"हमें पढ़ने जाना है।"
Translation:We have to go to study.
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हमें is the oblique form of the pronoun we, i.e. us, used this way to convey the English idea of have to. (Hindi doesn't have a direct translation for have.)
If we use another infinitive, such as पढ़ना with the intransitive verb to go, जाना, then it takes the oblique form, thus पढ़ने and not पढ़ना (to study).