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

25 clips

Object: soap bottle Clear all

Cleaning kitchen1:03

Cleaning range hood filters

6 actions10 skillsMCAP 984 MB

Cleaning restroom4:54

Cleaning bathroom surfaces and floor

32 actions19 skillsMCAP 3.7 GB

Preparing cleaning supplies3:58

Filling mop bucket and preparing equipment

35 actions20 skillsMCAP 3.5 GB

Wiping surfaces0:42

Cleaning restroom sinks and countertop

3 actions6 skillsMCAP 434 MB

Cleaning kitchen0:20

Cleaning kitchen items in sink

4 actions8 skillsMCAP 315 MB

Cleaning restroom3:23

Cleaning bathroom sinks and countertops

28 actions25 skillsMCAP 2.7 GB

Preparing cleaning supplies3:19

Preparing mopping supplies

32 actions33 skillsMCAP 2.9 GB

Cleaning restroom2:51

Cleaning bathroom vanity

25 actions19 skillsMCAP 2.5 GB

Preparing cleaning supplies2:30

Preparing cleaning solution in cart

24 actions29 skillsMCAP 2.1 GB

Cleaning restroom2:09

Cleaning restroom surfaces

20 actions15 skillsMCAP 1.6 GB

Preparing cleaning supplies1:54

Preparing cleaning solution in bucket

17 actions21 skillsMCAP 1.5 GB

Cleaning restroom1:54

Cleaning bathroom surfaces

19 actions16 skillsMCAP 1.4 GB

Preparing cleaning supplies1:39

Refilling and preparing soap dispensers

14 actions15 skillsMCAP 1.3 GB

Cleaning restroom1:51

Spraying and cleaning bathroom fixtures

15 actions14 skillsMCAP 1.4 GB

Preparing cleaning supplies0:33

Preparing cleaning supplies and solution

6 actions5 skillsMCAP 522 MB

Cleaning restroom1:49

Wiping restroom surfaces

14 actions9 skillsMCAP 1.4 GB

Preparing cleaning supplies0:32

Preparing cleaning solution and cloth

4 actions10 skillsMCAP 523 MB

Cleaning restroom0:33

Cleaning restroom mirror, sink, and toilet

5 actions8 skillsMCAP 420 MB

Preparing cleaning supplies0:35

Washing mop heads in sink

3 actions9 skillsMCAP 453 MB

Cleaning restroom0:24

Cleaning small restroom fixtures

4 actions8 skillsMCAP 346 MB

Preparing cleaning supplies0:37

Preparing cleaning solution

3 actions8 skillsMCAP 438 MB

Cleaning restroom0:22

Cleaning restroom sinks with cloth

4 actions4 skillsMCAP 294 MB

Preparing cleaning supplies0:15

Preparing cleaning cloth

1 action5 skillsMCAP 242 MB

Cleaning restroom0:40

Cleaning toilet

4 actions5 skillsMCAP 496 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}}
}