ChenyuanC/HuMeGo-Sim-BlinkPad

HuMeGo-Sim BlinkPad

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 (reference memory). One of three pads blinks once while the robot holds the chips can; the robot places the can on that pad. The cue (pad blinks (0.2 s)) has ended before the robot acts on it, and the instruction does not name the answer.

Instruction: "Hold the chips can and watch which pad blinks; then place the chips can on that pad."

Robot	Unitree G1 with Dex3 hands, whole-body, simulated
Episodes	100 scripted expert demonstrations
Frames	89,215 at 50 Hz
Camera	head camera (egocentric) video
Format	LeRobot v2.1

Features: observation.images.egocentric (360, 640, 3), observation.hand_joints (14,), observation.arm_joints (14,), observation.leg_joints (15,), observation.prev_torso_rpy (3,), observation.prev_height (1,), states (-1,), action (-1,), next.done (1,).

Each line of meta/episodes.jsonl keeps the episode's environment configuration (task, randomization seed, cue events). Test scenes for this task (90 scenes, 30 per randomization level L0 / L1 / L2) are in HuMeGo-Sim-TestScenes.

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},
}