---
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},
}
```