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

220 clips

Object: sink Clear all

Cleaning kitchen3:56

Cleaning kitchen counter and sinks

32 actions23 skillsMCAP 3.1 GB

Cleaning restroom11:06

Cleaning restroom facilities

101 actions40 skillsMCAP 8.8 GB

Cooking food3:22

Cooking vegetables in pan

32 actions40 skillsMCAP 3.3 GB

Managing trash0:55

Emptying and replacing trash bags

8 actions13 skillsMCAP 795 MB

Mopping floor7:07

Mopping the room floor

41 actions17 skillsMCAP 6.1 GB

Organizing items1:20

Organizing cleaning supplies

13 actions14 skillsMCAP 1.2 GB

Preparing cleaning supplies4:15

Preparing cleaning supplies

41 actions33 skillsMCAP 3.6 GB

Preparing food7:21

Slicing peppers on cutting board

57 actions40 skillsMCAP 7.7 GB

Wiping surfaces2:53

Wiping various medical surfaces

29 actions17 skillsMCAP 2.5 GB

Cleaning kitchen3:59

Cleaning kitchen sinks and microwave

25 actions14 skillsMCAP 3.9 GB

Cleaning restroom5:30

Cleaning sinks and counter

56 actions20 skillsMCAP 3.7 GB

Cooking food1:29

Cooking food in pan

16 actions18 skillsMCAP 1.5 GB

Mopping floor2:02

Mopping restroom floor

10 actions14 skillsMCAP 1.7 GB

Organizing items0:35

Collecting dirty dishes

5 actions6 skillsMCAP 706 MB

Preparing cleaning supplies3:56

Preparing mop and bucket for cleaning

36 actions32 skillsMCAP 3.4 GB

Preparing food7:08

Cutting meat on chopping board

40 actions24 skillsMCAP 7.3 GB

Wiping surfaces2:49

Wiping various surfaces and equipment

28 actions12 skillsMCAP 2.5 GB

Cleaning kitchen3:37

Cleaning kitchen sink

17 actions14 skillsMCAP 2.6 GB

Cleaning restroom4:21

Cleaning sinks and counter

42 actions16 skillsMCAP 3.4 GB

Cooking food1:24

Cooking ingredients on stove

14 actions15 skillsMCAP 1.4 GB

Mopping floor0:50

Mopping the floor

9 actions18 skillsMCAP 730 MB

Organizing items0:37

Storing containers in refrigerator

5 actions9 skillsMCAP 628 MB

Preparing cleaning supplies3:58

Filling mop bucket and preparing equipment

35 actions20 skillsMCAP 3.5 GB

Preparing food1:41

Managing meal and storing product in refrigerator

19 actions22 skillsMCAP 2.1 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}}
}