README.md

metadata

license: apache-2.0
tags:
  - robotics
  - humanoid
  - vision-language-action
  - memory
  - unitree-g1
  - lerobot
pipeline_tag: robotics
base_model: USC-PSI-Lab/psi-model
datasets:
  - ChenyuanC/HuMeGo-Sim-BlinkPad
  - ChenyuanC/HuMeGo-Sim-TouchPad
  - ChenyuanC/HuMeGo-Sim-FlashPad
  - ChenyuanC/HuMeGo-Sim-LitLamp
  - ChenyuanC/HuMeGo-Sim-HideMug
  - ChenyuanC/HuMeGo-Sim-ShellGame
  - ChenyuanC/HuMeGo-Real-TrashBag
  - ChenyuanC/HuMeGo-Real-RememberChip
  - ChenyuanC/HuMeGo-Real-CafeA
  - ChenyuanC/HuMeGo-Real-CafeB
  - ChenyuanC/HuMeGo-Real-CafeC
  - ChenyuanC/HuMeGo-Real-ChipCart
  - USC-PSI-Lab/psi-data

Memory before Goal: checkpoints

Checkpoints of WholeBodyMem and of the Psi0 baseline from Memory before Goal: Role of Pre-History Memory for Humanoid Loco-Manipulation (arXiv:2610.31166).

Code  |  Datasets  |  arXiv

Folder	Tasks	Paper
wholebodymem/memory/<Task>	BlinkPad, TouchPad, FlashPad, LitLamp, HideMug, ShellGame	Table III
wholebodymem/simple/<Task>	the 14 SIMPLE tasks, T1_XMovePick to T14_BendPick	Table I
wholebodymem/real/<Task>	TrashBag, RememberChip, CafeA, CafeB, CafeC, ChipCart (Unitree G1)	Table V
baselines/psi0/{memory,simple,real}/<Task>	Psi0 fine-tuned per task	Tables III, I, V

Usage

hf download ChenyuanC/MemorybeforeGoal --include "wholebodymem/memory/LitLamp/*" --local-dir checkpoints

Inference, training and deployment code: crystalccy1/MemoryBeforeGoal.

License

Apache License 2.0 (LICENSE). Fine-tuned from Psi0 (Qwen3-VL-2B backbone, Apache License 2.0).

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},
}