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: water bottle Clear all

Cleaning restroom2:30

Cleaning restroom toilets

17 actions16 skillsMCAP 2.0 GB

Managing trash1:13

Collecting trash from desks

10 actions10 skillsMCAP 1.5 GB

Mopping floor6:54

Mopping classroom floor

34 actions16 skillsMCAP 7.2 GB

Organizing items3:52

Adjusting room curtains

32 actions20 skillsMCAP 3.1 GB

Preparing cleaning supplies3:56

Preparing mop and bucket for cleaning

36 actions32 skillsMCAP 3.4 GB

Wiping surfaces2:44

Cleaning, organizing, and securing office room

28 actions22 skillsMCAP 2.3 GB

Managing trash0:43

Sorting items into recycling bins

7 actions14 skillsMCAP 616 MB

Mopping floor3:06

Mopping floor with string mop

25 actions14 skillsMCAP 2.8 GB

Organizing items2:20

Adjusting lecture hall desks

19 actions23 skillsMCAP 2.9 GB

Preparing cleaning supplies4:58

Organizing and stocking cleaning cart

35 actions32 skillsMCAP 4.2 GB

Wiping surfaces3:16

Wiping surfaces with a cloth

25 actions15 skillsMCAP 2.7 GB

Managing trash0:41

Preparing trash bag for cart

6 actions11 skillsMCAP 591 MB

Organizing items1:31

Folding desks and collecting bottles

12 actions3 skillsMCAP 1.9 GB

Preparing cleaning supplies3:19

Preparing mopping supplies

32 actions33 skillsMCAP 2.9 GB

Wiping surfaces0:53

Wiping office desk surface

10 actions6 skillsMCAP 706 MB

Managing trash0:53

Collecting and sorting trash

6 actions16 skillsMCAP 779 MB

Organizing items1:06

Arranging chairs and tabletops

9 actions15 skillsMCAP 1.0 GB

Preparing cleaning supplies2:12

Preparing cleaning solution and tools

21 actions24 skillsMCAP 2.2 GB

Wiping surfaces0:19

Wiping water dispenser

2 actions1 skillMCAP 299 MB

Managing trash0:33

Clearing medical supplies from metal table into bin

5 actions6 skillsMCAP 538 MB

Organizing items1:12

Folding down lecture hall desks

9 actions8 skillsMCAP 1.6 GB

Preparing cleaning supplies1:13

Refilling soap dispenser

10 actions14 skillsMCAP 930 MB

Wiping surfaces0:17

Cleaning water dispenser area

2 actions4 skillsMCAP 237 MB

Managing trash0:19

Collecting trash from lecture hall desks

3 actions5 skillsMCAP 408 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}}
}