metadata

license: cc-by-nc-4.0
task_categories:
  - text-to-video
language:
  - en
tags:
  - animation
  - dance
  - salsa
  - interaction
  - humanoid
  - mocap
size_categories:
  - 1K<n<10K

CoMPAS3D: A Dataset for Embodied Social Interaction through Improvised Salsa Dance

CoMPAS3D (Complex Multi-Level Person-Interaction Annotated Salsa Dataset) is a large-scale motion capture dataset designed to support research on nonverbal, physical communication through dance. It contains over 3 hours of improvised salsa duet performances by 18 dancers across beginner, intermediate, and professional skill levels. Each sequence features high-fidelity 3D motion data in the form of SMPL-X (.npz) files, along with video visualizations and synchronized audio (.mp4). We provide detailed frame-level annotations of move types, stylistic variation, and execution errors for 50% of the sequences (.txt).

Collected in a controlled studio using a 20-camera Vicon system at 120fps, the dataset includes 72 long-form sequences (each 2.5 minutes) of naturalistic leader-follower interaction. Participants were drawn from diverse dance backgrounds, and all provided informed consent for data release. CoMPAS3D offers a rich testbed for studying embodied dialogue, social fluency, and multi-agent coordination in AI and robotics.

Dataset Details

This dataset contains motion capture of improvised salsa dance by 18 individuals forming 9 pairs. The dances were improvised to 4 songs, with 2 takes recorded per song.

Pair	Proficiency	Public Annotations	Validation	Test
Pair 1	Beginner	100%	Song2_Take2	Song1_Take1
Pair 2	Intermediate	100%	Song3_Take1	Song1_Take2
Pair 3	Beginner	100%	n/a	Song2_Take1
Pair 4	Intermediate	100%	n/a	Song2_Take2
Pair 5	Professional	50%	Song1_Take1	Song3_Take1
Pair 6	Intermediate	n/a	n/a	Song3_Take2
Pair 7	Professional	n/a	n/a	Song4_Take1
Pair 8	Beginner	n/a	n/a	Song4_Take2
Pair 9	Professional	n/a	n/a	Song1_Take1

Song	Artist	Title	Tempo (BPM)
Song 1	Tito Rojas	Lo que te queda	90
Song 2	Louie Ramirez, Ray de La Paz	Lluvia	105
Song 3	Leoni Torres	Idilio	95
Song 4	Johnny Ventura	Dilema	93

Dataset Description

Curated by: Rosie Lab, Simon Fraser University
Language(s): English
License: CC-BY-NC-4.0, except for audio in .mp4 files where rights retained by owners

Dataset Sources [optional]

Repository: https://github.com/rosielab/compas3d
Paper: Bermet Burkanova*, Payam Jome Yazdian*, Chuxuan Zhang, Trinity Evans, Paige Tuttösí, Angelica Lim, "Salsa as a Nonverbal Embodied Language--The CoMPAS3D Dataset and Benchmarks." In prep.
Demo: Coming soon!

Uses

This dataset was created to encourage research in socially interactive embodied AI and creative, expressive humanoid motion generation. As salsa contains a move vocabulary and implict grammar rules, we propose tasks that mirror those in spoken language processing:

Solo Motion Segmentation, Classification, Transcription (Automatic Speech Recognition)
Solo Motion Generation (Speech Synthesis)
Follower Motion Generation (Listener Speech Synthesis)
Pair Motion Generation and Analysis (Conversation Synthesis)
Style Transfer (Proficiency Adaptation)

Direct Use

A long term goal is to develop salsa dancing humanoids that can safely and creatively dance with each other and with real humans, adapting to their partner's proficiency, using haptic signaling as a primary form of communication. This dataset was developed for research use.

Out-of-Scope Use

This dataset is not to be used for commercial purposes.

Dataset Creation

Curation Rationale

Salsa is “arguably the world’s most popular partnered social dance form" and offers a challenging testbed for humanoid embodied interaction algorithms. Communication between the leader and follower is almost entirely haptic, signaled by subtle pushes and pulls.

Data Collection and Processing

The data was recorded using a Vicon Motion Capture System, comprising 20 Vero MoCap cameras recording at 120 FPS within a capture volume of approximately 72 cubic meters. Participants wore Vicon motion capture suits equipped with 53 reflective markers using Vicon's "FrontWaist" configuration. The resulting .c3d files were converted using MOSH into SMPL-X (.npz files). Using witness camera recordings, the resulting SMPL-X renderings were synchronized with the audio tracks (.mp4 files)

Who are the source data producers?

