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

437 clips

Skill: carry Clear all

Cleaning windows4:50

Cleaning glass panels with squeegee

46 actions40 skillsMCAP 5.4 GB

Cooking food0:40

Cooking ingredients in pan

6 actions12 skillsMCAP 617 MB

Managing laundry1:28

Operating laundry machines

12 actions23 skillsMCAP 1.5 GB

Managing trash1:29

Collecting trash and bagging it

11 actions21 skillsMCAP 1.3 GB

Mopping floor11:20

Mopping floor

100 actions33 skillsMCAP 10.9 GB

Organizing items1:31

Sorting paper cutouts on desk

12 actions16 skillsMCAP 1.3 GB

Preparing cleaning supplies3:56

Preparing mop and bucket for cleaning

36 actions32 skillsMCAP 3.4 GB

Preparing food5:34

Cutting meat on board

17 actions6 skillsMCAP 4.7 GB

Sweeping floor2:20

Sweeping office floor

11 actions6 skillsMCAP 2.2 GB

Wiping surfaces3:41

Cleaning various surfaces

35 actions14 skillsMCAP 3.5 GB

Cleaning restroom0:48

Servicing restroom facilities

7 actions14 skillsMCAP 663 MB

Cleaning windows4:30

Cleaning glass panels and frames

44 actions38 skillsMCAP 4.7 GB

Cooking food0:39

Adding and stirring vegetables in pan

4 actions8 skillsMCAP 586 MB

Managing laundry0:48

Loading laundry into washing machines

10 actions21 skillsMCAP 721 MB

Managing trash1:05

Changing trash bags in restroom bins

10 actions23 skillsMCAP 869 MB

Mopping floor18:15

Mopping cafeteria floor

94 actions36 skillsMCAP 17.1 GB

Organizing items1:39

Refilling paper towel dispensers

12 actions19 skillsMCAP 1.3 GB

Preparing cleaning supplies3:58

Filling mop bucket and preparing equipment

35 actions20 skillsMCAP 3.5 GB

Preparing food4:10

Dicing peeled potatoes

16 actions9 skillsMCAP 3.9 GB

Sweeping floor3:13

Sweeping floor with broom and dustpan

10 actions6 skillsMCAP 2.7 GB

Wiping surfaces3:30

Wiping office desks

33 actions13 skillsMCAP 3.0 GB

Cleaning restroom0:36

Applying cleaner to bathroom fixtures

6 actions9 skillsMCAP 479 MB

Cleaning windows5:20

Wiping glass door and frame

40 actions16 skillsMCAP 5.4 GB

Cooking food0:37

Preparing and cooking food items

4 actions9 skillsMCAP 608 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}}
}