File size: 2,321 Bytes
7b51500 1de3e75 6ed30ff 1de3e75 9b9d7ba a7e1fd3 fd6b42d a7e1fd3 7b51500 d8f9c78 3960c62 1de3e75 9c81616 6ed30ff | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 | <!-- ---
pretty_name: ScanBot
license: cc-by-4.0
language:
- en
tags:
- robotics
- instruction-following
- vision-language
- laser-scanning
- multimodal
task_categories:
- robotics
# dataset_info:
# features:
# - name: instruction
# dtype: string
# - name: rgb_wrist
# dtype: image
# - name: rgb_gopro
# dtype: image
# - name: tcp_pose
# dtype: string
# - name: joint_states
# dtype: string
data_files:
- path: train/train.jsonl
--- -->
# ScanBot: Towards Intelligent Surface Scanning in Embodied Robotic Systems
## 🧠 Dataset Summary
**ScanBot** is a large-scale, multimodal dataset for studying instruction-driven surface scanning in industrial settings. Collected with a UR3 robotic arm and a KEYENCE LJ-X8200 laser profiler, ScanBot captures RGB-D images, laser point clouds, and 6-DOF robot trajectories for a variety of object features and scanning tasks.
## 📦 Use Cases
- Vision-Language Action Planning (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
├── 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%"/>
|