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

208 clips

Skill: position Clear all

Managing laundry0:24

Processing and labeling items from bag

5 actions12 skillsMCAP 382 MB

Mopping floor14:01

Mopping the floor

109 actions40 skillsMCAP 13.9 GB

Organizing items2:04

Organizing classroom desks

15 actions21 skillsMCAP 2.7 GB

Preparing cleaning supplies2:59

Preparing cleaning equipment

30 actions36 skillsMCAP 3.1 GB

Preparing food6:38

Weighing and shaping dough portions

59 actions40 skillsMCAP 5.7 GB

Sweeping floor3:13

Sweeping floor with broom and dustpan

10 actions6 skillsMCAP 2.7 GB

Wiping surfaces3:45

Wiping window frame

43 actions32 skillsMCAP 3.5 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 floor11:20

Mopping floor

100 actions33 skillsMCAP 10.9 GB

Organizing items1:35

Removing cleaning items from restroom

13 actions24 skillsMCAP 1.2 GB

Preparing cleaning supplies3:00

Preparing cleaning supplies

27 actions40 skillsMCAP 3.0 GB

Preparing food7:21

Slicing peppers on cutting board

57 actions40 skillsMCAP 7.7 GB

Sweeping floor0:46

Sweeping floor on landing

8 actions4 skillsMCAP 781 MB

Wiping surfaces3:00

Wiping outdoor table

25 actions20 skillsMCAP 4.2 GB

Cleaning windows5:21

Cleaning glass

45 actions40 skillsMCAP 5.7 GB

Mopping floor18:15

Mopping cafeteria floor

94 actions36 skillsMCAP 17.1 GB

Organizing items1:08

Organizing paper towel supplies

10 actions13 skillsMCAP 958 MB

Preparing cleaning supplies3:06

Filling buckets and rinsing cleaning items

25 actions38 skillsMCAP 3.1 GB

Preparing food7:10

Cutting chicken on cutting board

55 actions36 skillsMCAP 7.5 GB

Sweeping floor0:38

Sweeping the floor

5 actions5 skillsMCAP 526 MB

Wiping surfaces1:51

Wiping various surfaces in hallway and office

21 actions15 skillsMCAP 1.6 GB

Cleaning windows4:30

Cleaning glass panels and frames

44 actions38 skillsMCAP 4.7 GB

Mopping floor10:55

Mopping office floor

81 actions28 skillsMCAP 11.2 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}}
}