MOSAIC (humanoid motion tracking and teleoperation)
- AI model
- Humanoids and robot learning
MOSAIC is a training codebase for humanoid motion tracking and whole-body teleoperation, built on Isaac Lab and aimed at G1, H1_2 and Adam robots.
Made by BAAI-Humanoid, China (checked on github.com/BAAI-Humanoid (opens in a new tab)).
Source on GitHub: github.com/BAAI-Humanoid/MOSAIC (opens in a new tab). Facts read at commit d73e885 (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit d73e885 (opens in a new tab), on 16 Oct 2026.
- Weights
- Apache-2.0 (opens in a new tab)
Read on huggingface.co/BAAI-Humanoid/MOSAIC_Model (opens in a new tab).
- Commercial use
- Yes
What it does
- Trains a teleoperation-oriented motion tracker that emphasizes global motion consistency for long-horizon behaviors.
- Adds interface-specific corrections through rapid residual adaptation to bridge sim-to-real gaps.
- Converts retargeted motion CSV files into full kinematic data via forward kinematics for training.
- Provides task IDs for single-motion and multi-motion tracking, distillation, and multi-teacher residual training.
- Supports multi-GPU training through torchrun and logs runs to WandB.
- Deployment to simulation or a real robot is handled by a separate project, RobotBridge.
Written by Robotheca from the project's README (opens in a new tab) at commit d73e885.
Getting started
- Difficulty
- Advanced
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 7 Mar 2026 on main
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists AI models as a reference: nothing is hosted or run here, and every fact links to where it was read.