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

51 clips

Skill: gather Clear all

Cooking food0:16

Adding diced potatoes to pot

2 actions7 skillsMCAP 249 MB

Managing laundry0:49

Transferring clothes to dryer and setting cycle

8 actions16 skillsMCAP 693 MB

Preparing food7:21

Slicing peppers on cutting board

57 actions40 skillsMCAP 7.7 GB

Managing laundry0:33

Loading laundry into washing machine

5 actions13 skillsMCAP 501 MB

Preparing food5:31

Portioning and shaping dough

48 actions40 skillsMCAP 4.7 GB

Managing laundry0:26

Packing clothes into a bag

3 actions11 skillsMCAP 436 MB

Preparing food4:59

Slicing vegetables on cutting board

44 actions35 skillsMCAP 4.4 GB

Managing laundry0:27

Loading and starting washing machine

3 actions7 skillsMCAP 413 MB

Preparing food5:17

Slicing meat on cutting board

33 actions35 skillsMCAP 5.2 GB

Managing laundry0:22

Unloading clothes from washing machines

2 actions6 skillsMCAP 357 MB

Preparing food4:11

Chopping onions

32 actions20 skillsMCAP 3.3 GB

Preparing food2:40

Cutting potatoes on board

27 actions26 skillsMCAP 2.6 GB

Preparing food3:09

Dicing carrots on cutting board

24 actions20 skillsMCAP 2.9 GB

Preparing food2:46

Mincing garlic cloves

20 actions22 skillsMCAP 3.0 GB

Preparing food2:35

Chopping onions on cutting board

18 actions22 skillsMCAP 2.7 GB

Preparing food1:30

Preparing and filling tortillas

15 actions13 skillsMCAP 1.4 GB

Preparing food1:38

Chopping bell peppers on cutting board

11 actions21 skillsMCAP 1.6 GB

Preparing food0:46

Packing dough into bags

8 actions12 skillsMCAP 619 MB

Preparing food1:17

Slicing potatoes

8 actions12 skillsMCAP 1.0 GB

Preparing food0:55

Chopping onion

6 actions9 skillsMCAP 733 MB

Preparing food0:48

Transferring sliced onions into bowl

6 actions17 skillsMCAP 697 MB

Preparing food0:45

Preparing vegetables and garlic

5 actions14 skillsMCAP 765 MB

Preparing food0:30

Chopping onion on cutting board

5 actions8 skillsMCAP 444 MB

Preparing food0:35

Grating cheese for cooking

4 actions8 skillsMCAP 492 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}}
}