Ji-Pengliang/astrabot_wuji_handmade_lemon_tea_hand2_20260918

AstraBot Wuji Handmade Lemon Tea (Hand2, 2026-09-18)

LeRobot v3 raw teleoperation dataset for the bimanual Wuji robot making handmade lemon tea (制作手打柠檬茶).

This Hub snapshot is not the 15 Hz 54-D train conversion. It keeps the original 30 Hz Quest actions (action_left / action_right) and three policy cameras. Convert with wuji-policy convert-raw --target-fps 15 before ACT/OpenPI training.

Snapshot

Field	Value
Robot	astrabot_wuji (Hand2, session metadata)
Task	astrabot_wuji:handmade_lemon_tea
Format	LeRobot v3 raw (codebase_version=v3.0)
FPS	30
Cameras	left_eye, left_wrist, right_wrist (480×640 H.264)
Kept episodes	48 / 51 source episodes
Frames	165,514 (~92 minutes)
Source session	dataset_2026-09-18_10-05-36

Related earlier collection: Ji-Pengliang/astrabot_wuji_handmade_lemon_tea_hand2_20260916.

QC

Raw upload QC is the 30 Hz convert-reuse gate; policy input QC was re-evaluated at 15 Hz (--policy-target-fps 15). 30 Hz left_eye reuse around 6% is expected on this robot and is not by itself a 15 Hz reject.

Excluded 3 source episodes (originals unchanged):

• 15 Hz camera gate (left_eye reuse streak / source age): {23, 33}
• Truncated / incomplete (<45 s, confirmed on three-camera contact sheets): {43}

Technical pass ≠ semantic success. Contact-sheet review covers sampled frames, not every grasp. meta/hardware_profile.json has empty hand_models; Hand2 is taken from session.json / profile id, not from a joint-limit model.

See qc/source_mapping.json, qc/policy_15hz_summary.json, and qc/visual_review.json.

Load

from lerobot.common.datasets.lerobot_dataset import LeRobotDataset

ds = LeRobotDataset(
    "Ji-Pengliang/astrabot_wuji_handmade_lemon_tea_hand2_20260918",
)
print(len(ds), ds.meta.total_episodes, ds.fps)

Provenance for each Hub episode is in qc/source_mapping.json (source_dataset, source_episode).

Not included

MCAP bags/ are omitted. This repo is the LeRobot parquet+MP4 view only.