---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
configs:
- config_name: default
  data_files: data/*/*.parquet
---

This dataset was created using [LeRobot](https://github.com/huggingface/lerobot) and was part of our work on [BEAVR: Bimanual, multi-Embodiment, Accessible, Virtual Reality Teleoperation System for Robots](https://arxiv.org/abs/2508.09606). 

## Dataset Description



- **Homepage:** [More Information Needed]
- **Paper:** [More Information Needed]
- **License:** apache-2.0

## Dataset Structure

[meta/info.json](meta/info.json):
```json
{
    "codebase_version": "v2.1",
    "robot_type": "multi_robot",
    "total_episodes": 50,
    "total_frames": 19825,
    "total_tasks": 1,
    "total_videos": 100,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:50"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "observation.state": {
            "shape": [
                23
            ],
            "dtype": "float32",
            "names": [
                "right_xarm7_joint_0",
                "right_xarm7_joint_1",
                "right_xarm7_joint_2",
                "right_xarm7_joint_3",
                "right_xarm7_joint_4",
                "right_xarm7_joint_5",
                "right_xarm7_joint_6",
                "leap_joint_0",
                "leap_joint_1",
                "leap_joint_2",
                "leap_joint_3",
                "leap_joint_4",
                "leap_joint_5",
                "leap_joint_6",
                "leap_joint_7",
                "leap_joint_8",
                "leap_joint_9",
                "leap_joint_10",
                "leap_joint_11",
                "leap_joint_12",
                "leap_joint_13",
                "leap_joint_14",
                "leap_joint_15"
            ]
        },
        "action": {
            "shape": [
                23
            ],
            "dtype": "float32",
            "names": [
                "right_xarm7_x",
                "right_xarm7_y",
                "right_xarm7_z",
                "right_xarm7_qx",
                "right_xarm7_qy",
                "right_xarm7_qz",
                "right_xarm7_qw",
                "leap_cmd_0",
                "leap_cmd_1",
                "leap_cmd_2",
                "leap_cmd_3",
                "leap_cmd_4",
                "leap_cmd_5",
                "leap_cmd_6",
                "leap_cmd_7",
                "leap_cmd_8",
                "leap_cmd_9",
                "leap_cmd_10",
                "leap_cmd_11",
                "leap_cmd_12",
                "leap_cmd_13",
                "leap_cmd_14",
                "leap_cmd_15"
            ]
        },
        "observation.images.front": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.overhead": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        },
        "task_index": {
            "dtype": "int64",
            "shape": [
                1
            ],
            "names": null
        }
    }
}
```


## Citation

**BibTeX:**

```bibtex
@article{posadasnava2025beavr,
  author = {Posadas-Nava, Alejandro and Carrasco, Alejandro and Linares, Richard},
  title = {BEAVR: Bimanual, Multi-Embodiment, Accessible, Virtual Reality Teleoperation System for Robots},
  journal = {arXiv preprint arXiv:2508.09606},
  year = {2025},
  month = {Aug},
  doi = {10.48550/arXiv.2508.09606},
  url = {https://doi.org/10.48550/arXiv.2508.09606}
}

```