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

5,392 clips

Cleaning kitchen1:04

Cleaning water dispenser

12 actions10 skillsMCAP 1.0 GB

Cleaning restroom2:25

Cleaning multiple toilets in bathroom

19 actions10 skillsMCAP 1.9 GB

Cleaning windows3:04

Cleaning glass panels and frames

30 actions36 skillsMCAP 3.2 GB

Cooking food1:19

Preparing ingredients and cooking food

14 actions15 skillsMCAP 1.4 GB

Managing laundry1:12

Folding and stacking laundry

12 actions11 skillsMCAP 1.2 GB

Managing trash0:58

Collecting trash from room

9 actions11 skillsMCAP 852 MB

Mopping floor9:08

Mopping cafeteria floor

61 actions7 skillsMCAP 9.5 GB

Organizing items1:33

Cleaning and organizing medical room

16 actions14 skillsMCAP 1.3 GB

Preparing cleaning supplies2:23

Preparing cleaning solution for mopping

18 actions24 skillsMCAP 2.0 GB

Preparing food4:47

Making dumplings with meat filling

37 actions8 skillsMCAP 4.0 GB

Sweeping floor2:20

Sweeping office floor

11 actions6 skillsMCAP 2.2 GB

Wiping surfaces4:19

Wiping metal and glass railings

33 actions7 skillsMCAP 4.8 GB

Cleaning kitchen1:07

Cleaning kitchen sink and countertop

11 actions6 skillsMCAP 799 MB

Cleaning restroom2:08

Cleaning bathroom countertop and sinks

19 actions19 skillsMCAP 1.4 GB

Cleaning windows3:14

Cleaning large windows

24 actions13 skillsMCAP 3.3 GB

Cooking food1:10

Cooking eggs on stove

14 actions12 skillsMCAP 1.1 GB

Managing laundry1:20

Sorting and packing laundry into bags

12 actions10 skillsMCAP 1.3 GB

Managing trash1:05

Cleaning and disposing reusable items

9 actions17 skillsMCAP 789 MB

Mopping floor5:37

Mopping tiled floor

60 actions14 skillsMCAP 5.5 GB

Organizing items1:32

Sorting and packing various items

16 actions17 skillsMCAP 1.5 GB

Preparing cleaning supplies3:55

Washing cloth in bucket

17 actions11 skillsMCAP 3.1 GB

Preparing food6:03

Weighing and bagging pasta

37 actions34 skillsMCAP 5.8 GB

Sweeping floor2:12

Performing general floor cleaning tasks

10 actions12 skillsMCAP 2.1 GB

Wiping surfaces3:38

Wiping window frames

32 actions10 skillsMCAP 4.9 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}}
}