Mopping office floor
109 actions30 skillsMCAP 14.2 GB
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
42 clips
109 actions30 skillsMCAP 14.2 GB
6 actions6 skillsMCAP 564 MB
14 actions21 skillsMCAP 2.4 GB
32 actions13 skillsMCAP 3.4 GB
40 actions16 skillsMCAP 7.2 GB
22 actions10 skillsMCAP 2.5 GB
21 actions10 skillsMCAP 1.8 GB
21 actions14 skillsMCAP 3.9 GB
21 actions8 skillsMCAP 1.5 GB
19 actions11 skillsMCAP 3.8 GB
19 actions8 skillsMCAP 1.3 GB
17 actions12 skillsMCAP 1.7 GB
15 actions9 skillsMCAP 1.2 GB
15 actions11 skillsMCAP 1.5 GB
12 actions4 skillsMCAP 927 MB
12 actions10 skillsMCAP 888 MB
11 actions6 skillsMCAP 1.3 GB
10 actions11 skillsMCAP 2.0 GB
10 actions5 skillsMCAP 1.1 GB
10 actions10 skillsMCAP 1.8 GB
8 actions5 skillsMCAP 1.1 GB
8 actions9 skillsMCAP 665 MB
7 actions3 skillsMCAP 632 MB
6 actions9 skillsMCAP 1.4 GB
| 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 |
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.
pip install -U huggingface_hub
hf auth login
B=hf://buckets/humaidtech/EgoViz-120
hf buckets cp $B/index.parquet index.parquethf sync $B/data/cleaning_kitchen ./cleaning_kitchenhf sync $B/data ./egoviz --include "*.mp4" --include "*.json"@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}}
}