ChenyuanC/HuMeGo-Sim-HideMug

HuMeGo-Sim HideMug

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 (permanence memory). A mug hides behind one of three screens while a decoy mug leaves; the robot places the snack box on the pad in front of the screen that hides the mug. The cue (mug hides (about 2.2 s)) has ended before the robot acts on it, and the instruction does not name the answer.

Instruction: "Hold the snack box and watch where the mug hides; then place the snack box on the pad in front of that screen's column, counting from the left."

Robot	Unitree G1 with Dex3 hands, whole-body, simulated
Episodes	100 scripted expert demonstrations
Frames	129,745 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},
}