BEAVR Bot Datasets
Collection
Datasets collected using the BEAVR repo • 6 items • Updated
Datasets:
Search is not available for this dataset
observation.state list | action list | timestamp float32 0 25.5 | frame_index int64 0 766 | episode_index int64 0 49 | index int64 0 19.8k | task_index int64 0 0 |
|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
This dataset was created using LeRobot and was part of our work on BEAVR: Bimanual, multi-Embodiment, Accessible, Virtual Reality Teleoperation System for Robots.
Dataset Structure
{
"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,
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],
"names": [
"height",
"width",
"channels"
],
"info": {
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"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": {
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"shape": [
1
],
"names": null
},
"frame_index": {
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"shape": [
1
],
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},
"episode_index": {
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"shape": [
1
],
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},
"index": {
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1
],
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},
"task_index": {
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"shape": [
1
],
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}
}
}
Citation
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}
}
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License:
apache-2.0
Size of downloaded dataset files:
5.13 MB
Size of the auto-converted Parquet files:
5.13 MB
Number of rows:
19,825