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--- |
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language: |
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- en |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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pretty_name: ScanBot |
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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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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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--- |
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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). |
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## 🧠 Dataset Summary |
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**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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``` |
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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. |
