| --- |
| license: cc-by-4.0 |
| task_categories: |
| - robotics |
| tags: |
| - HuMeGo |
| - humanoid |
| - unitree-g1 |
| - memory |
| - loco-manipulation |
| - benchmark |
| pretty_name: HuMeGo-Sim-TestScenes |
| --- |
| |
| # HuMeGo-Sim TestScenes |
|
|
| 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)). |
|
|
| Test scenes for the six simulated HuMeGo tasks. Each task folder holds **90 scenes**: 30 per randomization level |
| (L0: visual and distractor randomization; L1: plus lighting; L2: plus spatial perturbation) and 30 per answer. |
| Test seeds are disjoint from the training demonstrations and were accepted by the same scripted expert as the training data. |
|
|
| | Folder | Scenes | Training data | |
| |---|---|---| |
| | `FlashPad/` | 90 | [HuMeGo-Sim-FlashPad](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-FlashPad) | |
| | `HideMug/` | 90 | [HuMeGo-Sim-HideMug](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-HideMug) | |
| | `ShellGame/` | 90 | [HuMeGo-Sim-ShellGame](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-ShellGame) | |
| | `LitLamp/` | 90 | [HuMeGo-Sim-LitLamp](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-LitLamp) | |
| | `BlinkPad/` | 90 | [HuMeGo-Sim-BlinkPad](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-BlinkPad) | |
| | `TouchPad/` | 90 | [HuMeGo-Sim-TouchPad](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-TouchPad) | |
|
|
| Each folder is in LeRobot v2.1 layout with one frame per episode: the initial robot state of the scene. The scene itself is in |
| `environment_config` of `meta/episodes.jsonl`: task id, scene seed, answer, randomization level and the domain-randomization state |
| for the [SIMPLE](https://github.com/physical-superintelligence-lab/SIMPLE) simulator. `usd_path` values are relative to the SIMPLE |
| repository root. TouchPad stores its scene under the `bp2t` key (answer = `blink_pad`, level = `touch-L0/L1/L2`) and adds |
| `start_frames/`, a rendering of each scene's initial state for reference. A trial succeeds when the robot places the object on |
| (or, in TouchPad, touches) the pad given by the answer. |
|
|
| ## 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}, |
| } |
| ``` |
|
|
