InstructMove Dataset
Version
Version 1.0
InstructMove is a language-conditioned robot manipulation dataset in LeRobot format. It contains instruction-following trajectories for object picking, spatially grounded picking, and object placement. The current release includes data collected with PiperX dual-arm and Franka robots.
Dataset Contents
| Dataset | Task | Robot | Path | Episodes |
|---|---|---|---|---|
| Pick by attribute | Pick an object specified by visual attributes such as color, shape, or appearance. | PiperX dual-arm | lerobot_dataset/pick_attribute/piperx_0710.zip |
100 |
| Pick by category | Pick an object specified by its semantic category and visual description. | PiperX dual-arm | lerobot_dataset/pick_category/piperx_0710.zip |
100 |
| Place A to B | Pick a specified object and place it in or on a target container. | PiperX dual-arm | lerobot_dataset/place_a2b/piperx_0710.zip |
100 |
| Place A to B | Pick a specified object and place it in or on a target container. | Franka | lerobot_dataset/place_a2b/franka_0710.zip |
100 |
| Spatial pick | Pick an object identified through a spatial relation to another object, such as left of, right of, near, or far from. | Franka | lerobot_dataset/spatial_pick/franka_0710.zip |
100 |
| Total | lerobot_dataset |
500 |
Dataset Structure
Each row in the table corresponds to an independent LeRobot dataset packaged
as a .zip archive. Each archive contains trajectory data, videos, and
metadata, including episode and task annotations. Episode counts are taken
from each dataset's meta/info.json and verified against
meta/episodes.jsonl.
Only the official LeRobot meta/ files are included:
info.jsonepisodes.jsonltasks.jsonlstats.json
Usage
Each .zip archive is a self-contained LeRobot dataset. Extract the archive
before loading with the LeRobot API:
unzip lerobot_dataset/pick_category/piperx_0710.zip -d pick_category
# then load pick_category/ with LeRobotDataset