Initial commit

.gitattributes

@@ -0,0 +1,60 @@
+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.avro filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,115 @@
+---
+license: cc-by-4.0
+language:
+- en
+tags:
+- Kimodo
+- nvidia
+- human motion generation
+pretty_name: Kimodo Human Motion Generation Benchmark
+---
+
+# Kimodo Human Motion Generation Benchmark
+
+[Kimodo Codebase](https://github.com/nv-tlabs/kimodo)
+
+## Dataset Description:
+This dataset provides the necessary metadata to construct the suite of test cases that make up the [Kimodo](https://github.com/nv-tlabs/kimodo) human motion generation benchmark. This includes test cases that evaluate text-following for the text-to-motion task, along with constraint-following for constraint-conditioned motion generation.
+
+The benchmark is constructed from the SOMA uniform version of the [BONES-SEED dataset](https://huggingface.co/datasets/bones-studio/seed) using metadata included in this repo, which includes text prompts derived from our [SEED timeline annotations](https://huggingface.co/datasets/nvidia/SEED-Timeline-Annotations), start/end frames for test case motions, and pose constraint configurations. 
+To get started with the benchmark, see the [Kimodo documentation](https://research.nvidia.com/labs/sil/projects/kimodo/docs/benchmark/introduction.html).
+
+This repo also includes the train and test splits for the BONES-SEED data that should be used to train models that will be evaluated with the Kimodo benchmark.
+
+This dataset is ready for commercial use.
+
+## Dataset Owner:
+NVIDIA Corporation
+
+## Dataset Creation Date:
+April 2026
+
+## License/Terms of Use: 
+This dataset is governed by the [Creative Commons Attribution 4.0 International License](https://creativecommons.org/licenses/by/4.0/) (CC BY 4.0).
+
+## Intended Usage:
+This dataset is intended for researchers and developers training motion generation models on BONES-SEED to evaluate their models in a comprehensive and standardized way.
+
+## Download Instructions:
+The easiest way to download the dataset is using Git:
+```
+git clone git@hf.co:datasets/nvidia/Kimodo-Motion-Gen-Benchmark
+```
+
+## Dataset Structure:
+For full details of the benchmark, please see the [Kimodo documentation](https://research.nvidia.com/labs/sil/projects/kimodo/docs/benchmark/introduction.html).
+
+Train and test splits are defined in `splits`:
+
+- `train_split_paths.txt` - filenames of training data
+- `test_content_split_paths.txt` - filenames for test split containing new semantic "content". This split contains motions with `content_name` (from the BONES-SEED metadata) that are not seen in the training split. This tests model generalization to new semantic motion types, e.g. for text-to-motion generalization.
+- `test_repetition_split_paths.txt` - filenames for test split containing new motions from content that was seen in training. This split contains motions where the `content_name` is contained in the training split, but the exact motion itself was not seen. This tests a model's ability to generalize to novel performances of a familiar motion type, e.g., for constraint-following generalization.
+
+The benchmark test cases are partitioned into the `content` and `repetition` test splits. Note that the test cases in the benchmark cover a diverse subset of these splits. Within each of the split directories, the structure categorizes test cases into tasks ranging from pure text-to-motion to constraint-conditioned generation with a variety of different constraint types and scenarios:
+
+```text
+testsuite
+├── content
+│   ├── constraints_notext
+│   │   ├── end-effectors
+│   │   ├── fullbody
+│   │   ├── mixture
+│   │   └── root
+│   ├── constraints_withtext
+│   │   ├── end-effectors
+│   │   ├── fullbody
+│   │   ├── mixture
+│   │   └── root
+│   └── text2motion
+│       ├── overview
+│       ├── timeline_multi
+│       └── timeline_single
+└── repetition
+    ├── constraints_notext
+    │   ├── end-effectors
+    │   ├── fullbody
+    │   ├── mixture
+    │   └── root
+    ├── constraints_withtext
+    │   ├── end-effectors
+    │   ├── fullbody
+    │   ├── mixture
+    │   └── root
+    └── text2motion
+        ├── overview
+        ├── timeline_multi
+        └── timeline_single
+```
+
+At the lowest level of this structure, each leaf folder contains indexed test cases (`0000`, `0001`, `0002`, ...).
+For example:
+
+```text
+end-effectors/feet_posrot/
+├── 0000/
+├── 0001/
+├── 0002/
+...
+└── 0255/
+```
+
+Each index folder is one standalone test case with its own `meta.json` containing text prompt and duration, `seed_motion.json` with metadata relating the test case to BONES-SEED, and optionally `seed_constraints.json` defining constraints for the test case. These are used to process the BONES-SEED dataset to build the full benchmark.
+
+All text prompts in the benchmark are derived from our [SEED timeline annotations](https://huggingface.co/datasets/nvidia/SEED-Timeline-Annotations).
+
+## Dataset Quantification:
+- Dataset file size: 116 MB
+- Total number of test cases: 22,474
+
+## References:
+- [Kimodo Motion Generation Model](https://research.nvidia.com/labs/sil/projects/kimodo/)
+- [BONES-SEED dataset](https://huggingface.co/datasets/bones-studio/seed)
+
+## Ethical Considerations:
+NVIDIA believes Trustworthy AI is a shared responsibility and we have established policies and practices to enable development for a wide array of AI applications. When downloaded or used in accordance with our terms of service, developers should work with their internal developer teams to ensure this dataset meets requirements for the relevant industry and use case and addresses unforeseen product misuse.   
+Please report quality, risk, security vulnerabilities or NVIDIA AI Concerns [here](https://app.intigriti.com/programs/nvidia/nvidiavdp/detail).

