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

51 clips

Skill: gather Clear all

Cleaning restroom3:23

Cleaning bathroom sinks and countertops

28 actions25 skillsMCAP 2.7 GB

Cooking food4:21

Stirring ingredients in a pot

35 actions39 skillsMCAP 3.9 GB

Managing laundry1:54

Folding and organizing laundry items

18 actions31 skillsMCAP 1.7 GB

Managing trash0:49

Collecting trash from floor and bins

6 actions13 skillsMCAP 841 MB

Organizing items11:07

Pulling room curtains

93 actions40 skillsMCAP 7.9 GB

Preparing cleaning supplies0:39

Organizing cleaning cart and preparing bin

4 actions13 skillsMCAP 607 MB

Preparing food14:50

Preparing onions on cutting board

116 actions17 skillsMCAP 13.9 GB

Sweeping floor6:44

Sweeping floor with brush

52 actions25 skillsMCAP 6.0 GB

Wiping surfaces2:20

Cleaning chairs

20 actions13 skillsMCAP 2.7 GB

Cleaning restroom1:48

Cleaning restroom sink and mirror

18 actions19 skillsMCAP 1.5 GB

Cooking food1:34

Preparing ingredients and cooking

18 actions22 skillsMCAP 1.5 GB

Managing laundry0:48

Loading laundry into washing machines

10 actions21 skillsMCAP 721 MB

Managing trash0:34

Breaking laser-cut pieces

4 actions6 skillsMCAP 505 MB

Organizing items0:46

Organizing power strips and cables

7 actions17 skillsMCAP 696 MB

Preparing cleaning supplies0:18

Cleaning mop head and bucket

3 actions8 skillsMCAP 259 MB

Preparing food10:05

Cutting potatoes into cubes

68 actions35 skillsMCAP 9.9 GB

Sweeping floor3:40

Sweeping floor with brush and dustpan

34 actions17 skillsMCAP 3.3 GB

Wiping surfaces1:25

Wiping table

13 actions13 skillsMCAP 1.2 GB

Cooking food0:26

Loading raw potatoes into fryer

5 actions12 skillsMCAP 411 MB

Managing laundry1:11

Sorting and folding socks

10 actions14 skillsMCAP 1.2 GB

Managing trash0:28

Emptying trash bins

4 actions9 skillsMCAP 476 MB

Preparing food8:52

Cutting bell peppers

67 actions40 skillsMCAP 8.7 GB

Sweeping floor4:16

Sweeping floor with brush and dustpan

33 actions12 skillsMCAP 4.1 GB

Wiping surfaces2:25

Wiping whiteboard surface

10 actions11 skillsMCAP 2.0 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}}
}