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

86 clips

Object: white cloth Clear all

Preparing cleaning supplies3:06

Filling buckets and rinsing cleaning items

25 actions38 skillsMCAP 3.1 GB

Wiping surfaces5:27

Cleaning whiteboard

21 actions14 skillsMCAP 3.9 GB

Managing laundry1:42

Hanging clothes to dry

17 actions6 skillsMCAP 1.7 GB

Preparing cleaning supplies1:49

Preparing cleaning equipment

18 actions24 skillsMCAP 1.5 GB

Wiping surfaces2:07

Wiping locker interiors

21 actions19 skillsMCAP 1.6 GB

Managing laundry1:12

Folding and stacking laundry

12 actions11 skillsMCAP 1.2 GB

Preparing cleaning supplies1:51

Preparing cleaning supplies

17 actions19 skillsMCAP 1.6 GB

Wiping surfaces2:11

Wiping outdoor tables

16 actions14 skillsMCAP 2.8 GB

Managing laundry1:19

Packing folded laundry into bag

11 actions15 skillsMCAP 1.3 GB

Preparing cleaning supplies1:57

Preparing cleaning tools

15 actions24 skillsMCAP 1.8 GB

Wiping surfaces2:06

Cleaning sink with cloth

14 actions21 skillsMCAP 1.7 GB

Managing laundry1:09

Folding and organizing laundry items

11 actions12 skillsMCAP 1.1 GB

Preparing cleaning supplies1:12

Preparing mop bucket

13 actions17 skillsMCAP 1.2 GB

Wiping surfaces1:26

Wiping office surfaces

12 actions10 skillsMCAP 1.2 GB

Managing laundry1:07

Sorting and loading laundry into machines

8 actions10 skillsMCAP 1.1 GB

Preparing cleaning supplies1:15

Handling and organizing cleaning supplies

11 actions11 skillsMCAP 1.1 GB

Wiping surfaces1:09

Wiping medical surfaces and equipment

11 actions17 skillsMCAP 886 MB

Managing laundry1:03

Folding laundry and placing on shelf

8 actions13 skillsMCAP 960 MB

Preparing cleaning supplies1:04

Washing cleaning cloths in sink

10 actions14 skillsMCAP 865 MB

Wiping surfaces3:01

Wiping washing machine

11 actions16 skillsMCAP 2.8 GB

Managing laundry0:33

Loading laundry into washing machine

5 actions13 skillsMCAP 501 MB

Preparing cleaning supplies0:58

Wringing cleaning cloths

9 actions9 skillsMCAP 877 MB

Wiping surfaces1:05

Wiping office desk surfaces

10 actions18 skillsMCAP 1.2 GB

Managing laundry0:35

Unloading laundry into washing machines

5 actions10 skillsMCAP 547 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}}
}