Anonymized G1 Trajectories

About BONES-SEED

This release derives from BONES-SEED (Skeletal Everyday Embodiment Dataset) — a large multi-actor motion-capture corpus collected for studying humanoid robot teleoperation. Roughly 522 operators contribute ~142K motion clips sampled at 120 fps, covering locomotion, communication, dance, everyday actions, sport, gaming, and interactions. Each operator is annotated with biometric attributes (height, weight, age, gender) plus per-segment bone lengths.

In BONES-SEED, every clip ships in three parallel formats so the same motion can be studied at different levels of body-shape disclosure:

• SOMA Proportional BVH — original mocap on each operator's true bone lengths.
• SOMA Uniform BVH — the same motion retargeted onto a single shared skeleton (body shape stripped).
• G1 CSV — the same motion retargeted again to the Unitree G1 humanoid robot, as 29-DOF joint angles.

The clip identifiers follow {motion_name}__A{actor_uid}[__M].csv, where _M denotes the mirrored variant. Clips are bucketed by capture date (YYMMDD).

UNVEIL's central finding is that even after both retargeting steps strip away the operator's body shape, the G1 joint-angle stream still carries enough operator-specific dynamics — velocity profiles, ranges of motion, coordination rhythms — to re-identify the original operator and recover their height, weight, age, and gender. Our paper proposes an operator-aware anonymizer that closes this leak; this repository is the result of applying it to every G1 clip.

What's in this repository

For every clip in BONES-SEED, this repository ships the G1-retargeted CSV after anonymization. The folder layout mirrors the source's g1/csv/{date}/{motion}__A{actor}[__M].csv convention, so paths line up one-to-one with the BONES-SEED G1 split.

csv/
└── /
    └── __A[__M].csv

CSV columns: Frame, root_translate{X,Y,Z}, root_rotate{X,Y,Z}, <29 joint DOFs> in centimetres and degrees