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

258 clips

Skill: organize Clear all

Preparing food7:35

Chopping onions

34 actions22 skillsMCAP 6.4 GB

Wiping surfaces0:49

Wiping office desk and peripherals

9 actions10 skillsMCAP 701 MB

Cleaning restroom0:24

Refilling paper towel dispensers

3 actions10 skillsMCAP 314 MB

Cooking food1:25

Adding ingredients to pot

5 actions17 skillsMCAP 1.7 GB

Managing laundry0:53

Sorting laundry into basket

6 actions19 skillsMCAP 819 MB

Managing trash0:39

Collecting trash from bathroom stalls

5 actions9 skillsMCAP 538 MB

Mopping floor0:50

Mopping the floor

9 actions18 skillsMCAP 730 MB

Organizing items0:35

Collecting dirty dishes

5 actions6 skillsMCAP 706 MB

Preparing cleaning supplies0:59

Preparing cleaning solution in cart

8 actions15 skillsMCAP 855 MB

Preparing food5:17

Slicing meat on cutting board

33 actions35 skillsMCAP 5.2 GB

Wiping surfaces0:47

Wiping cleaning supply box

8 actions11 skillsMCAP 599 MB

Cooking food0:37

Preparing and cooking food items

4 actions9 skillsMCAP 608 MB

Managing laundry0:24

Processing and labeling items from bag

5 actions12 skillsMCAP 382 MB

Managing trash0:28

Collecting trash from the room into plastic bin

4 actions5 skillsMCAP 435 MB

Mopping floor0:44

Scrubbing floor with brush and mop head

8 actions11 skillsMCAP 563 MB

Organizing items0:42

Cleaning office area

5 actions8 skillsMCAP 665 MB

Preparing cleaning supplies0:44

Preparing cleaning supplies and tools

8 actions10 skillsMCAP 634 MB

Preparing food4:05

Preparing onions on cutting board

29 actions30 skillsMCAP 3.8 GB

Wiping surfaces0:56

Cleaning and organizing shelves

8 actions11 skillsMCAP 669 MB

Cooking food0:20

Frying potatoes in deep fryer

3 actions7 skillsMCAP 349 MB

Managing laundry0:39

Loading clothes into washing machines

5 actions8 skillsMCAP 659 MB

Managing trash0:22

Sorting trash into recycling bins

4 actions7 skillsMCAP 296 MB

Mopping floor0:53

Mopping pool deck floor

7 actions7 skillsMCAP 738 MB

Organizing items0:41

Stocking shelves with supplies

5 actions10 skillsMCAP 607 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}}
}