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

29 clips

Skill: wrap Clear all

Cleaning kitchen1:55

Washing and drying dishes and spoon

6 actions14 skillsMCAP 1.3 GB

Cleaning windows4:30

Cleaning glass panels and frames

44 actions38 skillsMCAP 4.7 GB

Managing laundry0:59

Sorting and organizing laundry

8 actions10 skillsMCAP 951 MB

Mopping floor5:55

Mopping office floor

48 actions29 skillsMCAP 5.7 GB

Preparing cleaning supplies1:25

Preparing and gathering cleaning equipment

12 actions19 skillsMCAP 1.3 GB

Preparing food1:59

Wrapping dough in plastic

22 actions25 skillsMCAP 1.7 GB

Wiping surfaces3:00

Wiping outdoor table

25 actions20 skillsMCAP 4.2 GB

Cleaning windows4:39

Cleaning glass panels

35 actions28 skillsMCAP 5.1 GB

Mopping floor4:59

Mopping stairs and landing

32 actions24 skillsMCAP 4.4 GB

Preparing cleaning supplies1:15

Wringing cleaning cloth

10 actions16 skillsMCAP 1.2 GB

Preparing food0:45

Weighing and portioning noodles

7 actions13 skillsMCAP 823 MB

Cleaning windows3:04

Cleaning glass panels and frames

30 actions36 skillsMCAP 3.2 GB

Mopping floor2:57

Mopping landing floor

17 actions15 skillsMCAP 2.5 GB

Preparing cleaning supplies1:35

Preparing mop for cleaning

8 actions16 skillsMCAP 1.7 GB

Preparing food0:41

Folding dough strips

6 actions10 skillsMCAP 555 MB

Cleaning windows2:19

Cleaning glass panels

24 actions36 skillsMCAP 2.2 GB

Mopping floor1:47

Wringing and reattaching mop head

13 actions27 skillsMCAP 1.6 GB

Preparing cleaning supplies1:05

Preparing cleaning tools

6 actions20 skillsMCAP 860 MB

Preparing food0:20

Wrapping bread basket with cling film

4 actions9 skillsMCAP 293 MB

Cleaning windows2:43

Cleaning windows

23 actions36 skillsMCAP 2.9 GB

Preparing cleaning supplies0:42

Preparing and organizing cleaning tools

6 actions9 skillsMCAP 761 MB

Preparing food0:25

Wrapping dough in plastic

3 actions6 skillsMCAP 330 MB

Cleaning windows2:10

Cleaning glass panels and frames

21 actions21 skillsMCAP 2.5 GB

Preparing cleaning supplies0:41

Attaching cloth to mop handle

6 actions11 skillsMCAP 645 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}}
}