| --- |
| license: cc-by-4.0 |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - HuMeGo |
| - humanoid |
| - unitree-g1 |
| - memory |
| - loco-manipulation |
| - benchmark |
| pretty_name: "HuMeGo: humanoid memory benchmark (Memory before Goal)" |
| --- |
| |
| # HuMeGo: Humanoid Memory Benchmark |
|
|
| **HuMeGo** is the memory-dependent humanoid loco-manipulation benchmark of |
| *Memory before Goal: Role of Pre-History Memory for Humanoid Loco-Manipulation* |
| ([arXiv 2610.31166](https://arxiv.org/abs/2610.31166) · [GitHub](https://github.com/crystalccy1/MemoryBeforeGoal) · |
| [project page](https://memory-before-goal.github.io) · [collection](https://huggingface.co/collections/ChenyuanC/humego-6ada5cbea74d4cc678c91c68)). |
|
|
| In every task the correct action depends on a cue that has already disappeared and is not named in the instruction: |
| the robot must remember what happened before it acts on its goal. HuMeGo has six simulated tasks and six real-world |
| tasks on a Unitree G1 humanoid, covering object, spatial and temporal memory. This page is an index; the data are in |
| the repositories below, all in [LeRobot](https://github.com/huggingface/lerobot) v2.1 format under CC BY 4.0. |
|
|
| ## Simulation (Unitree G1, 50 Hz, head camera) |
|
|
| 100 scripted expert demonstrations per task for training, and 90 test scenes per task (30 per randomization level L0 / L1 / L2). |
|
|
| | Task | Memory | Cue | Training | Test scenes | |
| |---|---|---|---|---| |
| | FlashPad | counting | a lamp flashes one to three times | [HuMeGo-Sim-FlashPad](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-FlashPad) | [TestScenes/FlashPad](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-TestScenes/tree/main/FlashPad) | |
| | HideMug | permanence | a mug hides behind one of three screens | [HuMeGo-Sim-HideMug](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-HideMug) | [TestScenes/HideMug](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-TestScenes/tree/main/HideMug) | |
| | ShellGame | permanence | cups are swapped over a hidden ball | [HuMeGo-Sim-ShellGame](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-ShellGame) | [TestScenes/ShellGame](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-TestScenes/tree/main/ShellGame) | |
| | LitLamp | reference | one lamp lights up for 0.5 s | [HuMeGo-Sim-LitLamp](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-LitLamp) | [TestScenes/LitLamp](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-TestScenes/tree/main/LitLamp) | |
| | BlinkPad | reference | one pad blinks for 0.2 s | [HuMeGo-Sim-BlinkPad](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-BlinkPad) | [TestScenes/BlinkPad](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-TestScenes/tree/main/BlinkPad) | |
| | TouchPad | reference | one pad blinks, then the robot turns away | [HuMeGo-Sim-TouchPad](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-TouchPad) | [TestScenes/TouchPad](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Sim-TestScenes/tree/main/TouchPad) | |
|
|
| ## Real world (Unitree G1, whole-body teleoperation with SONIC, 30 fps head camera) |
|
|
| 15 teleoperated demonstrations per task, five per answer. |
|
|
| | Task | Memory | Dataset | |
| |---|---|---| |
| | Trash bag | where | [HuMeGo-Real-TrashBag](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Real-TrashBag) | |
| | Remember-chip | what | [HuMeGo-Real-RememberChip](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Real-RememberChip) | |
| | Café A: first come, first served | when | [HuMeGo-Real-CafeA](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Real-CafeA) | |
| | Café B: which seat has the cola | what + where | [HuMeGo-Real-CafeB](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Real-CafeB) | |
| | Café C: where did the cola stop first | what + where + when | [HuMeGo-Real-CafeC](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Real-CafeC) | |
| | Chip-cart | progress | [HuMeGo-Real-ChipCart](https://huggingface.co/datasets/ChenyuanC/HuMeGo-Real-ChipCart) | |
|
|
| ## Download |
|
|
| ```bash |
| huggingface-cli download ChenyuanC/HuMeGo-Sim-FlashPad --repo-type dataset --local-dir HuMeGo-Sim-FlashPad |
| ``` |
|
|
| ## 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}, |
| } |
| ``` |
|
|
