| # TopoSlots Motion Data |
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| Unified multi-skeleton 3D motion dataset for **TopoSlots**: topology-agnostic per-slot motion tokenization with foundation alignment. |
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| - **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) |
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| --- |
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| ## Dataset Summary |
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| | 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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| --- |
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| ## Data Format (Scheme C) |
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| ### Per-motion file: `motions/{id}.npz` |
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| | 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 | |
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| ### Per-skeleton file: `skeleton.npz` |
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| | 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 | |
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| ### Per-dataset files |
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| | 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) | |
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| ### Renders (for annotation) |
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| | File | Description | |
| |------|-------------| |
| | `renders/{id}.gif` | Stick figure animation (GIF) | |
| | `renders/{id}_overview.png` | Multi-view static overview | |
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| --- |
|
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| ## File Structure |
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| ``` |
| 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) |
| ``` |
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| --- |
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| ## Annotation Workflow |
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| ### For agents setting up the annotation tool: |
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| 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 |
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| ### 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. |
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| ### 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) |
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| --- |
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| ## Citation |
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| ```bibtex |
| @misc{toposlots2026, |
| title={TopoSlots: Topology-Agnostic Per-Slot Motion Tokenization with Foundation Alignment}, |
| year={2026}, |
| } |
| ``` |
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| ## License |
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| 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) |
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