Datasets:
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image
imagewidth (px) 640
640
| instruction
stringclasses 1
value | tcp_pose
stringlengths 111
115
| joint_states
stringlengths 111
116
| frame_index
int64 0
40
| path_id
int64 1
1
| object_id
stringclasses 1
value | feature_name
stringclasses 1
value | task_id
stringdate 1-01-01 00:00:00
1-01-01 00:00:00
|
|---|---|---|---|---|---|---|---|---|
Scan the top surface of the white cube. | 0.063693771563113,0.1796618122854916,0.4507257451977859,0.0210545177665839,-3.1185007527288824,-0.243385598488503 | 1.881769061088562,-1.143642727528707,-1.2441781202899378,-2.171177212391989,1.5307331085205078,3.43612003326416 | 0 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.0638334450629419,0.1796805047883853,0.4507047673357663,0.0213105002131083,-3.1182971009086016,-0.2433840462313435 | 1.8806540966033936,-1.1438582579242151,-1.2442978064166468,-2.170734230672018,1.5311050415039062,3.434864044189453 | 1 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.0644849938009928,0.1799188229723091,0.4505583630967342,0.0212265074299157,-3.1181378034375538,-0.2437059552787863 | 1.875655174255371,-1.1451533476458948,-1.2450173536883753,-2.168314758931295,1.5319318771362305,3.429959774017334 | 2 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.0655079028445485,0.1803658591042699,0.4502388354964527,0.0215117335763734,-3.1182813951210853,-0.2437041210024745 | 1.867827653884888,-1.1473825613604944,-1.2463720480548304,-2.164530579243795,1.5330108404159546,3.422005653381348 | 3 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.067066168353599,0.1810765039377972,0.4496959458191003,0.0214153887516303,-3.1184160982530766,-0.243465293660495 | 1.8559002876281736,-1.1508472601519983,-1.2486498991595667,-2.158613983784811,1.534772872924805,3.410236120223999 | 4 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.0689543244118842,0.1818250044948597,0.4491436034528949,0.0212201612880321,-3.118361244645586,-0.2435047397166029 | 1.8417911529541016,-1.1548870245562952,-1.2508800665484827,-2.151907269154684,1.5369787216186523,3.3963735103607178 | 5 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.0714278846870483,0.1828870745475184,0.448321785709954,0.0211928341755093,-3.1183695375214726,-0.2430692708923731 | 1.8234384059906008,-1.1604731718646448,-1.2539971510516563,-2.142996613179342,1.5399036407470703,3.3782055377960205 | 6 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.0741722574693111,0.184017682174704,0.4475197842056564,0.0211012449291766,-3.118249346407624,-0.2435636773379997 | 1.8036229610443115,-1.1666114966021937,-1.2570064703570765,-2.133068863545553,1.5429723262786863,3.358614683151245 | 7 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.0776111233539101,0.1853875616757309,0.4464303092038114,0.0210887322995387,-3.1184333670028126,-0.2429949072430285 | 1.7794679403305054,-1.1744750181781214,-1.260518852864401,-2.12161904970278,1.5466642379760742,3.334682941436768 | 8 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.0811814240283039,0.1868973450982723,0.4453663446033493,0.0212484809944844,-3.1182702053606786,-0.2434396022227758 | 1.7548692226409912,-1.1830466429339808,-1.2637441794024866,-2.1091283003436487,1.5505722761154177,3.31020188331604 | 9 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.0855227272866026,0.1887224621173602,0.4440072865368261,0.0213736668651429,-3.118389165174621,-0.2431926783333292 | 1.7259665727615356,-1.1937873999225062,-1.2672331968890589,-2.0947449843036097,1.5550191402435305,3.2814762592315674 | 10 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.0899719468605867,0.1905163785955154,0.4426834923113596,0.0212809690568701,-3.118331243718328,-0.2433887632299796 | 1.6973639726638794,-1.204888645802633,-1.270134750996725,-2.080409351979391,1.559514403343201,3.2531943321228027 | 11 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.0952472299348005,0.1927049941415217,0.4410395085998985,0.0212875210549613,-3.1183785624386124,-0.2429892892924666 | 1.6646605730056765,-1.2186864058123987,-1.272963825856344,-2.0639660994159144,1.564644694328308,3.220787048339844 | 12 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1005217028568243,0.194893814066885,0.4395009099402207,0.0211755153499791,-3.11828802757032,-0.2438027121073182 | 1.633287787437439,-1.2327960173236292,-1.2749179045306605,-2.0474632422076624,1.569547414779663,3.189768552780152 | 13 | 1 | 003 | top_surface | 0001 |
