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

70 clips

Skill: grip Clear all

Cleaning restroom3:00

Cleaning and restocking public restroom

24 actions28 skillsMCAP 2.5 GB

Cleaning windows12:00

Cleaning windows with pole

105 actions40 skillsMCAP 11.6 GB

Managing laundry2:07

Folding and storing clothes

25 actions30 skillsMCAP 2.0 GB

Managing trash1:05

Changing trash bags in restroom bins

10 actions23 skillsMCAP 869 MB

Mopping floor8:10

Mopping the floor

76 actions28 skillsMCAP 7.0 GB

Organizing items1:41

Moving chairs to clear floor

18 actions9 skillsMCAP 1.7 GB

Preparing cleaning supplies4:36

Organizing and stocking cleaning cart

46 actions40 skillsMCAP 4.1 GB

Preparing food6:03

Weighing and bagging pasta

37 actions34 skillsMCAP 5.8 GB

Wiping surfaces4:10

Wiping table structure

44 actions29 skillsMCAP 6.0 GB

Cleaning restroom0:45

Cleaning bathroom cabinet and bin

7 actions17 skillsMCAP 680 MB

Cleaning windows6:04

Wiping glass door and frame

53 actions25 skillsMCAP 6.2 GB

Managing laundry0:18

Hanging clothes to dry

3 actions9 skillsMCAP 291 MB

Managing trash0:34

Processing cardboard boxes

6 actions9 skillsMCAP 561 MB

Mopping floor8:27

Mopping the floor

63 actions19 skillsMCAP 8.7 GB

Organizing items1:35

Removing cleaning items from restroom

13 actions24 skillsMCAP 1.2 GB

Preparing cleaning supplies3:19

Preparing mopping supplies

32 actions33 skillsMCAP 2.9 GB

Preparing food1:33

Chopping carrots on board

11 actions17 skillsMCAP 1.7 GB

Wiping surfaces3:34

Cleaning office room

40 actions34 skillsMCAP 3.4 GB

Cleaning windows5:22

Cleaning glass windows

51 actions40 skillsMCAP 5.8 GB

Managing laundry0:19

Unloading clothes from washing machine

2 actions8 skillsMCAP 289 MB

Mopping floor7:02

Mopping floor with flat mop

61 actions28 skillsMCAP 6.6 GB

Organizing items0:29

Organizing cleaning supplies on table

4 actions11 skillsMCAP 407 MB

Preparing cleaning supplies2:59

Preparing cleaning equipment

30 actions36 skillsMCAP 3.1 GB

Wiping surfaces2:53

Wiping various medical surfaces

29 actions17 skillsMCAP 2.5 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}}
}