BEAVR: Bimanual, multi-Embodiment, Accessible, Virtual Reality Teleoperation System for Robots

TL;DR

BEAVR is an open-source VR teleoperation system that enables real-time, multi-robot control and data recording, supporting diverse robotic platforms and integrating with advanced visuomotor policies.

Contribution

It introduces a modular, low-latency VR teleoperation system with multi-embodiment support, real-time data streaming, and benchmarking across various robotic tasks.

Findings

Achieves ≤35 ms latency in control streaming

Supports multiple robot types from manipulators to humanoids

Demonstrates compatibility with leading visuomotor policies

Abstract

\textbf{BEAVR} is an open-source, bimanual, multi-embodiment Virtual Reality (VR) teleoperation system for robots, designed to unify real-time control, data recording, and policy learning across heterogeneous robotic platforms. BEAVR enables real-time, dexterous teleoperation using commodity VR hardware, supports modular integration with robots ranging from 7-DoF manipulators to full-body humanoids, and records synchronized multi-modal demonstrations directly in the LeRobot dataset schema. Our system features a zero-copy streaming architecture achieving $\leq$35\,ms latency, an asynchronous ``think--act'' control loop for scalable inference, and a flexible network API optimized for real-time, multi-robot operation. We benchmark BEAVR across diverse manipulation tasks and demonstrate its compatibility with leading visuomotor policies such as ACT, DiffusionPolicy, and SmolVLA. All code is publicly available, and datasets are released on Hugging Face\footnote{Code, datasets, and VR app available at https://github.com/ARCLab-MIT/BEAVR-Bot.