| | ---
|
| | pretty_name: ScanBot
|
| | license: apache-2.0
|
| | language:
|
| | - en
|
| | tags:
|
| | - robotics
|
| | - instruction-following
|
| | - vision-language
|
| | - laser-scanning
|
| | - multimodal
|
| | task_categories:
|
| | - robotics
|
| | 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.
|
| |
|
| |
|
| | ## 📦 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.
|
| |
|
| |
|
| |
|
