Datasets:

Kashu7100
/

eden_example

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

Sample data that [Eden](https://github.com/Kashu7100/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](https://github.com/Kashu7100/Eden/issues/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 |

```python
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](https://github.com/HybridRobotics/whole_body_tracking)
release; please cite the authors and refer to the upstream project for terms of use.

```bibtex
@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](https://github.com/EmptyBlueBox/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](https://github.com/YutoShibata07/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).

```bibtex
@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}
}
```

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

	# Eden — example assets

	Sample data that [Eden](https://github.com/Kashu7100/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](https://github.com/Kashu7100/Eden/issues/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 \|

	```python
	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](https://github.com/HybridRobotics/whole_body_tracking)
	release; please cite the authors and refer to the upstream project for terms of use.

	```bibtex
	@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](https://github.com/EmptyBlueBox/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](https://github.com/YutoShibata07/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).

	```bibtex
	@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}
	}
	```