| --- |
| 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](https://arxiv.org/abs/2610.31166)). |
|
|
| [**Code**](https://github.com/crystalccy1/MemoryBeforeGoal) | [**Datasets**](https://huggingface.co/collections/ChenyuanC/humego-6ada5cbea74d4cc678c91c68) | [**arXiv**](https://arxiv.org/abs/2610.31166) |
|
|
| | 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 |
|
|
| ```bash |
| hf download ChenyuanC/MemorybeforeGoal --include "wholebodymem/memory/LitLamp/*" --local-dir checkpoints |
| ``` |
|
|
| Inference, training and deployment code: [crystalccy1/MemoryBeforeGoal](https://github.com/crystalccy1/MemoryBeforeGoal). |
|
|
| ## License |
|
|
| Apache License 2.0 ([LICENSE](LICENSE)). Fine-tuned from [Psi0](https://huggingface.co/USC-PSI-Lab/psi-model) |
| (Qwen3-VL-2B backbone, Apache License 2.0). |
|
|
| ## 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}, |
| } |
| ``` |
|
|
