Cleaning kitchen1:48
Cleaning range hood filters and grates
14 actions11 skillsMCAP 1.8 GB
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
Browse all clips
17 clips
Cleaning windows1:24
Scrubbing glass door with pole scrubber
8 actions8 skillsMCAP 1.7 GB
Cooking food1:34
Preparing ingredients and cooking
18 actions22 skillsMCAP 1.5 GB
Managing trash1:25
Picking up trash from classroom
12 actions11 skillsMCAP 1.7 GB
Mopping floor2:25
Mopping floor
20 actions25 skillsMCAP 2.3 GB
Preparing cleaning supplies4:58
Organizing and stocking cleaning cart
35 actions32 skillsMCAP 4.2 GB
Preparing food3:27
Flattening dough for dumplings
30 actions36 skillsMCAP 2.8 GB
Wiping surfaces2:59
Wiping various surfaces
28 actions16 skillsMCAP 2.5 GB
Cooking food2:09
Cooking vegetables in pan
16 actions12 skillsMCAP 1.9 GB
Preparing cleaning supplies0:23
Folding cleaning cloth
2 actions9 skillsMCAP 315 MB
Preparing food1:23
Preparing noodles on plate
13 actions31 skillsMCAP 1.4 GB
Wiping surfaces3:50
Wiping stairs and railings
25 actions16 skillsMCAP 3.9 GB
Cooking food0:43
Cooking tortilla in pan
6 actions8 skillsMCAP 821 MB
Preparing food1:11
Preparing a full meal on plate
12 actions26 skillsMCAP 1.1 GB
Cooking food0:16
Cooking meat in a pan
1 action3 skillsMCAP 231 MB
Preparing food1:05
Peeling carrots and performing other tasks
8 actions11 skillsMCAP 1.2 GB
Cooking food0:17
Cooking meat in pan
1 action4 skillsMCAP 262 MB
In every MCAP
23 channels · one clock · ROS 2| 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.parquetOne category
hf sync $B/data/cleaning_kitchen ./cleaning_kitchenPreviews 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}}
}