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

28 clips

Skill: sort Clear all

Cooking food0:26

Loading raw potatoes into fryer

5 actions12 skillsMCAP 411 MB

Managing laundry1:22

Processing and organizing laundry

14 actions20 skillsMCAP 1.4 GB

Managing trash2:11

Collecting and sorting food waste

21 actions31 skillsMCAP 2.1 GB

Organizing items1:31

Sorting paper cutouts on desk

12 actions16 skillsMCAP 1.3 GB

Preparing cleaning supplies1:48

Preparing cleaning equipment and solutions

19 actions29 skillsMCAP 2.0 GB

Preparing food4:59

Slicing vegetables on cutting board

44 actions35 skillsMCAP 4.4 GB

Wiping surfaces3:34

Cleaning office room

40 actions34 skillsMCAP 3.4 GB

Managing laundry1:18

Folding and packing laundry

14 actions17 skillsMCAP 1.2 GB

Managing trash1:29

Collecting trash and bagging it

11 actions21 skillsMCAP 1.3 GB

Organizing items1:12

Storing Towels

9 actions15 skillsMCAP 1.1 GB

Preparing cleaning supplies1:15

Handling and organizing cleaning supplies

11 actions11 skillsMCAP 1.1 GB

Preparing food2:30

Cutting potatoes into pieces

19 actions30 skillsMCAP 2.6 GB

Wiping surfaces2:23

Wiping wooden surfaces

18 actions12 skillsMCAP 1.9 GB

Managing laundry1:22

Transferring clothes from machines to basket

11 actions13 skillsMCAP 1.3 GB

Managing trash0:22

Sorting trash into recycling bins

4 actions7 skillsMCAP 296 MB

Organizing items0:42

Placing hangers on lockers

7 actions5 skillsMCAP 522 MB

Managing laundry0:48

Loading laundry into washing machines

10 actions21 skillsMCAP 721 MB

Managing trash0:20

Emptying trash bins

2 actions9 skillsMCAP 314 MB

Organizing items0:51

Organizing and cleaning the cleaning cart

4 actions10 skillsMCAP 1.3 GB

Managing laundry0:53

Folding and storing clothes

7 actions8 skillsMCAP 898 MB

Organizing items0:16

Organizing and reviewing items

2 actions5 skillsMCAP 274 MB

Managing laundry0:45

Loading laundry into washing machine

5 actions6 skillsMCAP 712 MB

Managing laundry1:01

Folding and storing clothes

5 actions12 skillsMCAP 942 MB

Managing laundry0:58

Loading clothes into washing machine

5 actions13 skillsMCAP 912 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}}
}