---
license: mit
language:
- fr
- en
task_categories:
- text-generation
tags:
- robotics
- motion-planning
- microduck
- function-calling
size_categories:
- 1K<n<10K
configs:
- config_name: default
  data_files:
  - split: train
    path: data/train.jsonl
  - split: validation
    path: data/valid.jsonl
---

# FlyMotion commands

French and English requests for a small walking robot ([Microduck](https://github.com/pollen-robotics/microduck) by Pollen Robotics), each paired with the motion plan the robot should run. It trains and evaluates the FlyMotion planners ([GitHub](https://github.com/Tromset/flymotion), [Ollama](https://ollama.com/Tromset/flymotion0.1)).

```json
{"messages": [
  {"role": "system", "content": "You are FlyMotion, the motion planner of a small robot..."},
  {"role": "user", "content": "Tourne à droite, ensuite avance 300 cm"},
  {"role": "assistant", "content": "{\"say\": \"Je tourne de 90 degrés vers la droite, puis j'avance de 3 m.\", \"repeat\": 1, \"steps\": [{\"action\": \"turn\", \"direction\": \"right\", \"degrees\": 90}, {\"action\": \"walk\", \"direction\": \"forward\", \"meters\": 3}]}"}
], "lang": "fr"}
```

- **3,000 examples** (2,700 train, 300 validation), half French, half English.
- **Plans in words**: directions are `forward`, `backward`, `left`, `right`; distances and angles are positive. The FlyMotion bridge turns them into velocities, durations and limits from the robot profile, so a model never handles signs or physics.
- **Covered**: walking in four directions, turning, circles, polygons with `repeat`, head movements, the six Microduck skills (`kick_left`, `kick_right`, `roulade`, `ground_pick`, `sit_toggle`, `polite-bow`), waits, stops, refusals of impossible or harmful requests (jump, fly, kick the dog), and non-motion questions.
- **Checked**: every plan passes the validator and compiles for the Microduck profile. None of the 32 benchmark requests appears in the data, so the benchmark stays a fair test after training.

Generated by [`training/build_dataset.py`](https://github.com/Tromset/flymotion/blob/main/training/build_dataset.py) (deterministic seed) and republished from GitHub on every change.