| <!-- --- | |
| 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%"/> | |