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

25 clips

Skill: lean Clear all

Cleaning restroom1:45

Cleaning the restroom

16 actions29 skillsMCAP 1.6 GB

Cleaning windows12:00

Cleaning windows with pole

105 actions40 skillsMCAP 11.6 GB

Mopping floor6:35

Mopping the floor with flat mop

52 actions16 skillsMCAP 5.7 GB

Preparing cleaning supplies2:14

Filling cleaning cart with water

15 actions25 skillsMCAP 1.9 GB

Sweeping floor2:21

Sweeping the floor

15 actions15 skillsMCAP 2.2 GB

Wiping surfaces3:34

Cleaning office room

40 actions34 skillsMCAP 3.4 GB

Cleaning restroom1:15

Wiping surfaces in toilet area

12 actions18 skillsMCAP 973 MB

Cleaning windows3:46

Cleaning glass wall with long-handled tool

36 actions30 skillsMCAP 3.5 GB

Mopping floor7:28

Mopping tiled floor

50 actions20 skillsMCAP 7.8 GB

Preparing cleaning supplies0:32

Preparing mop for cleaning

4 actions8 skillsMCAP 518 MB

Sweeping floor3:00

Collecting debris with dustpan

8 actions6 skillsMCAP 2.7 GB

Wiping surfaces2:31

Wiping window frame

20 actions13 skillsMCAP 2.2 GB

Cleaning windows1:30

Cleaning window

11 actions17 skillsMCAP 1.3 GB

Mopping floor3:10

Mopping floor and wall surfaces

15 actions14 skillsMCAP 3.5 GB

Preparing cleaning supplies0:18

Wringing out mop head

3 actions11 skillsMCAP 281 MB

Sweeping floor0:43

Sweeping kitchen floor

2 actions4 skillsMCAP 658 MB

Wiping surfaces2:03

Wiping desk area

18 actions24 skillsMCAP 1.7 GB

Mopping floor0:58

Mopping hallway floor

7 actions10 skillsMCAP 891 MB

Preparing cleaning supplies0:25

Preparing mop for cleaning

3 actions8 skillsMCAP 353 MB

Wiping surfaces1:48

Wiping various surfaces in room

17 actions23 skillsMCAP 1.5 GB

Mopping floor1:03

Mopping floor with flat mop

3 actions7 skillsMCAP 846 MB

Preparing cleaning supplies0:26

Preparing mop for cleaning

2 actions9 skillsMCAP 422 MB

Wiping surfaces1:18

Cleaning lockers with mop

16 actions24 skillsMCAP 986 MB

Mopping floor0:25

Mopping lecture hall floor

2 actions4 skillsMCAP 374 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}}
}