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--- |
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license: apache-2.0 |
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task_categories: |
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- robotics |
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tags: |
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- LeRobot |
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configs: |
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- config_name: default |
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data_files: data/*/*.parquet |
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--- |
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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). |
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## Dataset Description |
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- **Homepage:** [More Information Needed] |
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- **Paper:** [More Information Needed] |
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- **License:** apache-2.0 |
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## Dataset Structure |
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[meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v2.1", |
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"robot_type": "multi_robot", |
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"total_episodes": 50, |
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"total_frames": 19825, |
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"total_tasks": 1, |
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"total_videos": 100, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 30, |
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"splits": { |
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"train": "0:50" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"observation.state": { |
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"shape": [ |
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23 |
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], |
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"dtype": "float32", |
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"names": [ |
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"right_xarm7_joint_0", |
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"right_xarm7_joint_1", |
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"right_xarm7_joint_2", |
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"right_xarm7_joint_3", |
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"right_xarm7_joint_4", |
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"right_xarm7_joint_5", |
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"right_xarm7_joint_6", |
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"leap_joint_0", |
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"leap_joint_1", |
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"leap_joint_2", |
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"leap_joint_3", |
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"leap_joint_4", |
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"leap_joint_5", |
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"leap_joint_6", |
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"leap_joint_7", |
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"leap_joint_8", |
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"leap_joint_9", |
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"leap_joint_10", |
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"leap_joint_11", |
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"leap_joint_12", |
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"leap_joint_13", |
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"leap_joint_14", |
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"leap_joint_15" |
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] |
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}, |
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"action": { |
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"shape": [ |
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23 |
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], |
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"dtype": "float32", |
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"names": [ |
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"right_xarm7_x", |
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"right_xarm7_y", |
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"right_xarm7_z", |
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"right_xarm7_qx", |
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"right_xarm7_qy", |
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"right_xarm7_qz", |
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"right_xarm7_qw", |
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"leap_cmd_0", |
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"leap_cmd_1", |
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"leap_cmd_2", |
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"leap_cmd_3", |
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"leap_cmd_4", |
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"leap_cmd_5", |
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"leap_cmd_6", |
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"leap_cmd_7", |
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"leap_cmd_8", |
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"leap_cmd_9", |
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"leap_cmd_10", |
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"leap_cmd_11", |
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"leap_cmd_12", |
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"leap_cmd_13", |
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"leap_cmd_14", |
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"leap_cmd_15" |
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] |
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}, |
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"observation.images.front": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channels" |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"observation.images.overhead": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channels" |
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], |
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"info": { |
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"video.height": 480, |
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"video.width": 640, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"video.fps": 30, |
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"video.channels": 3, |
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"has_audio": false |
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} |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
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## Citation |
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**BibTeX:** |
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```bibtex |
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@article{posadasnava2025beavr, |
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author = {Posadas-Nava, Alejandro and Carrasco, Alejandro and Linares, Richard}, |
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title = {BEAVR: Bimanual, Multi-Embodiment, Accessible, Virtual Reality Teleoperation System for Robots}, |
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journal = {arXiv preprint arXiv:2508.09606}, |
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year = {2025}, |
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month = {Aug}, |
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doi = {10.48550/arXiv.2508.09606}, |
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url = {https://doi.org/10.48550/arXiv.2508.09606} |
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} |
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``` |
