ChenyuanC/HuMeGo-Real-CafeC

HuMeGo-Real CafeC

Part of HuMeGo, the humanoid memory benchmark of Memory before Goal: Role of Pre-History Memory for Humanoid Loco-Manipulation (arXiv · project page · all HuMeGo datasets).

Task (what + where + when memory). Café, where did the cola stop first: the cola stops on two seats and the sprite on one; the robot serves the seat of the cola's first stop (the served drink is a bottle).

Instruction: "Serve the cola to the seat where cola was first ordered."

Robot	Unitree G1 with Dex3 hands, real world
Episodes	15 whole-body teleoperated demonstrations
Frames	10,502 at 30 fps
Camera	head camera video (640 x 360)
Teleoperation	PICO 4 Ultra headset, controllers and ankle trackers driving the SONIC v1.0 whole-body controller
Format	LeRobot v2.1

Each line of meta/episodes.jsonl has an answer field (left / middle / right seat, as seen from the robot's head camera at the start), with five episodes per answer.

action.motion_token holds SONIC v1.0 motion tokens; do not mix them with SONIC v1.1 recordings. The teleop.* features are the operator's tracked signals recorded during teleoperation.

Features: observation.images.ego_view (360, 640, 3), observation.state (43,), observation.eef_state (14,), action.wbc (43,), observation.root_orientation (4,), observation.projected_gravity (3,), observation.cpp_rotation_offset (4,), observation.init_base_quat (4,), teleop.delta_heading (1,), action.motion_token (64,), teleop.smpl_joints (72,), teleop.smpl_pose (63,), teleop.body_quat_w (4,), teleop.target_body_orientation (6,), teleop.left_hand_joints (7,), teleop.right_hand_joints (7,), teleop.smpl_frame_index (1,), teleop.left_wrist_joints (3,), teleop.right_wrist_joints (3,), teleop.stream_mode (1,), teleop.planner_mode (1,), teleop.planner_movement (3,), teleop.planner_facing (3,), teleop.planner_speed (1,), teleop.planner_height (1,), teleop.vr_3pt_position (9,), teleop.vr_3pt_orientation (18,), recording.timing (6,), recording.identity (6,), recording.pose_window_timing (4,).

License

Released under CC BY 4.0.

Citation

@misc{chen2026memorybeforegoal,
      title={Memory before Goal: Role of Pre-History Memory for Humanoid Loco-Manipulation},
      author={Chenyuan Chen and Ran Ding and Lechen Zhang and Zewen He and Yoshihiko Nakamura},
      year={2026},
      eprint={2610.31166},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2610.31166},
}