ChenyuanC/HuMeGo-Sim-ShellGame

HuMeGo-Sim ShellGame

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 ball is hidden under one of three cups and the cups are swapped; the robot picks up the chips can and places it on the pad of that cup's final slot. The cue (cups swapped (about 3.6 s)) has ended before the robot acts on it, and the instruction does not name the answer.

Instruction: "Watch which cup hides the ball; then pick up the chips can and place it on the pad of that cup's final slot, counting from the left."

Robot	Unitree G1 with Dex3 hands, whole-body, simulated
Episodes	100 scripted expert demonstrations
Frames	129,570 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},
}