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Scan the top surface of the white cube. | 0.1067135994275404,0.1974583242746973,0.4375610549549512,0.0211629852587222,-3.118289854688421,-0.2434365629305003 | 1.5980305671691897,-1.2499383131610315,-1.276524845753805,-2.0292237440692347,1.5751092433929443,3.154841184616089 | 14 | 1 | 003 | top_surface | 0001 |
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Scan the top surface of the white cube. | 0.1128642445132088,0.1999613866294952,0.4357556805436149,0.0210796713003254,-3.1182833857889025,-0.2440231889670349 | 1.5646672248840332,-1.2673323790179651,-1.2768481413470667,-2.011571232472555,1.5802874565124512,3.1218278408050537 | 15 | 1 | 003 | top_surface | 0001 |
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Scan the top surface of the white cube. | 0.1199961213583129,0.2029051385203876,0.4334627768281834,0.0210640581370508,-3.1183883007348507,-0.2431313436351143 | 1.527887225151062,-1.2882750670062464,-1.2764766852008265,-1.992254082356588,1.5859695672988892,3.085371732711792 | 16 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1269555315564379,0.2057627214999383,0.4313285469824652,0.0207321881298007,-3.118409437477309,-0.2431907237042178 | 1.4938520193099976,-1.3092415968524378,-1.274642292653219,-1.9738953749286097,1.59120774269104,3.051834344863892 | 17 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1341922932314199,0.2087673859029493,0.4291261442215037,0.0207248612704452,-3.1183718329103542,-0.2431761321006689 | 1.460272192955017,-1.3318503538714808,-1.271165196095602,-1.9557517210589808,1.5964219570159912,3.0185365676879883 | 18 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1404841456099323,0.2113764871014299,0.4271963465726686,0.0205807051370678,-3.118466234138754,-0.2431010964969095 | 1.4325546026229858,-1.3519414106952112,-1.2671492735492151,-1.940650288258688,1.600569248199463,2.991121768951416 | 19 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1467554092467864,0.2140484536138331,0.4252879512381941,0.0209609234920199,-3.1184138079748256,-0.243453156195694 | 1.4061559438705444,-1.3725841681109827,-1.2620537916766563,-1.9258845488177696,1.6046689748764038,2.9646875858306885 | 20 | 1 | 003 | top_surface | 0001 |
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Scan the top surface of the white cube. | 0.1521637508552371,0.2162342985211204,0.4236292133478,0.0210155235562063,-3.118461001710888,-0.2432326619082358 | 1.3842885494232178,-1.3904216925250452,-1.2569707075702112,-1.9141719977008265,1.6079291105270386,2.9429402351379395 | 21 | 1 | 003 | top_surface | 0001 |
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Scan the top surface of the white cube. | 0.1575800482611621,0.2184807758227019,0.421947571733973,0.0209451564591442,-3.118467255361968,-0.2431256208503881 | 1.363247990608215,-1.4087145964251917,-1.2511795202838345,-1.902675453816549,1.6110817193984983,2.922090530395508 | 22 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1620449168943352,0.2204050815146349,0.4205195957324215,0.0214563403337786,-3.118422763457561,-0.2427988458097044 | 1.3465479612350464,-1.4242623488055628,-1.245772663746969,-1.893550221120016,1.613622784614563,2.9051735401153564 | 23 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1665435554971083,0.2222178843386282,0.4192138808676809,0.0210000317907156,-3.1184927669606948,-0.2432651420232821 | 1.330159068107605,-1.43970233598818,-1.239718262349264,-1.884664360676901,1.6160084009170532,2.8891892433166504 | 24 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1702167577359808,0.2237531087190346,0.4180823496666874,0.021269401168236,-3.118525847706928,-0.2430685372504231 | 1.3171993494033811,-1.4526847044574185,-1.2343466917621058,-1.87784988084902,1.6178898811340332,2.8761346340179443 | 25 | 1 | 003 | top_surface | 0001 |
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Scan the top surface of the white cube. | 0.1737688333763309,0.225234745847091,0.4169882943034962,0.0211308670158951,-3.118516609389688,-0.2430953093009907 | 1.3049585819244385,-1.4652956167804163,-1.2289398352252403,-1.8712871710406704,1.6197001934051514,2.8640594482421875 | 26 | 1 | 003 | top_surface | 0001 |
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Scan the top surface of the white cube. | 0.1766298052373716,0.226402570752841,0.4161326806629199,0.0212523120322175,-3.118601442739672,-0.2432410152675234 | 1.2953075170516968,-1.4754493872271937,-1.2243364492999476,-1.8661616484271448,1.6210544109344482,2.854387760162353 | 27 | 1 | 003 | top_surface | 0001 |
