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

23 clips

Object: stove Clear all

Cooking food4:21

Stirring ingredients in a pot

35 actions39 skillsMCAP 3.9 GB

Organizing items1:02

Organizing ingredients in refrigerator

11 actions13 skillsMCAP 1.0 GB

Preparing cleaning supplies0:22

Washing cleaning cloth

3 actions6 skillsMCAP 339 MB

Preparing food3:20

Cutting potatoes into pieces

18 actions21 skillsMCAP 3.1 GB

Cooking food3:38

Stirring contents in pot

34 actions23 skillsMCAP 3.7 GB

Preparing food1:41

Transferring product to smaller dish

15 actions16 skillsMCAP 2.0 GB

Cooking food3:05

Cooking instant noodles

29 actions27 skillsMCAP 3.0 GB

Preparing food1:30

Preparing and filling tortillas

15 actions13 skillsMCAP 1.4 GB

Cooking food3:05

Adding ingredients and stirring food

28 actions18 skillsMCAP 3.1 GB

Preparing food1:58

Placing prepared meal into dish and refrigerator

15 actions19 skillsMCAP 2.0 GB

Cooking food2:05

Adding ingredients and stirring a pot

19 actions9 skillsMCAP 2.0 GB

Preparing food2:23

Preparing instant noodles

11 actions16 skillsMCAP 2.4 GB

Cooking food1:29

Cooking food in pan

16 actions18 skillsMCAP 1.5 GB

Preparing food0:29

Preparing pan for cooking

4 actions9 skillsMCAP 445 MB

Cooking food1:17

Stirring ingredients in pot on cooker

15 actions8 skillsMCAP 1.3 GB

Preparing food0:19

Placing water on gas stove to boil

3 actions4 skillsMCAP 378 MB

Cooking food1:24

Cooking ingredients on stove

14 actions15 skillsMCAP 1.4 GB

Preparing food0:21

Preparing pot for cooking

3 actions12 skillsMCAP 425 MB

Cooking food1:56

Cooking ingredients in pan

13 actions17 skillsMCAP 1.8 GB

Cooking food2:15

Adding and stirring meat in pan

10 actions11 skillsMCAP 2.1 GB

Cooking food1:08

Cooking ingredients on stove

9 actions7 skillsMCAP 1.0 GB

Cooking food0:44

Cracking eggs into cooking noodles

7 actions13 skillsMCAP 668 MB

Cooking food0:50

Cooking vegetables in pan

7 actions7 skillsMCAP 790 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}}
}