MOSAIC_Dataset

MOSAIC Dataset 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: Optical MoCap (Vicon) Inertial MoCap (IO-AI)… See the full description on the dataset page: https://huggingface.co/datasets/chuhonglin/MOSAIC_Dataset.