| | ---
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| | pretty_name: ScanBot
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| | license: cc-by-4.0
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| | language:
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| | - en
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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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| | task_categories:
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| | - robotics
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| | dataset_info:
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| | features:
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| | - name: file_name
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| | dtype: string
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| | - name: rgb_gopro
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| | dtype: string
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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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| | data_files:
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| | - path: train/train.jsonl
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| | ---
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| |
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| |
|
| |
|
| | # ScanBot: Towards Intelligent Surface Scanning in Embodied Robotic Systems
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| |
|
| | ## 🧠 Dataset Summary
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| | **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.
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| |
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| |
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| | ## 📦 Use Cases
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| |
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| | - Vision-Language Action Planning (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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| |
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| |
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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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| | ├── cylinder_white
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| | ```
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| |
|
| | ## 💬 Task Levels
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| |
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| | Each scan is driven by an instruction that falls under one of the following task categories:
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| |
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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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| |
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| | ## 🛠️ Hardware Setup
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| |
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| | <img src="Figures/setup.png" alt="ScanBot Example" width="30%"/>
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| |
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| |
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| |
|
