HuMeGo index page

README.md

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+---
+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},
+}
+```