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

214 clips

Skill: lower Clear all

Cleaning kitchen0:19

Installing range hood filters

3 actions9 skillsMCAP 322 MB

Cleaning restroom5:48

Cleaning multiple toilet bowls

48 actions18 skillsMCAP 4.6 GB

Cleaning windows12:00

Cleaning windows with pole

105 actions40 skillsMCAP 11.6 GB

Cooking food3:22

Cooking vegetables in pan

32 actions40 skillsMCAP 3.3 GB

Managing laundry0:58

Loading and unloading laundry

8 actions11 skillsMCAP 952 MB

Managing trash1:19

Replacing trash bags in bins

12 actions17 skillsMCAP 1.1 GB

Mopping floor16:47

Mopping cafeteria floor

119 actions36 skillsMCAP 17.4 GB

Organizing items3:29

Cleaning and organizing lockers

31 actions19 skillsMCAP 2.8 GB

Preparing cleaning supplies4:15

Preparing cleaning supplies

41 actions33 skillsMCAP 3.6 GB

Preparing food10:05

Cutting potatoes into cubes

68 actions35 skillsMCAP 9.9 GB

Sweeping floor6:44

Sweeping floor with brush

52 actions25 skillsMCAP 6.0 GB

Wiping surfaces8:35

Cleaning glass window with squeegee

69 actions34 skillsMCAP 10.0 GB

Cleaning restroom2:47

Cleaning the toilet

24 actions21 skillsMCAP 2.3 GB

Cleaning windows9:17

Cleaning glass door with squeegee

80 actions30 skillsMCAP 12.1 GB

Cooking food0:20

Frying potatoes in deep fryer

3 actions7 skillsMCAP 349 MB

Managing laundry0:17

Unloading and packing laundry

2 actions8 skillsMCAP 278 MB

Managing trash1:08

Changing trash bags in recycling bins

6 actions15 skillsMCAP 988 MB

Mopping floor16:05

Mopping office floor

109 actions30 skillsMCAP 14.2 GB

Organizing items2:23

Folding down desks in lecture hall

21 actions39 skillsMCAP 2.7 GB

Preparing cleaning supplies1:39

Preparing and cleaning office room

11 actions23 skillsMCAP 2.0 GB

Preparing food2:40

Cutting potatoes on board

27 actions26 skillsMCAP 2.6 GB

Sweeping floor2:21

Sweeping the floor

15 actions15 skillsMCAP 2.2 GB

Wiping surfaces4:10

Wiping table structure

44 actions29 skillsMCAP 6.0 GB

Cleaning restroom1:48

Cleaning restroom sink and mirror

18 actions19 skillsMCAP 1.5 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}}
}