rh20t
Datasets
All datasets matching “rh20t”RH20T
RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot
Authors: Hao-Shu Fang, Hongjie Fang, Zhenyu Tang, Jirong Liu, Chenxi Wang, Junbo Wang, Haoyi Zhu, Cewu Lu
Dataset Descriptions
Previous version of datasset has depth compression issues, leading to noisy depth images. In this version, we fix the depth issue by directly compressing depth images. Due to the large dataset size, we resize the RGB/depth images to 320x180 (originally 1280x720).
The… See the full description on the dataset page: https://huggingface.co/datasets/tonyfanggalaxies/RH20T.rh20t_cfg1
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… See the full description on the dataset page: https://huggingface.co/datasets/robot-lev/rh20t_cfg1.rh20t_cfg2
rh20t_cfg2 — RH20T → LeRobot v3 (flexiv)
Unofficial LeRobot Dataset v3 reformatting of an RH20T config. RGB only (no depth).
1789 episodes / 956262 frames, fps 10, robot_type=flexiv, 9 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… See the full description on the dataset page: https://huggingface.co/datasets/robot-lev/rh20t_cfg2.RH20T
RH20T 640x360 Depth Archives
Unofficial transfer mirror of the RH20T 640x360 depth archives.
Original project: https://rh20t.github.io/
Files are split into 20 GiB parts. Reconstruct with:
cat depth/RH20T_cfgN_depth.tar.gz.part-* > RH20T_cfgN_depth.tar.gz
RH20T uses mixed scene-level licenses: scenes 1-5 are CC BY-SA 4.0;
scenes 6-10 are CC BY-NC 4.0. The data may contain privacy-sensitive
human recordings. Follow the original project's license and privacy notice.
RH20TThis is not my dataset. I uploaded it to HF for easier use from https://rh20t.github.io/. Thanks to the authors for their great work.
For files with multiple parts, they were uploaded this way as they exceeded the 50GB limit.
This is how you can reconstruct them to extract the archive in one part:
cat RH20T_cfg2.part.* > RH20T_cfg2.tar.gz
tar -xvzf RH20T_cfg2.tar.gz
rh20t_cfg5
rh20t_cfg5 — RH20T → LeRobot v3 (franka)
Unofficial LeRobot Dataset v3 reformatting of an RH20T config. RGB only (no depth).
1225 episodes / 570888 frames, fps 10, robot_type=franka, 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… See the full description on the dataset page: https://huggingface.co/datasets/robot-lev/rh20t_cfg5.