README.md

metadata

pretty_name: Eden example assets
tags:
  - robotics
  - motion-imitation
  - humanoid
  - dexterous-manipulation
size_categories:
  - n<1K

Eden — example assets

Sample data that Eden's registered tasks resolve by default, so a task is runnable with no arguments on a pip-installed Eden and not only in a source checkout (Eden#998).

Layout convention: one directory per Eden task, named for the registered task name that reads it (eden list). A dataset class claims its directory with DatasetBase._hf_subdir, and sees only that directory — both the download and the file glob are restricted to it — so this repo can grow without changing what any existing task trains on. tests/test_shared_dataset_repo.py pins the convention: a claimed directory must be a registered task name, and no two dataset classes may claim the same one.

Directory	Read by	Contents
beyondmimic/	eden.tasks.beyondmimic.dataset.BvhCsvG1Dataset	one BVH clip retargeted to the Unitree G1 (29 DOF), 60 Hz
contrack/	eden.tasks.contrack.dataset.DexterHandDataset	four xArm7 + XHand1 hand-object reference clips
assistmimic/	eden.tasks.assistmimic (assistmimic, assistmimic_bed)	two caregiver/recipient pair-clip sets on PHC's SMPL humanoid, 30 Hz

from eden.tasks import TASK_REGISTRY

TASK_REGISTRY.build("beyondmimic")   # fetches beyondmimic/ on first use
TASK_REGISTRY.build("contrack")      # fetches its default clip from contrack/
TASK_REGISTRY.build("assistmimic")   # fetches assistmimic/interx_cluster1.npz on first use

beyondmimic/

G1_gangnam_style_V01_bvh_60hz.csv — 1942 rows, 36 columns per row: base_pos (3) · base_quat_xyzw (4) · dofs_pos (29), in the DOF order of eden.options.robots.unitree_g1.G1Dofs29.

Row 1 is a retargeting artifact — the root jumps 11.6 cm between rows 1 and 2, which is a 5.8 m/s root velocity at frame 0, the largest in the whole 32 s clip. Reference-state initialization resets the robot onto that frame including its velocity, so trackers launch and fall with no error raised. Use frame_range=(1, 1942) (or --frame-range 2 1942 for the example's csv_to_npz.py, whose ranges are 1-indexed and inclusive) when the first frame matters.

Retargeted from the BeyondMimic release; please cite the authors and refer to the upstream project for terms of use.

@article{liao2025beyondmimic,
   author = {{Liao}, Qiayuan and {Truong}, Takara E. and {Huang}, Xiaoyu and {Gao}, Yuman and {Tevet}, Guy and {Sreenath}, Koushil and {Liu}, C. Karen},
    title = "{BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion}",
  journal = {arXiv e-prints},
     year = 2025,
}

contrack/

Four clips of an xArm7 + XHand1 rig manipulating a tracked object. The default clip for TASK_REGISTRY.build("contrack") is dexterhand-Cylinder_00-fps_20-xarm7_xhand-3600_3700.h5.

File	Object
dexterhand-Cylinder_00-fps_20-xarm7_xhand-3600_3700.h5	cylinder
dexterhand-Cuboid_00-fps_20-xarm7_xhand-5880_5940.h5	cuboid
dexterhand-Cuboid_01-fps_20-xarm7_xhand-7824_7864.h5	cuboid
dexterhand-Ring_00-fps_20-xarm7_xhand-10240_10340.h5	ring

Each .h5 carries qpos ((frames, 1, 19): 7 arm DOFs + 12 hand DOFs), is_rhand, base_translation, fps, a contacts/0 group (is_contact / points over the 15 contacts/segment_names hand segments), and an object_tracks/0 group with the object's mesh (vertices, faces) and its per-frame translations / orientations_xyzw. The task exports the object mesh from the clip and sizes the episode from its frame count.

Reference clips for Eden's port of ConTrack (arXiv:2606.03177); please cite the authors and refer to the upstream project for terms of use.

assistmimic/

Paired caregiver/recipient reference clips for Eden's port of AssistMimic, on the 24-body SMPL skeleton of humanoids/smpl_humanoid/smpl_humanoid_phc.xml (eden_assets), 30 Hz.

File	Read by	Clips	Source (AssistMimic sample_data/)
interx_cluster1.npz	assistmimic (floor)	8 Inter-X clips, 1622 frames	interx_processed_fixed_v9_cluster_ids_1_n_clusters_10.pkl
hhi_assist_aa_rm.npz	assistmimic_bed (bed)	10 HHI-Assist clips, 3016 frames	hhi-assist_processed_v6_AA-RM-wo-FullAssist.pkl

Written by Eden's examples/projects/mimic/assistmimic/scripts/convert_pair_motion.py (SMPL-X -> SMPL, PHC's upright-start frame; Inter-X height-fixed to the floor, HHI-Assist kept at the bed height it was recorded at). Every array is concatenated over clips (num_frames, fps, clips per clip; body_names the 24 SMPL bodies) and has one copy per role, caregiver_* / recipient_*: gts body positions, grs global and lrs local rotations (wxyz), gvs / gavs linear / angular velocities, dvs DOF velocities.

Under the untrained PHC policy (main.py play), two Inter-X clips end within ~16 steps against ~71 on average: G011T006A035R010, where the caregiver's hands press on the recipient at ~900 N on average, and G029T008A035R000.

Please cite AssistMimic and the source datasets, and refer to the upstream projects for terms of use: Inter-X (Xu et al., CVPR 2024) and HHI-Assist (Saadatnejad et al., RA-L 2025).

@inproceedings{shibata2026assistmimic,
  title={Learning to Assist: Physics-Grounded Human-Human Control via Multi-Agent Reinforcement Learning},
  author={Shibata, Yuto and Yamazaki, Kashu and Jayanti, Lalit and Aoki, Yoshimitsu and Isogawa, Mariko and Fragkiadaki, Katerina},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year={2026}
}