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

132 clips

Skill: release Clear all

Organizing items0:25

Moving golden stand

3 actions8 skillsMCAP 425 MB

Preparing cleaning supplies0:51

Preparing and transporting cleaning equipment

6 actions10 skillsMCAP 780 MB

Wiping surfaces0:36

Wiping stair handrail

3 actions5 skillsMCAP 685 MB

Mopping floor6:35

Mopping the floor with flat mop

52 actions16 skillsMCAP 5.7 GB

Organizing items0:21

Storing cleaning tools

3 actions8 skillsMCAP 322 MB

Preparing cleaning supplies0:25

Preparing cleaning equipment and solution

4 actions16 skillsMCAP 394 MB

Wiping surfaces0:27

Wiping high surfaces

3 actions6 skillsMCAP 398 MB

Mopping floor4:00

Mopping floor

48 actions27 skillsMCAP 3.8 GB

Organizing items0:17

Adjusting classroom desks

2 actions7 skillsMCAP 269 MB

Preparing cleaning supplies0:27

Wringing mop head

4 actions12 skillsMCAP 412 MB

Wiping surfaces0:26

Wiping glass door frame

2 actions8 skillsMCAP 551 MB

Mopping floor6:02

Mopping office floor

47 actions24 skillsMCAP 5.5 GB

Preparing cleaning supplies0:19

Wedging item in door to keep it open

3 actions6 skillsMCAP 254 MB

Wiping surfaces0:16

Wiping letters on sign

1 action4 skillsMCAP 239 MB

Mopping floor6:55

Mopping floor

43 actions22 skillsMCAP 5.7 GB

Preparing cleaning supplies0:17

Preparing mop for cleaning

2 actions8 skillsMCAP 257 MB

Mopping floor6:50

Mopping office floor

42 actions24 skillsMCAP 6.0 GB

Preparing cleaning supplies0:18

Washing and wringing mop head

2 actions7 skillsMCAP 266 MB

Mopping floor7:18

Mopping tiled floor with flat mop

41 actions20 skillsMCAP 5.8 GB

Mopping floor6:12

Mopping hallway floor

35 actions18 skillsMCAP 6.2 GB

Mopping floor4:44

Mopping the floor

34 actions21 skillsMCAP 4.6 GB

Mopping floor3:20

Mopping office floor

32 actions15 skillsMCAP 3.2 GB

Mopping floor5:10

Mopping hallway floor

32 actions30 skillsMCAP 4.4 GB

Mopping floor5:04

Mopping the floor

31 actions14 skillsMCAP 5.0 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}}
}