| # InstructMove Dataset |
|
|
| ## Version |
|
|
| **Version 1.0** |
|
|
| InstructMove is a language-conditioned robot manipulation dataset in |
| [LeRobot](https://github.com/huggingface/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.json` |
| - `episodes.jsonl` |
| - `tasks.jsonl` |
| - `stats.json` |
|
|
| ## Usage |
|
|
| Each `.zip` archive is a self-contained LeRobot dataset. Extract the archive |
| before loading with the LeRobot API: |
|
|
| ```bash |
| unzip lerobot_dataset/pick_category/piperx_0710.zip -d pick_category |
| # then load pick_category/ with LeRobotDataset |
| ``` |
|
|
