Here is the full list of all 24 Venture Within achievements.
Collect 5 unique items in a playthrough
Collect 10 unique items in a playthrough
Collect 5 pyrite during a playthrough
Collect 10 pyrite during a playthrough
Collect 50 pyrite during a playthrough
Defeat a basalt based enemy
Defeat a chalcopyrite based enemy
Defeat an aragonite based enemy
Defeat a barite based enemy
Defeat an oweniid mini boss
Defeat a rock golem mini boss
Defeat a tube worm cluster mini boss
Defeat an oweniid boss
Defeat a calcite rock golem boss
Defeat a sphalerite rock golem boss
Defeat a tube worm hydra boss
Defeat the dandelion cluster boss
Collect all rock based items
Research all items in Alice's field notebook
Research all enemies in Alice's field notebook
Research 90% of the entries in Alice's field notebook
Rescue a geomancer
Rescue all geomancers
Complete a vent without taking damage