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---
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pretty_name: ScanBot
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license: apache-2.0
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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: wrist_camera
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dtype: image
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- name: rgb_gopro
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dtype: image
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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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---
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[](https://ed1sonchen.github.io/ScanBot/)
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# ScanBot: Towards Intelligent Surface Scanning in Embodied Robotic Systems
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<img src="Figures/introduction.png" alt="ScanBot" width="100%"/>
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This dataset is presented in the paper [ScanBot: Towards Intelligent Surface Scanning in Embodied Robotic Systems](https://huggingface.co/papers/2505.17295).
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## 🧠 Dataset Summary
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**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.
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## 📦 Use Cases
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- Vision-Language Action (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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## 🗂️ 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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└── ...
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```
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## 💬 Task Levels
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Each scan is driven by an instruction that falls under one of the following task categories:
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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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## 🛠️ Hardware Setup
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<img src="Figures/setup.png" alt="ScanBot Example" width="30%"/>
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## 📖 Version Update
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### Version 1.0
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The initial version of ScanBot contains 197 tasks, and involves 12 different objects.
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