ChenyuanC/HuMeGo-Sim-FlashPad

HuMeGo-Sim FlashPad

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 (counting memory). A lamp flashes one, two or three times while the robot holds a tomato soup can; the robot then places the can on the pad with that number, counting from the left. The cue (lamp flashes (about 3.5 s)) has ended before the robot acts on it, and the instruction does not name the answer.

Instruction: "Hold the tomato soup can and count the lamp's flashes; then place the tomato soup can on the pad with that number, counting the pads from the left."

Robot	Unitree G1 with Dex3 hands, whole-body, simulated
Episodes	100 scripted expert demonstrations
Frames	115,336 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},
}