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

851 clips

Skill: adjust Clear all

Cooking food0:16

Frying food in deep fryer

2 actions9 skillsMCAP 294 MB

Managing laundry0:20

Operating washing machine controls

3 actions6 skillsMCAP 333 MB

Managing trash0:28

Collecting trash in classroom

4 actions11 skillsMCAP 530 MB

Mopping floor11:47

Mopping classroom floor

45 actions20 skillsMCAP 13.2 GB

Organizing items1:08

Organizing paper towel supplies

10 actions13 skillsMCAP 958 MB

Preparing cleaning supplies1:53

Cleaning cleaning equipment

11 actions19 skillsMCAP 1.8 GB

Preparing food1:58

Placing prepared meal into dish and refrigerator

15 actions19 skillsMCAP 2.0 GB

Wiping surfaces1:45

Wiping table structure

17 actions10 skillsMCAP 2.0 GB

Cleaning windows1:30

Cleaning window

11 actions17 skillsMCAP 1.3 GB

Managing laundry0:26

Sorting laundry and operating machine

3 actions5 skillsMCAP 400 MB

Managing trash0:52

Compacting waste into bucket

4 actions10 skillsMCAP 741 MB

Mopping floor6:23

Mopping office floor

45 actions14 skillsMCAP 5.4 GB

Organizing items0:48

Organizing clothes on rack

10 actions16 skillsMCAP 774 MB

Preparing cleaning supplies1:03

Preparing cleaning equipment and solution

10 actions15 skillsMCAP 1.0 GB

Preparing food1:42

Taking component from refrigerator and washing vegetables

15 actions17 skillsMCAP 1.8 GB

Wiping surfaces1:25

Wiping wooden table

17 actions11 skillsMCAP 1.1 GB

Cleaning windows0:50

Wiping glass frames with cloth

10 actions15 skillsMCAP 717 MB

Managing laundry0:22

Organizing items into a bag

3 actions12 skillsMCAP 376 MB

Managing trash0:32

Emptying and cleaning trash bin

4 actions6 skillsMCAP 680 MB

Mopping floor6:09

Mopping restroom floor

44 actions27 skillsMCAP 5.4 GB

Organizing items1:12

Storing Towels

9 actions15 skillsMCAP 1.1 GB

Preparing cleaning supplies1:09

Preparing mop for cleaning

10 actions20 skillsMCAP 1.0 GB

Preparing food1:51

Slicing potatoes on cutting board

13 actions12 skillsMCAP 1.7 GB

Wiping surfaces2:14

Wiping kitchen countertop

17 actions9 skillsMCAP 2.3 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}}
}