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

246 clips

Skill: maneuver Clear all

Wiping surfaces2:07

Wiping elevator interior

20 actions14 skillsMCAP 2.0 GB

Cleaning restroom1:15

Wiping surfaces in toilet area

12 actions18 skillsMCAP 973 MB

Cleaning windows4:50

Cleaning glass panels with squeegee

46 actions40 skillsMCAP 5.4 GB

Mopping floor16:05

Mopping office floor

109 actions30 skillsMCAP 14.2 GB

Organizing items1:00

Arranging chairs under counter

12 actions16 skillsMCAP 996 MB

Preparing cleaning supplies3:17

Filling and organizing cleaning buckets

29 actions25 skillsMCAP 2.8 GB

Sweeping floor2:21

Sweeping the floor

15 actions15 skillsMCAP 2.2 GB

Wiping surfaces1:29

Cleaning black table surface

11 actions2 skillsMCAP 1.2 GB

Cleaning restroom1:07

Cleaning shower walls with mop

9 actions14 skillsMCAP 910 MB

Cleaning windows5:21

Cleaning glass

45 actions40 skillsMCAP 5.7 GB

Mopping floor14:01

Mopping the floor

109 actions40 skillsMCAP 13.9 GB

Organizing items1:26

Transporting and distributing bedding with cart

10 actions20 skillsMCAP 1.3 GB

Preparing cleaning supplies3:00

Preparing cleaning supplies

27 actions40 skillsMCAP 3.0 GB

Sweeping floor1:36

Sweeping and collecting debris from ground

15 actions6 skillsMCAP 1.7 GB

Wiping surfaces0:44

Cleaning Smith machine

6 actions12 skillsMCAP 850 MB

Cleaning restroom0:45

Cleaning bathroom cabinet and bin

7 actions17 skillsMCAP 680 MB

Cleaning windows4:30

Cleaning glass panels and frames

44 actions38 skillsMCAP 4.7 GB

Mopping floor11:20

Mopping floor

100 actions33 skillsMCAP 10.9 GB

Organizing items1:03

Arranging chairs in the room

9 actions19 skillsMCAP 983 MB

Preparing cleaning supplies2:54

Preparing cleaning tools and mopping floor

26 actions40 skillsMCAP 2.7 GB

Sweeping floor2:00

Vacuuming hotel room carpet

14 actions13 skillsMCAP 1.8 GB

Wiping surfaces1:05

Mopping the ping-pong table

6 actions12 skillsMCAP 1.0 GB

Cleaning restroom0:15

Cleaning restroom sinks

2 actions5 skillsMCAP 226 MB

Cleaning windows3:46

Cleaning glass wall with long-handled tool

36 actions30 skillsMCAP 3.5 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}}
}