# 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

```bibtex
@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)