To get this achievement you have to pick up every yellow memory block on levels 1-1 through 1-5. In order to pick them up you need to have an unobstructed view. This can be through blocks that you may not be able to get through yourself. For example there are Metal frames that you can not move through but you can pull blocks through them.
The biggest thing that took me a while to figure out (Probably cause I didn't read instructions) is that in order to place other blocks you pick up such as wood, sand etc. is to use the D-Pad to throw them either left or right. They will continue moving in that direction until they either hit a wall or come in contact with another block of the same material.
Anyways, here is the video guide for tetrobot levels, hope this helps. Level 1-6 is in here also for the key.