testsuite/content/constraints_notext/end-effectors/feet_posrot/0000/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 6
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0000/seed_constraints.json

@@ -0,0 +1,15 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      33,
+      12,
+      31,
+      65
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0000/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "combat_quickstep_ff_idle_360_R_004__A345",
+  "bvh_path": "BVH/230424/combat_quickstep_ff_idle_360_R_004__A345.bvh",
+  "crop_start_frame_index": 32,
+  "crop_end_frame_index": 122
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0001/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 84
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0001/seed_constraints.json

@@ -0,0 +1,19 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      22,
+      10,
+      85,
+      73,
+      45,
+      64,
+      56,
+      50
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0001/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "street_watching_traffic_idle_R_001__A428_M",
+  "bvh_path": "BVH/230713/street_watching_traffic_idle_R_001__A428_M.bvh",
+  "crop_start_frame_index": 367,
+  "crop_end_frame_index": 457
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0002/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 43
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0002/seed_constraints.json

@@ -0,0 +1,17 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      69,
+      86,
+      17,
+      5,
+      18,
+      67
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0002/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "medium_big_heavy_one_hand_pick_up_behind_medium_R_001__A511",
+  "bvh_path": "BVH/231114/medium_big_heavy_one_hand_pick_up_behind_medium_R_001__A511.bvh",
+  "crop_start_frame_index": 24,
+  "crop_end_frame_index": 114
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0003/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 61
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0003/seed_constraints.json

@@ -0,0 +1,13 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      69,
+      29
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0003/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "shoulder_clap_002__A041_M",
+  "bvh_path": "BVH/220728/shoulder_clap_002__A041_M.bvh",
+  "crop_start_frame_index": 51,
+  "crop_end_frame_index": 141
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0004/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 58
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0004/seed_constraints.json

@@ -0,0 +1,14 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      11,
+      41,
+      35
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0004/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "dance_latino_put_down_put_up_rear_R_001__A322",
+  "bvh_path": "BVH/230414/dance_latino_put_down_put_up_rear_R_001__A322.bvh",
+  "crop_start_frame_index": 86,
+  "crop_end_frame_index": 176
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0005/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 62
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0005/seed_constraints.json

@@ -0,0 +1,12 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      37
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0005/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "big_heavy_one_hand_front_low_to_front_high_R_001__A526",
+  "bvh_path": "BVH/231120/big_heavy_one_hand_front_low_to_front_high_R_001__A526.bvh",
+  "crop_start_frame_index": 75,
+  "crop_end_frame_index": 165
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0006/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 66
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0006/seed_constraints.json

