MOSAIC Dataset Project Page Paper Code Dataset Model This repository releases the built in MOSAIC multi source motion dataset in the following paper: MOSAIC: Bridging the Sim to Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation The dataset is organized into: Human motions stored in an AMASS style format Unitree G1 motions retargeted from human motions and converted to NPZ for training/visualization It includes motions from: 1. Optical MoCap (Vicon) 2. Inertial MoCap (IO AI) 3. Generated motions from GENMO Additionally, we provide a small amount of Stage II adaptor training data : ~30 min PICO VR data ~30 min Noitom inertial mocap data We also release the GENMO prompts used for motion generation, and the same prompts were used as guidance during optical MoCap capture . Data Formats & Processing Pipeline 1) Human motions (AMASS style) Human motion files follow an AMASS style parameterization/layout for convenient reuse with common SMPL/AMASS tooling. 2) G1 motions (retargeted + converted to NPZ) We retarget human motions to Unitree G1 using: GMR for retargeting (human → humanoid robot) BeyondMimic for converting to NPZ and visualization…
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