ChenyuanC/HuMeGo-Sim-TouchPad

HuMeGo-Sim TouchPad

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 (reference memory). One of three pads blinks once; the robot turns away, turns back and touches the pad that blinked with its right hand. The cue (pad blinks (0.2 s)) has ended before the robot acts on it, and the instruction does not name the answer.

Instruction: "Watch the three pads on the table; one of them blinks once. Then touch the pad that blinked with your right hand."

Robot	Unitree G1 with Dex3 hands, whole-body, simulated
Episodes	100 scripted expert demonstrations
Frames	119,900 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},
}