@@ -0,0 +1,19 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      87,
+      29,
+      47,
+      54,
+      17,
+      39,
+      18,
+      74
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0006/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "medium_big_heavy_two_hands_behind_high_to_behind_low_R_001__A522",
+  "bvh_path": "BVH/231117/medium_big_heavy_two_hands_behind_high_to_behind_low_R_001__A522.bvh",
+  "crop_start_frame_index": 69,
+  "crop_end_frame_index": 159
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0007/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 71
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0007/seed_constraints.json

@@ -0,0 +1,19 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      62,
+      5,
+      54,
+      19,
+      14,
+      33,
+      83,
+      48
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0007/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "crutches_walk_arc_cw_start_R_slow_001__A516",
+  "bvh_path": "BVH/231116/crutches_walk_arc_cw_start_R_slow_001__A516.bvh",
+  "crop_start_frame_index": 249,
+  "crop_end_frame_index": 339
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0008/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 75
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0008/seed_constraints.json

@@ -0,0 +1,14 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      33,
+      26,
+      72
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0008/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "small_light_one_hand_front_medium_to_behind_medium_R_001__A516_M",
+  "bvh_path": "BVH/231116/small_light_one_hand_front_medium_to_behind_medium_R_001__A516_M.bvh",
+  "crop_start_frame_index": 18,
+  "crop_end_frame_index": 108
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0009/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 28
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0009/seed_constraints.json

@@ -0,0 +1,12 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      42
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0009/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "small_heavy_one_hand_behind_medium_to_behind_low_R_001__A521",
+  "bvh_path": "BVH/231117/small_heavy_one_hand_behind_medium_to_behind_low_R_001__A521.bvh",
+  "crop_start_frame_index": 42,
+  "crop_end_frame_index": 132
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0010/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 49
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0010/seed_constraints.json

@@ -0,0 +1,13 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      24,
+      5
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0010/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "big_light_two_hands_put_down_right_side_medium_R_001__A510_M",
+  "bvh_path": "BVH/231114/big_light_two_hands_put_down_right_side_medium_R_001__A510_M.bvh",
+  "crop_start_frame_index": 64,
+  "crop_end_frame_index": 154
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0011/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 77
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0011/seed_constraints.json

@@ -0,0 +1,12 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      7
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0011/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "medium_big_heavy_two_hands_walk_ff_loop_360_R_001__A506",
+  "bvh_path": "BVH/231113/medium_big_heavy_two_hands_walk_ff_loop_360_R_001__A506.bvh",
+  "crop_start_frame_index": 101,
+  "crop_end_frame_index": 191
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0012/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 73
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0012/seed_constraints.json

@@ -0,0 +1,14 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      60,
+      80,
+      32
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0012/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "explosion_reaction_R_001__A427",
+  "bvh_path": "BVH/230711/explosion_reaction_R_001__A427.bvh",
+  "crop_start_frame_index": 60,
+  "crop_end_frame_index": 150
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0013/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 26
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0013/seed_constraints.json

@@ -0,0 +1,20 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      52,
+      66,
+      29,
+      5,
+      86,
+      79,
+      65,
+      17,
+      38
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0013/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "crouch_idle_right_R_001__A247",
+  "bvh_path": "BVH/230306/crouch_idle_right_R_001__A247.bvh",
+  "crop_start_frame_index": 95,
+  "crop_end_frame_index": 185
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0014/meta.json

@@ -0,0 +1,5 @@
+{
+  "text": "",
+  "duration": 3.0,
+  "seed": 35
+}

testsuite/content/constraints_notext/end-effectors/feet_posrot/0014/seed_constraints.json

@@ -0,0 +1,19 @@
+[
+  {
+    "type": "end-effector",
+    "frame_indices": [
+      24,
+      63,
+      15,
+      18,
+      83,
+      41,
+      45,
+      46
+    ],
+    "joint_names": [
+      "LeftFoot",
+      "RightFoot"
+    ]
+  }
+]

testsuite/content/constraints_notext/end-effectors/feet_posrot/0014/seed_motion.json

@@ -0,0 +1,6 @@
+{
+  "move_name": "big_light_two_hands_front_high_to_right_side_high_R_002__A526_M",
+  "bvh_path": "BVH/231120/big_light_two_hands_front_high_to_right_side_high_R_002__A526_M.bvh",
+  "crop_start_frame_index": 77,
+  "crop_end_frame_index": 167
+}