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

319 clips

Skill: close Clear all

Mopping floor14:31

Mopping lecture hall floor

56 actions16 skillsMCAP 14.8 GB

Organizing items2:02

Cleaning and organizing kitchen cabinet

17 actions14 skillsMCAP 2.0 GB

Preparing cleaning supplies2:30

Preparing cleaning solution in cart

24 actions29 skillsMCAP 2.1 GB

Preparing food1:41

Transferring product to smaller dish

15 actions16 skillsMCAP 2.0 GB

Wiping surfaces2:19

Wiping office desks and equipment

24 actions15 skillsMCAP 2.3 GB

Cleaning kitchen0:57

Cleaning kitchen microwave and countertop

8 actions10 skillsMCAP 730 MB

Cleaning restroom2:08

Cleaning bathroom countertop and sinks

19 actions19 skillsMCAP 1.4 GB

Cooking food1:55

Cooking ingredients in pan

17 actions17 skillsMCAP 2.1 GB

Managing laundry1:47

Cleaning dryer lint filters

11 actions12 skillsMCAP 1.7 GB

Managing trash1:12

Collecting trash from bins

12 actions16 skillsMCAP 948 MB

Mopping floor6:35

Mopping the floor with flat mop

52 actions16 skillsMCAP 5.7 GB

Organizing items2:04

Organizing classroom desks

15 actions21 skillsMCAP 2.7 GB

Preparing cleaning supplies2:22

Preparing cleaning supplies and equipment

24 actions20 skillsMCAP 1.9 GB

Preparing food1:58

Placing prepared meal into dish and refrigerator

15 actions19 skillsMCAP 2.0 GB

Wiping surfaces2:36

Cleaning lockers

24 actions12 skillsMCAP 1.7 GB

Cleaning kitchen0:49

Drying glasses with paper towels

7 actions14 skillsMCAP 718 MB

Cleaning restroom2:13

Collecting trash and cleaning restrooms

19 actions15 skillsMCAP 1.7 GB

Cooking food1:19

Preparing ingredients and cooking food

14 actions15 skillsMCAP 1.4 GB

Managing laundry1:22

Transferring clothes from machines to basket

11 actions13 skillsMCAP 1.3 GB

Managing trash1:02

Emptying restroom trash bins

10 actions8 skillsMCAP 882 MB

Mopping floor5:55

Mopping office floor

48 actions29 skillsMCAP 5.7 GB

Organizing items1:28

Packing items from lockers into bag

15 actions22 skillsMCAP 1.1 GB

Preparing cleaning supplies1:54

Preparing cleaning solution in bucket

17 actions21 skillsMCAP 1.5 GB

Preparing food2:05

Preparing noodle portions

12 actions12 skillsMCAP 2.0 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}}
}