 GB

Wiping surfaces3:45

Wiping window frame

43 actions32 skillsMCAP 3.5 GB

Cleaning kitchen0:47

Cleaning inside under-sink cabinet

7 actions12 skillsMCAP 1.1 GB

Managing laundry1:33

Organizing and folding laundry

12 actions10 skillsMCAP 1.5 GB

Mopping floor4:16

Mopping under classroom desks

13 actions16 skillsMCAP 3.9 GB

Organizing items1:08

Washing and storing broom and dustpan

10 actions17 skillsMCAP 1.0 GB

Preparing cleaning supplies1:25

Preparing and gathering cleaning equipment

12 actions19 skillsMCAP 1.3 GB

Preparing food1:03

Transferring rice from dish to another dish

11 actions15 skillsMCAP 1.1 GB

Wiping surfaces3:34

Cleaning office room

40 actions34 skillsMCAP 3.4 GB

Cleaning kitchen0:46

Cleaning kitchen counter and items

6 actions7 skillsMCAP 1.3 GB

Managing laundry1:04

Folding and shelving laundry

11 actions7 skillsMCAP 1.1 GB

Mopping floor1:48

Mopping tiled floor

9 actions6 skillsMCAP 1.6 GB

Organizing items1:00

Stocking cleaning supplies on shelves

9 actions15 skillsMCAP 946 MB

Preparing cleaning supplies1:04

Washing cleaning cloths in sink

10 actions14 skillsMCAP 865 MB

Preparing food1:19

Preparing egg for cooking

10 actions13 skillsMCAP 1.3 GB

Wiping surfaces3:50

Cleaning various surfaces and objects

32 actions13 skillsMCAP 3.4 GB

Cleaning kitchen0:50

Cleaning inside kitchen cabinet

6 actions5 skillsMCAP 1.1 GB

Managing laundry1:12

Processing laundry

9 actions20 skillsMCAP 1.1 GB

Mopping floor1:32

Mopping office area floor

5 actions6 skillsMCAP 1.6 GB

Organizing items1:12

Stocking paper towels

9 actions18 skillsMCAP 1.1 GB

Preparing cleaning supplies0:32

Preparing cleaning solution with tablets

7 actions16 skillsMCAP 452 MB

Preparing food0:40

Plating cooked eggs

5 actions13 skillsMCAP 658 MB

Wiping surfaces2:44

Cleaning, organizing, and securing office room

28 actions22 skillsMCAP 2.3 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}}
}