RH20T cfg5 Franka RLDS

This dataset is an RLDS/TFDS conversion of the RH20T Franka subset. It was converted from RH20T cfg5, which corresponds to the Franka robot configuration, and is intended to be loaded as the rh20t dataset in the VQ-VLA/Open-X RLDS pipeline.

Contents

The dataset is stored in TFDS directory format:

rh20t/
  README.md
  1.0.0/
    dataset_info.json
    features.json
    dataset_statistics_*.json
    rh20t-train.tfrecord-00000-of-00008
    ...
    rh20t-train.tfrecord-00007-of-00008
    skipped_episodes.txt

Conversion Summary

• Source dataset: RH20T
• Source configuration: cfg5
• Robot: Franka
• Output format: RLDS/TFDS TFRecord
• Number of trajectories: 1143
• Number of transitions: 660128
• Number of TFRecord shards: 8
• Skipped episodes: 88, recorded in 1.0.0/skipped_episodes.txt

Observation Space

Each step contains:

• observation/image_front: external front RGB image
• observation/image_side_right: external side-right RGB image
• observation/image_wrist: wrist RGB image
• observation/proprio: 7D proprioceptive state

The camera mapping used during conversion is:

• image_front: camera 037522062165
• image_side_right: camera 104122061850
• image_wrist: camera 135122079702, with fallback to 104422070042

The proprio vector is:

[eef_x, eef_y, eef_z, eef_roll, eef_pitch, eef_yaw, gripper_width]

Action Space

The action vector is a 7D end-effector action:

[delta_x, delta_y, delta_z, delta_roll, delta_pitch, delta_yaw, gripper]

The first six dimensions are relative end-effector pose deltas in the robot base frame. The final dimension is an absolute gripper command:

• 1.0: open
• 0.0: close

This matches the ActionEncoding.EEF_POS convention in the VQ-VLA Open-X configuration for rh20t.

VQ-VLA/OXE Config

This dataset is designed to match the following dataset config:

"rh20t": {
    "image_obs_keys": {
        "primary": "image_front",
        "secondary": "image_side_right",
        "wrist": "image_wrist",
    },
    "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None},
    "state_obs_keys": ["proprio"],
    "state_encoding": StateEncoding.POS_EULER,
    "action_encoding": ActionEncoding.EEF_POS,
}

Verification

The converted dataset was checked with:

• Full TFRecord shard scan: all 8 shards were readable.
• TFDS builder load from rh20t/1.0.0.
• VQ-VLA Open-X RLDS loader using primary,secondary,wrist camera views.

Verified loaded shapes with a future action window of 6:

image_primary:   (218, 1, 224, 224, 3)
image_secondary: (218, 1, 224, 224, 3)
image_wrist:     (218, 1, 224, 224, 3)
action:          (218, 7, 7)
proprio:         (218, 1, 7)

Loading

Use this dataset as a local TFDS directory under an Open-X data root, e.g.:

DATA_ROOT_DIR=/path/to/OXE
PRETRAIN_DATASET_NAME=rh20t
LOAD_CAMERA_VIEWS=primary,secondary,wrist

Notes

This is not the full RH20T dataset. It only contains the Franka cfg5 subset converted to RLDS format.