| --- |
| language: |
| - en |
| license: apache-2.0 |
| task_categories: |
| - robotics |
| pretty_name: ScanBot |
| tags: |
| - robotics |
| - instruction-following |
| - vision-language |
| - laser-scanning |
| - multimodal |
| dataset_info: |
| features: |
| - name: wrist_camera |
| dtype: image |
| - name: rgb_gopro |
| dtype: image |
| - name: instruction |
| dtype: string |
| - name: tcp_pose |
| dtype: string |
| - name: joint_states |
| dtype: string |
| --- |
| |
| [](https://ed1sonchen.github.io/ScanBot/) |
|
|
|
|
| # ScanBot: Towards Intelligent Surface Scanning in Embodied Robotic Systems |
|
|
| <img src="Figures/introduction.png" alt="ScanBot" width="100%"/> |
|
|
| 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 |
|
|
| - Vision-Language Action (VLA) |
| - Instruction-Guided Surface Scanning |
| - 3D Surface Reconstruction |
| - Spatial Reasoning and Feature Localization |
| - Laser Profile Analysis for Inspection Tasks |
|
|
|
|
|
|
| ## 🗂️ Data Description |
| ``` |
| scanbot/ |
| ├── cube1/ |
| │ ├── top_surface/ |
| │ │ ├── path_001/ |
| │ │ │ ├── rgb/ |
| │ │ │ │ └── ... |
| │ │ │ ├── depth/ |
| │ │ │ │ └── ... |
| | | | |── 1746226187.997976_gopro.mp4 |
| │ │ │ ├── robot_joint_states.csv |
| │ │ │ ├── robot_tcp_poses.csv |
| │ │ │ └── metadata.json |
| │ │ ├── path_002/ |
| │ │ │ └── ... |
| ├── cube2 |
| ├── cylinder_red |
| ├── cylinder_white |
| └── ... |
| ``` |
|
|
| ## 💬 Task Levels |
|
|
| Each scan is driven by an instruction that falls under one of the following task categories: |
|
|
| | Task Type | Description | |
| |-----------|-------------| |
| | T1 | Surface Scan | |
| | T2 | Geometry Focus | |
| | T3 | Spatial Reference | |
| | T4 | Functional Target | |
| | T5 | Defect Inspection | |
| | T6 | Comparative Analysis | |
|
|
| ## 🛠️ Hardware Setup |
|
|
| <img src="Figures/setup.png" alt="ScanBot Example" width="30%"/> |
|
|
| ## 📖 Version Update |
|
|
| ### Version 1.0 |
| The initial version of ScanBot contains 197 tasks, and involves 12 different objects. |
