rh20t_cfg1 — RH20T → LeRobot v3 (flexiv)

Unofficial LeRobot Dataset v3 reformatting of an RH20T config. RGB only (no depth). 4258 episodes / 2212776 frames, fps 10, robot_type=flexiv, 10 camera streams.

Attribution

RH20T: Fang et al., RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot, arXiv:2307.00595. Project: https://rh20t.github.io · API: https://github.com/rh20t/rh20t_api Unofficial community reformatting — all credit to the RH20T authors. Reformatting code: https://github.com/lvjonok/rh20t-lerobot-port

License — mirrors RH20T's per-scene dual license

RH20T is dual-licensed by scene; this is preserved here:

• Episodes whose source folder contains scene_0001–scene_0005 → CC BY-SA 4.0 (commercial use allowed; attribution + ShareAlike).
• Episodes whose source folder contains scene_0006–scene_0010 → CC BY-NC 4.0 (non-commercial only — commercial use of these episodes, or of models trained on them, is not allowed).

Each episode's source folder is recorded in meta/rh20t_episodes.json (folder field); use it to determine the applicable license per episode.

Sensitive content (per RH20T)

Contains volunteer-recorded human–robot interactions that may include faces (video) and voices (audio sidecars). Exercise care to avoid inspecting or sharing sensitive content; utilize the dataset solely for model-training purposes.

Schema

observation.state (ee_pose 7 + joint 7 + gripper 1) · observation.force/torque (3+3) · observation.robot_ft (6) · action (next ee_pose 7 + gripper 1) · meta.rating · 10 × observation.images.cam_<serial> (video). See DECISIONS.md in the port repo for every assumption.