Tevior/TopoSlots-MotionData

TopoSlots Motion Data

Unified multi-skeleton 3D motion dataset for TopoSlots: topology-agnostic per-slot motion tokenization with foundation alignment.

• Paper target: NeurIPS 2026 / ICLR 2027
• Last updated: 2026-03-27
• Motions: 24,448 across 7 datasets, 79 skeleton types (6 human + 73 animal species)

---

Dataset Summary

Dataset	Motions	Joints	Skeleton Type	Text Coverage	Text Quality	Renders
humanml3d	14,449	22	Human (SMPL)	100%	High (human multi-caption)	14,449
bandai_namco	3,053	21	Human (BN)	100%	Low (template sentences)	3,053
cmu_mocap	2,496	31	Human (CMU)	92%	Low (CMU index text)	2,496
mixamo	2,453	67	Human (Mixamo, full fingers)	0%	None (hash filenames)	2,453
truebones_zoo	1,110	25-143	73 animal species	80%	Medium (auto-generated)	1,110
100style	810	23	Human (XSens)	100%	Low (template sentences)	810
lafan1	77	22	Human (Ubisoft)	100%	Low (action type only)	77
Total	24,448	9-143	79 skeletons	88%		24,448

Text Annotation Status

Needs annotation (6 datasets, 9,999 motions):

• mixamo: 2,453 — completely missing, filenames are hashes
• truebones_zoo: 222 missing + 888 need review
• cmu_mocap: 195 missing
• bandai_namco, 100style, lafan1: have template text, need upgrade to natural language

Complete (no annotation needed):

• humanml3d: 14,449 with high-quality human annotations (3-5 captions each)

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Data Format (Scheme C)

Per-motion file: motions/{id}.npz

Field	Shape	Description
local_positions	[T, J, 3]	Root-relative joint positions (slot token input)
velocities	[T, J, 3]	Joint velocities (slot token input)
root_position	[T, 3]	Global root trajectory
root_velocity	[T, 3]	Root velocity
joint_positions	[T, J, 3]	Global joint positions (FK output)
local_rotations_6d	[T, J-1, 6]	6D rotation representation (decoder GT)
accelerations	[T, J, 3]	Joint accelerations
bone_lengths	[T, J]	Per-frame bone lengths
foot_contact	[T, 4]	Foot contact labels (l_heel, l_toe, r_heel, r_toe)
num_frames	scalar	Number of valid frames
fps	scalar	Frames per second (20)
skeleton_id	str	Dataset identifier
texts	str	Text descriptions separated by |||
source_file	str	Original BVH/source filename
species	str	(Zoo only) Animal species name

Per-skeleton file: skeleton.npz

Field	Shape	Description
joint_names	[J]	Original joint names from BVH
canonical_names	[J]	Standardized English anatomical names (for CLIP)
parent_indices	[J]	Parent joint index (-1 for root)
rest_offsets	[J, 3]	Rest-pose offsets from parent (meters)
adjacency	[J, J]	Undirected adjacency matrix
geodesic_dist	[J, J]	Geodesic distance matrix
bone_lengths	[J]	Rest-pose bone lengths
depths	[J]	Tree depth per joint
degrees	[J]	Number of children per joint
side_tags	[J]	left/right/center classification
symmetry_pairs	[P, 2]	Symmetric joint pair indices

Per-dataset files

File	Description
labels.json	Structured L1 labels: {motion_id: {L1_action, L1_style, source_file, ...}}
stats.npz	Normalization statistics (mean/std for positions and velocities)
splits/{train,val,test,all}.txt	Data split files (80/10/10)

Renders (for annotation)

File	Description
renders/{id}.gif	Stick figure animation (GIF)
renders/{id}_overview.png	Multi-view static overview

