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

1,572 clips

Skill: move Clear all

Cleaning kitchen1:48

Cleaning range hood filters and grates

14 actions11 skillsMCAP 1.8 GB

Cleaning restroom2:47

Cleaning the toilet

24 actions21 skillsMCAP 2.3 GB

Cleaning windows5:22

Cleaning glass windows

51 actions40 skillsMCAP 5.8 GB

Cooking food3:22

Cooking vegetables in pan

32 actions40 skillsMCAP 3.3 GB

Managing laundry1:29

Folding and storing clothes

17 actions17 skillsMCAP 1.4 GB

Managing trash1:01

Cleaning outdoor trash bin

9 actions16 skillsMCAP 1.1 GB

Mopping floor14:01

Mopping the floor

109 actions40 skillsMCAP 13.9 GB

Organizing items2:37

Arranging classroom furniture

22 actions26 skillsMCAP 3.2 GB

Preparing cleaning supplies3:56

Preparing mop and bucket for cleaning

36 actions32 skillsMCAP 3.4 GB

Preparing food6:38

Weighing and shaping dough portions

59 actions40 skillsMCAP 5.7 GB

Sweeping floor3:40

Sweeping floor with brush and dustpan

34 actions17 skillsMCAP 3.3 GB

Wiping surfaces5:35

Cleaning gym equipment

46 actions11 skillsMCAP 6.9 GB

Cleaning kitchen1:15

Cleaning kitchen range hood

12 actions10 skillsMCAP 1.2 GB

Cleaning restroom3:00

Cleaning and restocking public restroom

24 actions28 skillsMCAP 2.5 GB

Cleaning windows4:50

Cleaning glass panels with squeegee

46 actions40 skillsMCAP 5.4 GB

Cooking food2:28

Preparing and cooking vegetables in pan

22 actions18 skillsMCAP 2.3 GB

Managing laundry1:46

Sorting laundry into basket

15 actions20 skillsMCAP 1.8 GB

Managing trash0:56

Emptying and lining restroom trash bins

9 actions8 skillsMCAP 821 MB

Mopping floor11:20

Mopping floor

100 actions33 skillsMCAP 10.9 GB

Organizing items2:23

Folding down desks in lecture hall

21 actions39 skillsMCAP 2.7 GB

Preparing cleaning supplies4:58

Organizing and stocking cleaning cart

35 actions32 skillsMCAP 4.2 GB

Preparing food7:21

Slicing peppers on cutting board

57 actions40 skillsMCAP 7.7 GB

Sweeping floor3:37

Sweeping kitchen floor

25 actions8 skillsMCAP 3.6 GB

Wiping surfaces3:45

Wiping window frame

43 actions32 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}}
}