MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation

Mon, 09 Feb 2026 00:00:00 +0000

Released on arXiv:

MOSAIC is an open-source, full-stack system for humanoid motion tracking and teleoperation:

Learns a general motion tracker via RL on multi-source motion bank
Performs rapid residual adaptation to bridge sim-to-real gap
Supports multiple interfaces for teleoperation
Validated with real-robot experiments demonstrating robust offline motion replay and online long-horizon teleoperation

Authors: Bo-Sheng Huang*, Yibo Peng*, Xukun Li* (Equal contribution). Corresponding authors: Zhenshan Bing†, Xinlong Wang†.

DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter

Thu, 05 Feb 2026 00:00:00 +0000

Released on arXiv:

DECO is a decoupled multimodal diffusion transformer for bimanual dexterous manipulation that:

Disentangles multimodal inputs (vision, proprioception, tactile) through specialized conditioning pathways
Features a lightweight tactile adapter for parameter-efficient injection of tactile signals
Achieves 72.25% success rate with 21% improvement over baseline
Introduces DECO-50 dataset with 50 hours of data and over 5M frames