You're right, some SUSS members had a look round a few of the caves as part of a cave biology project. Unfortunately due to other projects taking up our time it was never really wrapped up. I couldn't say it was a very comprehensive look at the caves on the ridge, but we went in some of the significant ones, including Beresford's under Beeston castle.
The caves we saw were: Queen's Parlour, Bloody Bones, the Musket Hole, Beresford's, and a couple of other smaller ones. We surveyed what we saw, but only Queen's Parlour and Beresford's went more than a couple of metres in. Queen's Parlour was a large enough chamber, being roughly a 10x10m square and easily accessible from the ridge trail (marked on open Street map). Beresford's was by far the largest but needs agreed access due to bat populations (another cave we weren't even allowed in!). Beresford's is a maze of columns at least twice the size of Queen's Parlour, but as I remember the presence of iron distorted the survey somewhat. I'm not sure where the survey data went in the end, but the locations we visited (apart from a collapsing scrothole in the grounds of the castle) are on open Street map.
The stuff we visited was interesting, but more from an archaeological/local interest than a speleological viewpoint. Queen's Parlour has some interesting carvings and graffiti (old and new), and the maze of Beresford's is forbidding. If you're in the area they're worth a visit, as it's a nice part of the world anyway. I don't know how Beeston would react to a request to go in the caves without a 'purpose', but combined with a look round the castle it's a good day out.