Participants were recruited from a university salsa dance club as well as a professional Latin dance school. Skill levels were defined by dance experience: beginners (3-6 months), intermediates (1-3 years), and professionals (over 4 years).

Annotation process

The annotations were completed using ELAN. Segmentation involved marking the start and end frames of each 8-count dance sequence, typically corresponding to a complete dance move, based solely on the musical rhythm. Annotation was done using 4 annotation tracks: paired move labels, individual dancer move and styling annotations, and error classification.

Who are the annotators?

The annotator was a salsa expert with 15 years of salsa dance experience and competitive judging experience.

Personal and Sensitive Information

The dataset does not contain personally identifiable data. However, the SMPL-X meshes provide estimates of body shape and sex.

Bias, Risks, and Limitations

This dataset contains LA-style salsa dance, one of the most popular variants of salsa. Other variants exist, such as New York style and Cuban style salsa. Contact information was generated using post-processing of mesh intersections after 1-cm mesh inflations and do not reflect touch recorded from raw sensors.

Recommendations

When using this dataset for salsa dance generation or move recognition, users should consider the variant of salsa, similar to considering varied dialects or accents in English or other natural languages.

Citation

Bermet Burkanova*, Payam Jome Yazdian*, Chuxuan Zhang, Trinity Evans, Paige Tuttösí, Angelica Lim, "Salsa as a Nonverbal Embodied Language--The CoMPAS3D Dataset and Benchmarks." In prep.

BibTeX: Coming soon!

Glossary of Moves, Styling, and Errors

Name	Category	Detailed Description
Arm lock	Move	A locking arm movement often used to create tension or highlight transitions.
Basic step	Move	Fundamental salsa step with variations including side, cross-back, and back basic steps.
Body shake	Move	A rapid shaking movement emphasizing torso dynamics.
Body roll	Move	A fluid, wave-like motion passing through the body.
Change of Directions	Move	Transition step involving directional changes, including position swaps.
Check	Move	A checking step used to halt or redirect movement.
Comb	Move	A styling-influenced move where the hand is combed over the head.
Copa	Move	A pivoting movement redirecting the follower after a forward step.
Dile que no	Move	A foundational Cuban salsa move, translating to "tell her no."
Hand throw	Move	A dramatic throwing motion of one or both hands.
Right turn	Move	A clockwise rotational turn performed by the dancer.
Drawing circle	Move	Circular motion with hands or body to accentuate movement.
Enchufla	Move	Cuban salsa turn pattern where partners switch places.
Walks around	Move	Continuous walking around a partner, often in a circular path.
Suzy Q	Move	Classic salsa footwork emphasizing rhythm and flair.
Hip movement	Move	Emphasized hip motion often synchronized with the rhythm.
Kicks	Move	Kicking action integrated within footwork patterns.
Lasso	Move	Overhead arm motion resembling lassoing.
Natural top	Move	Continuous circular motion performed with a partner.
Left turn	Move	A counterclockwise turn executed by the dancer.
Mambo	Move	Latin dance step characterized by forward and backward movements.
Open break	Move	A breaking step where partners create distance.
Point	Move	Pointing gesture typically with feet or hands.
Sliding	Move	Smooth gliding motion across the floor.
Standing	Move	Stationary stance often used for resets or transitions.
Steps	Move	General term for footwork elements.
Swing	Move	Rhythmic swinging motion involving torso or arms.
Walk	Move	Basic locomotion step in any direction.
XBL (Cross Body Lead)	Move	Core salsa move where the follower is led across the leader.
Indescribable	Move	Complex or ambiguous movements not fitting other categories.
Markers Swap issue	Move	Technical artifact caused by marker misalignment.
Lady styling	Styling	Feminine aesthetic enhancements involving hands, hips, and posture.
Man styling	Styling	Masculine aesthetic embellishments emphasizing strength and rhythm.
Misinterpreted signal	Error	Occurs when the follower misunderstands the leader's cue.
Misstep	Error	Incorrect foot placement deviating from the intended movement.
Mixed signals	Error	Conflicting cues from the leader resulting in follower confusion.
Off beat	Error	Deviation from the musical rhythm during execution.

Acknowledgments

We would like to thank Giorgio Becherini and Dr. Michael Black for their assistance in MOSH conversion to SMPL-X format. We also thank Ahmet Tasel and Jim Su for their help in learning the motion capture process and initial discussions. This work would also not be possible without support from the Rajan Family.

Dataset Card Details and Contact

This dataset was collected as part of the M.Sc. thesis of Bermet Burkanova under the supervision of Angelica Lim.