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

196 clips

Skill: cut Clear all

Cooking food12:31

Peeling carrots

93 actions17 skillsMCAP 13.2 GB

Managing trash1:19

Breaking down cardboard boxes

14 actions20 skillsMCAP 1.3 GB

Organizing items1:02

Organizing ingredients in refrigerator

11 actions13 skillsMCAP 1.0 GB

Preparing food24:00

Slicing onions on cutting board

173 actions22 skillsMCAP 21.8 GB

Cooking food3:22

Cooking vegetables in pan

32 actions40 skillsMCAP 3.3 GB

Organizing items0:23

Organizing items on table

3 actions7 skillsMCAP 289 MB

Preparing food14:50

Preparing onions on cutting board

116 actions17 skillsMCAP 13.9 GB

Cooking food3:05

Cooking instant noodles

29 actions27 skillsMCAP 3.0 GB

Preparing food9:54

Cutting meat on a board

81 actions4 skillsMCAP 8.7 GB

Cooking food3:05

Adding ingredients and stirring food

28 actions18 skillsMCAP 3.1 GB

Preparing food13:30

Cutting and transferring meat

71 actions13 skillsMCAP 12.0 GB

Cooking food2:15

Cooking food in pan

19 actions12 skillsMCAP 2.1 GB

Preparing food10:05

Cutting potatoes into cubes

68 actions35 skillsMCAP 9.9 GB

Cooking food3:10

Preparing potatoes for deep frying

14 actions9 skillsMCAP 3.0 GB

Preparing food8:52

Cutting bell peppers

67 actions40 skillsMCAP 8.7 GB

Cooking food1:27

Frying food and managing ingredients

13 actions9 skillsMCAP 1.6 GB

Preparing food19:55

Cutting meat on board

64 actions8 skillsMCAP 16.8 GB

Cooking food1:12

Cooking instant noodles

11 actions13 skillsMCAP 1.2 GB

Preparing food6:38

Weighing and shaping dough portions

59 actions40 skillsMCAP 5.7 GB

Cooking food0:53

Adding dumplings to pot

10 actions13 skillsMCAP 918 MB

Preparing food7:21

Slicing peppers on cutting board

57 actions40 skillsMCAP 7.7 GB

Cooking food0:44

Preparing instant noodles

9 actions15 skillsMCAP 682 MB

Preparing food7:30

Dicing carrots on cutting board

56 actions13 skillsMCAP 6.4 GB

Cooking food1:08

Preparing instant noodles for cooking

9 actions14 skillsMCAP 1.1 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}}
}