---

File Structure

TopoSlots-MotionData/
├── README.md
│
├── humanml3d/                      # 14,449 motions, SMPL-22, HIGH-QUALITY TEXT
│   ├── skeleton.npz
│   ├── labels.json
│   ├── stats.npz
│   ├── splits/
│   └── motions/*.npz
│
├── bandai_namco/                   # 3,053 motions, 21 joints, NEEDS TEXT UPGRADE
│   ├── skeleton.npz
│   ├── labels.json
│   ├── stats.npz
│   ├── splits/
│   ├── motions/*.npz
│   └── renders/*.gif + *_overview.png
│
├── cmu_mocap/                      # 2,496 motions, 31 joints, NEEDS TEXT UPGRADE
│   ├── (same structure)
│   └── renders/
│
├── mixamo/                         # 2,453 motions, 67 joints, NO TEXT
│   ├── (same structure)
│   └── renders/
│
├── truebones_zoo/                  # 1,110 motions, 73 species, PARTIAL TEXT
│   ├── skeleton.npz                # representative skeleton
│   ├── skeletons/*.npz             # per-species skeletons
│   ├── (same structure)
│   └── renders/
│
├── 100style/                       # 810 motions, 23 joints, NEEDS TEXT UPGRADE
│   └── ...
│
├── lafan1/                         # 77 motions, 22 joints, NEEDS TEXT UPGRADE
│   └── ...
│
├── docs/
│   ├── ANNOTATION_TOOL_PLAN.md     # Web annotation tool design + implementation prompt
│   ├── ANNOTATION_GUIDELINE.md     # Annotation specification for annotators (Chinese)
│   └── PROMPT_DESIGN.md            # Text prompt design decisions (L1/L2/L3)
│
├── scripts/
│   ├── render_motion.py            # Render npz → GIF + overview PNG
│   ├── preprocess_bvh.py           # Generic BVH → Scheme C converter
│   ├── preprocess_humanml3d.py     # HumanML3D → Scheme C converter
│   └── preprocess_truebones_zoo.py # Zoo species-aware converter
│
└── src/
    └── data/
        ├── skeleton_graph.py       # Skeleton topology: adjacency, geodesic, side tags, symmetry
        ├── bvh_parser.py           # BVH file parser (handles 6-channel joints)
        ├── canonical_names.py      # Human dataset canonical name mapping
        ├── zoo_canonical_names.py  # Animal canonical name mapping (rule engine)
        ├── humanml3d_converter.py  # SMPL-22 skeleton + 263D feature extraction
        └── unified_dataset.py      # PyTorch Dataset (multi-skeleton, variable joints)

---

Annotation Workflow

For agents setting up the annotation tool:

1. Read docs/ANNOTATION_TOOL_PLAN.md — contains the complete design and implementation prompt
2. Read docs/ANNOTATION_GUIDELINE.md — annotation specification for human annotators
3. Data needed: {dataset}/renders/ (GIF/PNG) + {dataset}/motions/ (npz metadata) + {dataset}/labels.json
4. Tool: Flask + SQLite web app, implementation prompt in Section 9 of ANNOTATION_TOOL_PLAN.md
5. Post-processing: Chinese annotations → LLM batch translate → English → inject into npz texts field

Annotation priority:

Priority	Dataset	Count	Task
P0	mixamo	2,453	Annotate from scratch (no existing text)
P1	truebones_zoo	1,110	Fill 222 missing + review 888 existing
P1	cmu_mocap	195	Fill missing entries
P2	bandai_namco	3,053	Upgrade template text to natural language
P2	100style	810	Upgrade template text
P2	lafan1	77	Upgrade template text

---

Data Processing History

Bug fixes applied (2026-03-18 ~ 2026-03-27):

1. FK rotation convention: Fixed intrinsic vs extrinsic Euler angle bug in preprocess_bvh.py. All 5 BVH datasets reprocessed.
2. Bandai Namco dummy root: Removed static joint_Root placeholder node (22→21 joints).
3. Bandai Namco per-joint positions: Fixed parser to read 6-channel BVH (all joints have position+rotation channels).
4. Side tag detection: Expanded from 2 patterns to 6-priority regex system (99.3% accuracy across 3,563 joints).
5. Canonical name standardization: 1,193 unique raw names → 916 canonical names across all 79 skeletons.

Skeleton audit results:

• 0 errors across 79 skeletons
• Side tag accuracy: 99.3%
• Canonical name coverage: 100%
• Geodesic distance validity: 100%
• Motion data integrity: 100% (no NaN/Inf)

---

Citation

@misc{toposlots2026,
  title={TopoSlots: Topology-Agnostic Per-Slot Motion Tokenization with Foundation Alignment},
  year={2026},
}

License

Research use only. Individual dataset licenses apply:

• HumanML3D: MIT
• LAFAN1: CC BY-NC 4.0
• 100Style: CC BY 4.0
• Bandai Namco: CC BY-NC-ND 4.0
• CMU MoCap: Public domain
• Mixamo: Adobe Mixamo terms
• Truebones Zoo: Commercial license (research use)