| ---
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| pretty_name: ScanBot
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| license: apache-2.0
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| language:
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| - en
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| tags:
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| - robotics
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| - instruction-following
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| - vision-language
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| - laser-scanning
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| - multimodal
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| task_categories:
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| - robotics
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| dataset_info:
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| features:
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| - name: wrist_camera
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| dtype: image
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| - name: rgb_gopro
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| dtype: image
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| - name: instruction
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| dtype: string
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| - name: tcp_pose
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| dtype: string
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| - name: joint_states
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| dtype: string
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|
|
|
|
| ---
|
|
|
|
|
| [](https://ed1sonchen.github.io/ScanBot/)
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|
|
|
|
| # ScanBot: Towards Intelligent Surface Scanning in Embodied Robotic Systems
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|
|
| <img src="Figures/introduction.png" alt="ScanBot" width="100%"/>
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|
|
| This dataset is presented in the paper [ScanBot: Towards Intelligent Surface Scanning in Embodied Robotic Systems](https://huggingface.co/papers/2505.17295).
|
|
|
| ## 🧠 Dataset Summary
|
| **ScanBot** is a dataset for instruction-conditioned, high-precision surface scanning with robots. Unlike existing datasets that focus on coarse tasks like grasping or navigation, ScanBot targets industrial laser scanning, where sub-millimeter accuracy and parameter stability are essential. It includes scanning trajectories across 12 objects and 6 task types, each driven by natural language instructions. The dataset provides synchronized RGB, depth, laser profiles, robot poses, and joint states.
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|
|
|
|
| ## 📦 Use Cases
|
|
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| - Vision-Language Action (VLA)
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| - Instruction-Guided Surface Scanning
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| - 3D Surface Reconstruction
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| - Spatial Reasoning and Feature Localization
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| - Laser Profile Analysis for Inspection Tasks
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|
|
|
|
|
|
| ## 🗂️ Data Description
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| ```
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| scanbot/
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| ├── cube1/
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| │ ├── top_surface/
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| │ │ ├── path_001/
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| │ │ │ ├── rgb/
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| │ │ │ │ └── ...
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| │ │ │ ├── depth/
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| │ │ │ │ └── ...
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| | | | |── 1746226187.997976_gopro.mp4
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| │ │ │ ├── robot_joint_states.csv
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| │ │ │ ├── robot_tcp_poses.csv
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| │ │ │ └── metadata.json
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| │ │ ├── path_002/
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| │ │ │ └── ...
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| ├── cube2
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| ├── cylinder_red
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| ├── cylinder_white
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| └── ...
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| ```
|
|
|
| ## 💬 Task Levels
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|
|
| Each scan is driven by an instruction that falls under one of the following task categories:
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|
|
| | Task Type | Description |
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| |-----------|-------------|
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| | T1 | Surface Scan |
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| | T2 | Geometry Focus |
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| | T3 | Spatial Reference |
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| | T4 | Functional Target |
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| | T5 | Defect Inspection |
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| | T6 | Comparative Analysis |
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|
|
| ## 🛠️ Hardware Setup
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|
|
| <img src="Figures/setup.png" alt="ScanBot Example" width="30%"/>
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|
|
| ## 📖 Version Update
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|
|
| ### Version 1.0
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| The initial version of ScanBot contains 197 tasks, and involves 12 different objects.
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|
