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

424 clips

Skill: unfold Clear all

Cleaning windows0:43

Wiping window glass

3 actions5 skillsMCAP 656 MB

Managing laundry0:42

Unloading, folding, and bagging laundry

6 actions12 skillsMCAP 702 MB

Mopping floor5:38

Mopping cafeteria floor

26 actions14 skillsMCAP 5.9 GB

Preparing cleaning supplies0:49

Preparing cleaning solution in bucket

7 actions14 skillsMCAP 788 MB

Wiping surfaces3:50

Wiping stairs and railings

25 actions16 skillsMCAP 3.9 GB

Cleaning restroom1:15

Cleaning toilet and surrounding floor

8 actions8 skillsMCAP 963 MB

Managing laundry0:59

Unloading and folding laundry into storage

6 actions13 skillsMCAP 944 MB

Mopping floor4:30

Cleaning floor with mop

23 actions18 skillsMCAP 3.9 GB

Preparing cleaning supplies1:00

Preparing mop for cleaning

7 actions14 skillsMCAP 866 MB

Wiping surfaces2:20

Wiping chairs and desk surfaces

23 actions12 skillsMCAP 2.2 GB

Cleaning restroom0:50

Wiping bathroom surfaces

7 actions6 skillsMCAP 640 MB

Managing laundry0:41

Putting pillowcase on pillow

5 actions10 skillsMCAP 496 MB

Mopping floor3:00

Mopping hallway floor

20 actions21 skillsMCAP 2.9 GB

Preparing cleaning supplies1:30

Wringing out mop cloth

7 actions10 skillsMCAP 1.4 GB

Wiping surfaces2:41

Cleaning glass partition

22 actions9 skillsMCAP 2.4 GB

Cleaning restroom0:50

Cleaning and drying bathroom sink area

7 actions8 skillsMCAP 675 MB

Managing laundry0:38

Folding and organizing clothes

5 actions5 skillsMCAP 598 MB

Mopping floor2:25

Mopping floor

20 actions25 skillsMCAP 2.3 GB

Preparing cleaning supplies1:05

Preparing cleaning tools

6 actions20 skillsMCAP 860 MB

Wiping surfaces2:58

Wiping whiteboard

22 actions10 skillsMCAP 2.5 GB

Cleaning restroom0:27

Cleaning bathroom sink and mirror

5 actions6 skillsMCAP 348 MB

Managing laundry0:34

Folding laundry

5 actions7 skillsMCAP 571 MB

Mopping floor1:48

Mopping tiled floor

18 actions10 skillsMCAP 1.5 GB

Preparing cleaning supplies0:52

Preparing mop for cleaning

6 actions16 skillsMCAP 855 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}}
}