ChenyuanC/HuMeGo-Real-RememberChip

HuMeGo-Real RememberChip

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 memory). A person lifts one of three chip cans (red, yellow, green) and puts it back; the robot puts that can into the cart and pushes the cart.

Instruction: "Someone picks one chip box; the robot remembers which one was picked, then picks that box into the cart next to it and moves the cart."

Robot	Unitree G1 with Dex3 hands, real world
Episodes	15 whole-body teleoperated demonstrations
Frames	17,974 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 (red / yellow / green can, 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},
}