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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: file_name
dtype: string
- name: rgb_gopro
dtype: string
- name: instruction
dtype: string
- 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%"/>
|