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

2,102 clips

Skill: reach Clear all

Cleaning kitchen1:48

Cleaning range hood filters and grates

14 actions11 skillsMCAP 1.8 GB

Cleaning restroom3:30

Mopping tiled floor

28 actions10 skillsMCAP 2.9 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 laundry1:21

Unloading laundry from dryer

15 actions21 skillsMCAP 1.3 GB

Managing trash1:19

Replacing trash bags in bins

12 actions17 skillsMCAP 1.1 GB

Mopping floor10:55

Mopping office floor

81 actions28 skillsMCAP 11.2 GB

Organizing items2:23

Folding down desks in lecture hall

21 actions39 skillsMCAP 2.7 GB

Preparing cleaning supplies2:59

Preparing cleaning equipment

30 actions36 skillsMCAP 3.1 GB

Preparing food7:10

Cutting chicken on cutting board

55 actions36 skillsMCAP 7.5 GB

Sweeping floor2:21

Sweeping the floor

15 actions15 skillsMCAP 2.2 GB

Wiping surfaces3:45

Wiping window frame

43 actions32 skillsMCAP 3.5 GB

Cleaning kitchen1:45

Wiping kitchen area surfaces

13 actions16 skillsMCAP 1.4 GB

Cleaning restroom3:23

Cleaning bathroom sinks and countertops

28 actions25 skillsMCAP 2.7 GB

Cleaning windows5:21

Cleaning glass

45 actions40 skillsMCAP 5.7 GB

Cooking food2:35

Stir-frying ingredients in pans

21 actions18 skillsMCAP 2.6 GB

Managing laundry1:46

Sorting laundry into basket

15 actions20 skillsMCAP 1.8 GB

Managing trash1:12

Collecting trash from bins

12 actions16 skillsMCAP 948 MB

Mopping floor15:02

Mopping cafeteria floor

80 actions31 skillsMCAP 13.6 GB

Organizing items1:52

Folding up lecture hall desks

20 actions7 skillsMCAP 2.5 GB

Preparing cleaning supplies2:58

Preparing cleaning supplies

29 actions38 skillsMCAP 2.9 GB

Preparing food5:31

Portioning and shaping dough

48 actions40 skillsMCAP 4.7 GB

Sweeping floor1:30

Sweeping and collecting debris from ground

15 actions7 skillsMCAP 1.6 GB

Wiping surfaces4:41

Wiping window frames

42 actions12 skillsMCAP 4.9 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}}
}