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

47 clips

Object: stall door Clear all

Cleaning restroom11:06

Cleaning restroom facilities

101 actions40 skillsMCAP 8.8 GB

Managing trash2:47

Collecting trash from toilet stalls

24 actions25 skillsMCAP 2.5 GB

Mopping floor7:31

Mopping restroom floor

54 actions30 skillsMCAP 6.6 GB

Preparing cleaning supplies3:56

Preparing mop and bucket for cleaning

36 actions32 skillsMCAP 3.4 GB

Cleaning restroom5:48

Cleaning multiple toilet bowls

48 actions18 skillsMCAP 4.6 GB

Managing trash2:23

Emptying trash bins

22 actions22 skillsMCAP 2.3 GB

Mopping floor4:20

Mopping the floor

40 actions25 skillsMCAP 3.8 GB

Preparing cleaning supplies2:22

Preparing cleaning supplies and equipment

24 actions20 skillsMCAP 1.9 GB

Cleaning restroom4:00

Cleaning restroom stalls

39 actions21 skillsMCAP 3.2 GB

Managing trash1:52

Changing trash bags in restrooms

20 actions21 skillsMCAP 1.6 GB

Mopping floor3:43

Mopping floor

32 actions23 skillsMCAP 3.2 GB

Cleaning restroom4:54

Cleaning bathroom surfaces and floor

32 actions19 skillsMCAP 3.7 GB

Managing trash2:15

Emptying and relining trash bins

20 actions23 skillsMCAP 1.9 GB

Mopping floor2:03

Mopping bathroom floor

20 actions12 skillsMCAP 1.8 GB

Cleaning restroom3:30

Mopping tiled floor

28 actions10 skillsMCAP 2.9 GB

Managing trash1:00

Collecting trash and replacing supplies

10 actions7 skillsMCAP 900 MB

Mopping floor2:24

Mopping restroom floor

17 actions13 skillsMCAP 1.9 GB

Cleaning restroom2:47

Cleaning the toilet

24 actions21 skillsMCAP 2.3 GB

Managing trash1:35

Collecting trash and relining bins

9 actions9 skillsMCAP 1.4 GB

Mopping floor1:12

Mopping restroom floor

10 actions10 skillsMCAP 1.1 GB

Cleaning restroom2:09

Cleaning restroom surfaces

20 actions15 skillsMCAP 1.6 GB

Managing trash1:04

Collecting trash from restroom bins

8 actions11 skillsMCAP 1.2 GB

Mopping floor0:33

Mopping the floor

6 actions6 skillsMCAP 478 MB

Cleaning restroom2:25

Cleaning multiple toilets in bathroom

19 actions10 skillsMCAP 1.9 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}}
}