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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)

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)