Not exactly and I was curious about parts of this myself. Recommended elsewhere, an app called Cloud Drive Explorer will let you view your iCloud Drive contents and watch video's via a preview feature.
I'm wondering though...will the photos app that is supposed to show up for iCloud allow you to add photos and videos to your collection and drop them on your device along with your other photos. I can do this with an app (at least I could but have not used the app since iOS7).