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

29 clips

Skill: discard Clear all

Cleaning restroom2:09

Cleaning restroom surfaces

20 actions15 skillsMCAP 1.6 GB

Cleaning windows12:00

Cleaning windows with pole

105 actions40 skillsMCAP 11.6 GB

Cooking food4:21

Stirring ingredients in a pot

35 actions39 skillsMCAP 3.9 GB

Mopping floor4:13

Mopping lecture hall floor

17 actions16 skillsMCAP 4.9 GB

Organizing items1:33

Cleaning and organizing medical room

16 actions14 skillsMCAP 1.3 GB

Preparing food7:08

Cutting meat on chopping board

40 actions24 skillsMCAP 7.3 GB

Sweeping floor3:24

Sweeping and collecting debris from floor

26 actions15 skillsMCAP 3.1 GB

Wiping surfaces2:53

Wiping various medical surfaces

29 actions17 skillsMCAP 2.5 GB

Cleaning restroom1:48

Cleaning restroom sink and mirror

18 actions19 skillsMCAP 1.5 GB

Cooking food3:05

Cooking instant noodles

29 actions27 skillsMCAP 3.0 GB

Mopping floor2:00

Mopping tiled floor

8 actions13 skillsMCAP 1.7 GB

Preparing food3:30

Making meat dumplings

34 actions32 skillsMCAP 3.0 GB

Wiping surfaces2:44

Cleaning, organizing, and securing office room

28 actions22 skillsMCAP 2.3 GB

Cleaning restroom2:11

Stocking restroom supplies

16 actions24 skillsMCAP 1.5 GB

Cooking food0:44

Preparing instant noodles

9 actions15 skillsMCAP 682 MB

Mopping floor1:39

Mopping office floor

5 actions6 skillsMCAP 2.6 GB

Preparing food1:41

Managing meal and storing product in refrigerator

19 actions22 skillsMCAP 2.1 GB

Wiping surfaces1:07

Wiping wooden desk and organizing items

11 actions14 skillsMCAP 838 MB

Cleaning restroom1:25

Cleaning toilet bowl

8 actions20 skillsMCAP 1.2 GB

Cooking food0:31

Cooking Ramen

6 actions13 skillsMCAP 519 MB

Preparing food1:56

Unpacking and slicing meat

16 actions18 skillsMCAP 2.0 GB

Preparing food1:25

Preparing instant noodles

14 actions14 skillsMCAP 1.5 GB

Preparing food1:23

Preparing noodles on plate

13 actions31 skillsMCAP 1.4 GB

Preparing food1:10

Adding meat filling to dough circles

9 actions10 skillsMCAP 981 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}}
}