---
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},
}
```