# 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
```