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},
}