File size: 2,396 Bytes
38629a8 2a33a3b 38629a8 ab918bb 38629a8 515d95b 38629a8 515d95b 38629a8 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 | ---
license: cc-by-4.0
task_categories:
- robotics
tags:
- LeRobot
- HuMeGo
- humanoid
- unitree-g1
- memory
- loco-manipulation
pretty_name: HuMeGo-Sim-ShellGame
configs:
- config_name: default
data_files: data/*/*.parquet
---
# HuMeGo-Sim ShellGame
Part of **HuMeGo**, the humanoid memory benchmark of *Memory before Goal: Role of Pre-History Memory for Humanoid Loco-Manipulation*
([arXiv](https://arxiv.org/abs/2610.31166) · [GitHub](https://github.com/crystalccy1/MemoryBeforeGoal) · [project page](https://memory-before-goal.github.io) · [all HuMeGo datasets](https://huggingface.co/collections/ChenyuanC/humego-6ada5cbea74d4cc678c91c68)).
**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](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-TestScenes).
## License
Released under [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/).
## Citation
```bibtex
@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},
}
```
|