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

1,488 clips

Skill: wipe Clear all

Cleaning windows3:04

Cleaning glass panels and frames

30 actions36 skillsMCAP 3.2 GB

Cooking food0:27

Adding ingredients to cooking pot

4 actions6 skillsMCAP 431 MB

Managing trash0:34

Collecting trash from bins

6 actions11 skillsMCAP 534 MB

Mopping floor4:24

Mopping lounge area floor

37 actions19 skillsMCAP 3.9 GB

Organizing items0:56

Organizing auditorium chairs and desks

9 actions8 skillsMCAP 1.3 GB

Preparing cleaning supplies1:05

Wiping buckets

10 actions11 skillsMCAP 1.3 GB

Preparing food1:56

Making dumplings with meat filling

15 actions7 skillsMCAP 1.7 GB

Wiping surfaces5:19

Wiping staircase handrail

39 actions13 skillsMCAP 5.0 GB

Cleaning kitchen1:45

Wiping kitchen area surfaces

13 actions16 skillsMCAP 1.4 GB

Cleaning restroom2:18

Cleaning and stocking bathroom

20 actions16 skillsMCAP 2.0 GB

Cleaning windows3:14

Cleaning large windows

24 actions13 skillsMCAP 3.3 GB

Cooking food0:22

Frying meat in a pan

4 actions7 skillsMCAP 348 MB

Managing trash0:34

Folding and disposing of empty bag

5 actions13 skillsMCAP 456 MB

Mopping floor6:49

Mopping cafe floor

36 actions23 skillsMCAP 5.8 GB

Organizing items0:37

Moving chairs

7 actions6 skillsMCAP 716 MB

Preparing cleaning supplies1:04

Washing cleaning cloths in sink

10 actions14 skillsMCAP 865 MB

Preparing food1:11

Preparing a full meal on plate

12 actions26 skillsMCAP 1.1 GB

Wiping surfaces4:25

Wiping conference room chairs

38 actions19 skillsMCAP 4.0 GB

Cleaning kitchen1:15

Cleaning kitchen range hood

12 actions10 skillsMCAP 1.2 GB

Cleaning restroom1:59

Cleaning restroom sink

20 actions16 skillsMCAP 1.3 GB

Cleaning windows2:19

Cleaning glass panels

24 actions36 skillsMCAP 2.2 GB

Cooking food0:17

Stir-frying ingredients in pan

4 actions6 skillsMCAP 252 MB

Managing trash0:48

Servicing trash bins

5 actions9 skillsMCAP 926 MB

Mopping floor5:16

Mopping office floor

36 actions21 skillsMCAP 5.2 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}}
}