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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: wrist_camera
dtype: image
- name: rgb_gopro
dtype: image
- name: instruction
dtype: string
- name: tcp_pose
dtype: string
- name: joint_states
dtype: string
# data_files:
# - path: train/train.jsonl
---
[](https://ed1sonchen.github.io/ScanBot/)
# ScanBot: Towards Intelligent Surface Scanning in Embodied Robotic Systems
<img src="Figures/introduction.png" alt="ScanBot" width="100%"/>
## 🧠 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.
|