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

44 clips

Skill: pull out Clear all

Cleaning kitchen1:15

Preparing range hood filters for cleaning

8 actions11 skillsMCAP 1.2 GB

Cooking food0:15

Checking and adjusting food in oven

1 action6 skillsMCAP 240 MB

Managing laundry5:21

Folding and organizing laundry

47 actions40 skillsMCAP 5.4 GB

Managing trash1:29

Collecting trash and bagging it

11 actions21 skillsMCAP 1.3 GB

Mopping floor34:50

Mopping cafeteria floor

146 actions40 skillsMCAP 32.7 GB

Organizing items1:33

Organizing cleaning supplies and cloths

15 actions16 skillsMCAP 1.4 GB

Preparing cleaning supplies1:28

Preparing cleaning supplies

12 actions25 skillsMCAP 1.4 GB

Preparing food5:17

Slicing meat on cutting board

33 actions35 skillsMCAP 5.2 GB

Wiping surfaces1:47

Wiping ceiling vents and structures

5 actions7 skillsMCAP 1.8 GB

Managing laundry2:07

Folding and storing clothes

25 actions30 skillsMCAP 2.0 GB

Managing trash0:33

Emptying trash bin

5 actions10 skillsMCAP 824 MB

Mopping floor6:56

Mopping cafeteria floor

44 actions23 skillsMCAP 6.5 GB

Organizing items1:23

Collecting papers from desks

11 actions15 skillsMCAP 1.5 GB

Preparing cleaning supplies1:05

Preparing cleaning solution

7 actions19 skillsMCAP 969 MB

Preparing food1:55

Adding product from refrigerator into meal

16 actions15 skillsMCAP 2.0 GB

Wiping surfaces0:46

Wiping kitchen countertop

5 actions18 skillsMCAP 615 MB

Managing laundry2:54

Sorting and folding laundry

24 actions22 skillsMCAP 2.9 GB

Managing trash0:21

Emptying and replacing trash bags

3 actions9 skillsMCAP 313 MB

Mopping floor4:12

Mopping cafeteria floor

22 actions18 skillsMCAP 4.2 GB

Organizing items0:51

Folding Lecture Hall Desks

10 actions6 skillsMCAP 890 MB

Preparing cleaning supplies0:16

Adding cleaning solution to bucket

3 actions6 skillsMCAP 261 MB

Preparing food0:29

Preparing sausages for frying

3 actions9 skillsMCAP 468 MB

Wiping surfaces0:25

Handling and cleaning a bottle

4 actions8 skillsMCAP 373 MB

Managing laundry1:54

Folding and organizing laundry items

18 actions31 skillsMCAP 1.7 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}}
}