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

28 clips

Skill: compress Clear all

Cleaning windows5:22

Cleaning glass windows

51 actions40 skillsMCAP 5.8 GB

Managing laundry5:21

Folding and organizing laundry

47 actions40 skillsMCAP 5.4 GB

Managing trash2:23

Emptying trash bins

22 actions22 skillsMCAP 2.3 GB

Mopping floor7:56

Mopping office floor

62 actions20 skillsMCAP 7.8 GB

Preparing cleaning supplies2:54

Preparing cleaning tools and mopping floor

26 actions40 skillsMCAP 2.7 GB

Preparing food1:59

Wrapping dough in plastic

22 actions25 skillsMCAP 1.7 GB

Wiping surfaces2:44

Cleaning, organizing, and securing office room

28 actions22 skillsMCAP 2.3 GB

Cleaning windows2:19

Cleaning glass panels

24 actions36 skillsMCAP 2.2 GB

Managing laundry2:23

Sorting and bagging clothes

20 actions27 skillsMCAP 2.5 GB

Managing trash0:56

Emptying and lining restroom trash bins

9 actions8 skillsMCAP 821 MB

Mopping floor6:15

Mopping cafeteria floor

45 actions36 skillsMCAP 6.1 GB

Preparing cleaning supplies1:57

Preparing cleaning tools

15 actions24 skillsMCAP 1.8 GB

Preparing food2:12

Shaping dough on counter

8 actions14 skillsMCAP 1.8 GB

Managing laundry1:54

Folding and organizing laundry items

18 actions31 skillsMCAP 1.7 GB

Managing trash0:26

Collecting and disposing rinsed bottles

5 actions10 skillsMCAP 373 MB

Mopping floor4:11

Mopping room floor

38 actions18 skillsMCAP 3.9 GB

Preparing cleaning supplies0:21

Washing cloth

2 actions8 skillsMCAP 395 MB

Managing laundry1:18

Folding and packing laundry

14 actions17 skillsMCAP 1.2 GB

Managing trash0:37

Preparing new trash bag

4 actions7 skillsMCAP 595 MB

Managing laundry1:19

Packing folded laundry into bag

11 actions15 skillsMCAP 1.3 GB

Managing trash0:29

Emptying trash from restroom bins

4 actions9 skillsMCAP 419 MB

Managing laundry1:09

Folding and organizing laundry items

11 actions12 skillsMCAP 1.1 GB

Managing trash0:17

Gathering trash into plastic bin

3 actions9 skillsMCAP 219 MB

Managing laundry0:48

Loading laundry into washing machines

10 actions21 skillsMCAP 721 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}}
}