---
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},
}
```