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

59 clips

Skill: put inside Clear all

Cleaning restroom4:00

Cleaning restroom stalls

39 actions21 skillsMCAP 3.2 GB

Managing laundry1:30

Folding and sorting laundry

15 actions9 skillsMCAP 1.5 GB

Managing trash3:25

Emptying and replacing trash bags

32 actions24 skillsMCAP 3.4 GB

Mopping floor3:38

Mopping lecture hall floor

13 actions18 skillsMCAP 4.0 GB

Organizing items1:28

Packing items from lockers into bag

15 actions22 skillsMCAP 1.1 GB

Preparing cleaning supplies4:58

Organizing and stocking cleaning cart

35 actions32 skillsMCAP 4.2 GB

Preparing food1:52

Placing meal and water on stove, organizing kitchen

18 actions22 skillsMCAP 2.0 GB

Wiping surfaces3:08

Wiping various surfaces in the room

25 actions13 skillsMCAP 2.7 GB

Cleaning restroom0:41

Collecting waste and restocking supplies in bathroom

7 actions14 skillsMCAP 536 MB

Managing laundry1:15

Processing laundry

13 actions14 skillsMCAP 1.1 GB

Managing trash2:23

Emptying trash bins

22 actions22 skillsMCAP 2.3 GB

Mopping floor2:29

Mopping office hallway floor

12 actions7 skillsMCAP 2.5 GB

Organizing items1:02

Organizing ingredients in refrigerator

11 actions13 skillsMCAP 1.0 GB

Preparing cleaning supplies0:26

Preparing cleaning tools

3 actions6 skillsMCAP 389 MB

Preparing food0:20

Preparing and storing bell peppers

3 actions9 skillsMCAP 336 MB

Wiping surfaces1:08

Cleaning kitchen counter

9 actions15 skillsMCAP 939 MB

Managing laundry1:19

Packing folded laundry into bag

11 actions15 skillsMCAP 1.3 GB

Managing trash1:52

Changing trash bags in restrooms

20 actions21 skillsMCAP 1.6 GB

Mopping floor1:01

Mopping hallway floor

1 action5 skillsMCAP 825 MB

Organizing items0:47

Organizing items into bags and cabinets

8 actions12 skillsMCAP 736 MB

Wiping surfaces1:47

Wiping ceiling vents and structures

5 actions7 skillsMCAP 1.8 GB

Managing laundry0:48

Loading laundry into washing machines

10 actions21 skillsMCAP 721 MB

Managing trash1:05

Cleaning and disposing reusable items

9 actions17 skillsMCAP 789 MB

Organizing items0:19

Organizing clothes on rack

3 actions8 skillsMCAP 376 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}}
}