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

124 clips

Skill: arrange Clear all

Preparing food1:23

Preparing salad in bowl

9 actions9 skillsMCAP 1.4 GB

Preparing cleaning supplies0:22

Preparing cleaning solution

2 actions8 skillsMCAP 285 MB

Preparing food1:09

Preparing and chopping green onions

8 actions14 skillsMCAP 1.1 GB

Preparing cleaning supplies0:16

Stocking cleaning cart supplies

2 actions9 skillsMCAP 211 MB

Preparing food0:58

Serving food onto plate

7 actions17 skillsMCAP 902 MB

Preparing food0:54

Assembling ingredients onto plate

6 actions15 skillsMCAP 734 MB

Preparing food0:41

Assembling soup dish

6 actions11 skillsMCAP 670 MB

Preparing food0:53

Preparing and arranging toasted sandwiches

6 actions18 skillsMCAP 800 MB

Preparing food0:31

Preparing dough pieces for baking

6 actions10 skillsMCAP 568 MB

Preparing food0:33

Making dumplings with meat filling

5 actions11 skillsMCAP 490 MB

Preparing food0:32

Adding ingredients to salad plate

5 actions3 skillsMCAP 464 MB

Preparing food0:30

Arranging vegetables on cutting board

4 actions9 skillsMCAP 450 MB

Preparing food0:29

Retrieving produce from refrigerator

4 actions11 skillsMCAP 463 MB

Preparing food0:35

Preparing noodles for cooking

3 actions8 skillsMCAP 604 MB

Preparing food0:17

Chopping garlic on cutting board

3 actions6 skillsMCAP 291 MB

Preparing food0:26

Slicing potatoes on cutting board

3 actions7 skillsMCAP 403 MB

Preparing food0:17

Arranging bread in basket

3 actions8 skillsMCAP 237 MB

Preparing food0:27

Preparing tortilla with cheese

3 actions9 skillsMCAP 415 MB

Preparing food0:17

Placing Dough Pieces on a Tray

3 actions6 skillsMCAP 269 MB

Preparing food0:24

Placing filling onto dough circles

3 actions4 skillsMCAP 312 MB

Preparing food0:16

Transferring fried food to board

2 actions8 skillsMCAP 243 MB

Preparing food0:24

Arranging Dough Sheets

2 actions5 skillsMCAP 356 MB

Preparing food0:16

Placing Dough Pieces on a Tray

2 actions5 skillsMCAP 266 MB

Preparing food0:21

Stirring meal and taking noodles from bag

2 actions5 skillsMCAP 362 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}}
}