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Scan the top surface of the white cube. | 0.1792257201090355,0.227483782380005,0.4152860976795603,0.0213454469732279,-3.1185200663124983,-0.2429044157160143 | 1.2866994142532349,-1.4848349730121058,-1.2200797239886685,-1.8617547194110315,1.6223610639572144,2.8457682132720947 | 28 | 1 | 003 | top_surface | 0001 |
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Scan the top surface of the white cube. | 0.1812270300343938,0.2283062297220526,0.414667631021131,0.0212398583092736,-3.1185488998674624,-0.2428376073939366 | 1.280177354812622,-1.492063347493307,-1.2166150251971644,-1.8584016005145472,1.623271942138672,2.839348316192627 | 29 | 1 | 003 | top_surface | 0001 |
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Scan the top surface of the white cube. | 0.1828997006742391,0.2289937725912383,0.4141632213569957,0.0212047255930598,-3.1185816382888287,-0.2427882641264259 | 1.274794578552246,-1.498153034840719,-1.213558022175924,-1.8557069937335413,1.6240153312683103,2.8340160846710205 | 30 | 1 | 003 | top_surface | 0001 |
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Scan the top surface of the white cube. | 0.1841157556165674,0.2294986211788678,0.4137306351756762,0.0211330484865268,-3.118554328899936,-0.2423983543930261 | 1.2709221839904783,-1.5026004950152796,-1.2115080992328089,-1.8537910620318807,1.624554991722107,2.83020281791687 | 31 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1847964571594516,0.2297901942264938,0.4135553661709051,0.0210990599330884,-3.1185576240074337,-0.2427319294648081 | 1.2687642574310305,-1.5050938765155235,-1.2101767698871058,-1.8525455633746544,1.6249021291732788,2.828086853027344 | 32 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1850360978907907,0.229888013279162,0.4134632234583752,0.0210692945131136,-3.118422206709084,-0.2424998396119269 | 1.2679729461669922,-1.50602895418276,-1.2096851507769983,-1.8523300329791468,1.6251178979873655,2.827321529388428 | 33 | 1 | 003 | top_surface | 0001 |
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Scan the top surface of the white cube. | 0.1850327360938808,0.2298893275666332,0.413482453133316,0.0210694083513491,-3.118469635862661,-0.2426105481812474 | 1.267996907234192,-1.506017033253805,-1.209637467061178,-1.8523061911212368,1.6250818967819214,2.827345371246338 | 34 | 1 | 003 | top_surface | 0001 |
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Scan the top surface of the white cube. | 0.1850382854024243,0.2299140792437193,0.4135649581408249,0.0211824375969793,-3.11857600697348,-0.2433478151278871 | 1.2680089473724363,-1.5060408751117151,-1.2094338575946253,-1.851994339619772,1.6250699758529663,2.8272974491119385 | 35 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1850357936477626,0.2299114407103905,0.4135778851524906,0.0214524180384745,-3.11854122860233,-0.2434654734032413 | 1.267996907234192,-1.50602895418276,-1.209409538899557,-1.8519704977618616,1.6251298189163208,2.827118158340454 | 36 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.185050297026409,0.2299136407983004,0.4135749657748786,0.0214709317819848,-3.118551673404003,-0.2434852086457484 | 1.2679489850997925,-1.5060647169696253,-1.209397617970602,-1.8519347349749964,1.6251298189163208,2.8270585536956787 | 37 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1850513687546176,0.2298946761981491,0.4135844132356014,0.0214723199882664,-3.1185620839885244,-0.2435399514519577 | 1.267924666404724,-1.50600511232485,-1.209421459828512,-1.8519347349749964,1.6251298189163208,2.827034473419189 | 38 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1850547257462628,0.2298833851070664,0.4135899444789116,0.0215282812470894,-3.118570384566544,-0.2435600406144291 | 1.2679007053375244,-1.5059807936297815,-1.209421459828512,-1.8519466559039517,1.6251298189163208,2.826975107192993 | 39 | 1 | 003 | top_surface | 0001 |
|
Scan the top surface of the white cube. | 0.1850587216166659,0.2298994644042654,0.4135746519125562,0.0215460977832789,-3.118550370680709,-0.2434923856120867 | 1.2679007053375244,-1.5060408751117151,-1.209421459828512,-1.8519347349749964,1.6251418590545654,2.826962947845459 | 40 | 1 | 003 | top_surface | 0001 |
ScanBot: Towards Intelligent Surface Scanning in Embodied Robotic Systems
🧠 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
📖 Version Update
Version 1.0
The initial version of ScanBot contains 197 tasks, and involves 12 different objects.
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