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

63 clips

Skill: twist Clear all

Cleaning restroom5:30

Cleaning sinks and counter

56 actions20 skillsMCAP 3.7 GB

Cleaning windows10:11

Cleaning glass partition

76 actions31 skillsMCAP 9.4 GB

Cooking food2:35

Stir-frying ingredients in pans

21 actions18 skillsMCAP 2.6 GB

Managing laundry0:26

Packing clothes into a bag

3 actions11 skillsMCAP 436 MB

Managing trash1:05

Changing trash bags in restroom bins

10 actions23 skillsMCAP 869 MB

Mopping floor18:15

Mopping cafeteria floor

94 actions36 skillsMCAP 17.1 GB

Preparing cleaning supplies1:57

Preparing cleaning tools

15 actions24 skillsMCAP 1.8 GB

Preparing food1:59

Wrapping dough in plastic

22 actions25 skillsMCAP 1.7 GB

Wiping surfaces2:03

Wiping desk area

18 actions24 skillsMCAP 1.7 GB

Cleaning restroom2:08

Cleaning bathroom countertop and sinks

19 actions19 skillsMCAP 1.4 GB

Cleaning windows4:30

Cleaning glass panels and frames

44 actions38 skillsMCAP 4.7 GB

Managing laundry0:17

Adding detergent to washing machine

3 actions7 skillsMCAP 222 MB

Managing trash1:20

Collecting trash into bag

9 actions19 skillsMCAP 1.1 GB

Mopping floor9:53

Mopping tiled floor

52 actions28 skillsMCAP 8.2 GB

Preparing cleaning supplies1:39

Refilling and preparing soap dispensers

14 actions15 skillsMCAP 1.3 GB

Preparing food0:46

Packing dough into bags

8 actions12 skillsMCAP 619 MB

Wiping surfaces1:14

Wiping washing machine doors

11 actions11 skillsMCAP 1.1 GB

Cleaning restroom0:46

Replacing trash bags in restrooms

9 actions7 skillsMCAP 631 MB

Cleaning windows2:19

Cleaning glass panels

24 actions36 skillsMCAP 2.2 GB

Managing laundry0:19

Sorting clothes from bag

2 actions7 skillsMCAP 310 MB

Managing trash0:44

Managing and consolidating trash

7 actions14 skillsMCAP 695 MB

Mopping floor4:02

Cleaning high ceiling/wall

34 actions37 skillsMCAP 4.5 GB

Preparing cleaning supplies0:49

Preparing cleaning solution in bucket

7 actions14 skillsMCAP 788 MB

Preparing food0:26

Unwrapping and flattening dough spirals

4 actions10 skillsMCAP 349 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}}
}