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

306 clips

Skill: pour Clear all

Cleaning kitchen3:41

Cleaning kitchen cabinets

26 actions20 skillsMCAP 3.0 GB

Cleaning restroom11:06

Cleaning restroom facilities

101 actions40 skillsMCAP 8.8 GB

Cooking food4:21

Stirring ingredients in a pot

35 actions39 skillsMCAP 3.9 GB

Managing laundry1:21

Operating laundry machines

12 actions16 skillsMCAP 1.2 GB

Managing trash2:47

Collecting trash from toilet stalls

24 actions25 skillsMCAP 2.5 GB

Mopping floor5:36

Mopping facility floor

48 actions24 skillsMCAP 5.3 GB

Organizing items0:58

Refilling paper towel dispensers

8 actions16 skillsMCAP 691 MB

Preparing cleaning supplies6:28

Preparing cleaning solution

44 actions21 skillsMCAP 5.6 GB

Preparing food7:10

Cutting chicken on cutting board

55 actions36 skillsMCAP 7.5 GB

Wiping surfaces3:12

Cleaning washing machines

25 actions18 skillsMCAP 3.1 GB

Cleaning kitchen1:11

Wiping kitchen stovetop and range hood

7 actions13 skillsMCAP 1.3 GB

Cleaning restroom5:30

Cleaning sinks and counter

56 actions20 skillsMCAP 3.7 GB

Cooking food3:22

Cooking vegetables in pan

32 actions40 skillsMCAP 3.3 GB

Managing laundry0:59

Adding detergent and starting washing machines

10 actions15 skillsMCAP 874 MB

Managing trash2:11

Collecting and sorting food waste

21 actions31 skillsMCAP 2.1 GB

Mopping floor3:43

Mopping floor

32 actions23 skillsMCAP 3.2 GB

Organizing items0:30

Handling kitchen supplies

6 actions8 skillsMCAP 483 MB

Preparing cleaning supplies4:15

Preparing cleaning supplies

41 actions33 skillsMCAP 3.6 GB

Preparing food4:11

Chopping onions

32 actions20 skillsMCAP 3.3 GB

Wiping surfaces5:27

Cleaning whiteboard

21 actions14 skillsMCAP 3.9 GB

Cleaning kitchen0:48

Cleaning kitchen sinks

6 actions12 skillsMCAP 724 MB

Cleaning restroom3:00

Cleaning and restocking public restroom

24 actions28 skillsMCAP 2.5 GB

Cooking food3:05

Cooking instant noodles

29 actions27 skillsMCAP 3.0 GB

Managing laundry0:59

Preparing laundry with detergent and bag

8 actions11 skillsMCAP 888 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}}
}