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