MOSAIC Dataset

From the catalogue. Listed by one researcher from one source page.

• id: mosaic-dataset
• kind: teleop
• robot or device: Unitree G1 (retargeted motions) plus human mocap (class: humanoid)
• how collected: mostly mocap and generated motion retargeted with GMR; about 1 hour PICO VR and Noitom teleop data
• size as stated: teleop part about 30 min PICO VR + 30 min Noitom; rest not stated
• hours: 0.5 | hours only claimed: none | episodes: not stated
• year: 2026
• organisation: BAAI-Humanoid
• licence: CDLA-Permissive-2.0 (class: open)
• access: open (class: open)
• link (dataset): https://huggingface.co/datasets/BAAI-Humanoid/MOSAIC_Dataset
• Hugging Face repository: BAAI-Humanoid/MOSAIC_Dataset, 3,331 downloads in 30 days, https://huggingface.co/datasets/BAAI-Humanoid/MOSAIC_Dataset
• note: Motion tracking data, not manipulation demonstrations.

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