ChenyuanC/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 · project page · all HuMeGo datasets).

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
HideMug/	90	HuMeGo-Sim-HideMug
ShellGame/	90	HuMeGo-Sim-ShellGame
LitLamp/	90	HuMeGo-Sim-LitLamp
BlinkPad/	90	HuMeGo-Sim-BlinkPad
TouchPad/	90	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 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.

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},
}