ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control
Paper • 2606.03177 • Published
Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: ValueError
Message: Dataset 'qpos' has length 60 but expected 1
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 483, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2840, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2373, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2398, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 76, in _generate_tables
num_rows = _check_dataset_lengths(h5, self.info.features)
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/hdf5/hdf5.py", line 355, in _check_dataset_lengths
raise ValueError(f"Dataset '{path}' has length {dset.shape[0]} but expected {num_rows}")
ValueError: Dataset 'qpos' has length 60 but expected 1Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
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 |
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/
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.
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