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

31 clips

Object: sink area Clear all

Cleaning kitchen0:26

Washing metal grate in kitchen sink

4 actions3 skillsMCAP 387 MB

Cleaning restroom11:06

Cleaning restroom facilities

101 actions40 skillsMCAP 8.8 GB

Cleaning windows10:11

Cleaning glass partition

76 actions31 skillsMCAP 9.4 GB

Cooking food1:27

Frying food and managing ingredients

13 actions9 skillsMCAP 1.6 GB

Managing trash2:47

Collecting trash from toilet stalls

24 actions25 skillsMCAP 2.5 GB

Mopping floor2:03

Mopping bathroom floor

20 actions12 skillsMCAP 1.8 GB

Preparing cleaning supplies3:58

Filling mop bucket and preparing equipment

35 actions20 skillsMCAP 3.5 GB

Preparing food0:44

Preparing and storing food item

5 actions6 skillsMCAP 749 MB

Wiping surfaces1:52

Wiping restroom surfaces

19 actions11 skillsMCAP 1.4 GB

Cleaning kitchen0:26

Wiping kitchen counter and sinks

2 actions2 skillsMCAP 273 MB

Cleaning restroom5:48

Cleaning multiple toilet bowls

48 actions18 skillsMCAP 4.6 GB

Managing trash1:31

Servicing public restroom bins

13 actions15 skillsMCAP 1.5 GB

Preparing cleaning supplies1:54

Preparing cleaning solution in bucket

17 actions21 skillsMCAP 1.5 GB

Wiping surfaces1:22

Cleaning restroom sinks and counter

11 actions7 skillsMCAP 1.0 GB

Cleaning restroom3:23

Cleaning bathroom sinks and countertops

28 actions25 skillsMCAP 2.7 GB

Managing trash1:12

Collecting trash from bins

12 actions16 skillsMCAP 948 MB

Preparing cleaning supplies1:40

Preparing Cleaning Supplies

16 actions15 skillsMCAP 1.7 GB

Wiping surfaces0:43

Cleaning bathroom surfaces

7 actions4 skillsMCAP 564 MB

Cleaning restroom2:18

Cleaning and stocking bathroom

20 actions16 skillsMCAP 2.0 GB

Managing trash0:21

Disposing of liquids from bottles

4 actions6 skillsMCAP 270 MB

Preparing cleaning supplies1:30

Preparing cleaning cart and supplies

14 actions15 skillsMCAP 1.3 GB

Wiping surfaces0:28

Wiping bathroom mirrors

4 actions2 skillsMCAP 372 MB

Cleaning restroom1:59

Cleaning restroom sink

20 actions16 skillsMCAP 1.3 GB

Wiping surfaces0:23

Spraying cleaner on bathroom sinks and counter

3 actions4 skillsMCAP 308 MB

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}}
}