# RH20T

From the catalogue. Listed by one researcher from one source page.

- id: `rh20t`
- kind: teleop
- robot or device: seven robot configurations cfg1 to cfg7 (arm models not named on page opened) (class: cross embodiment)
- how collected: haptic device and pedal teleoperation
- size as stated: 110,000+ robot sequences each paired with a human demo video; 147 tasks
- hours: not stated | hours only claimed: none | episodes: not stated
- year: 2023
- organisation: Shanghai Jiao Tong University
- licence: CC BY-SA 4.0 (RH20T-C) and CC BY-NC 4.0 (RH20T-NC) (class: non commercial)
- access: open (Google Drive, Baidu Cloud) (class: open)
- link (dataset): https://rh20t.github.io/
- note: Force-torque, audio, tactile on cfg7. Arms (not verified): Flexiv, UR5, Franka, Kuka.

## Copies and ports on the Hugging Face Hub

Uploads whose name carries this dataset's name, most downloaded first. Each has its own licence, which can differ from the original's.

| repository | robot | class | kind | episodes | hours | licence | downloads (30 d) |
|---|---|---|---|---|---|---|---|
| [robot-lev/rh20t_cfg1](https://datasets.gurasees.com/datasets/robot-lev/rh20t_cfg1.md) | Other robots | other | recording | 4,258 | 61.5 | custom terms | 1,211 |
| [robot-lev/rh20t_cfg2](https://datasets.gurasees.com/datasets/robot-lev/rh20t_cfg2.md) | Other robots | other | recording | 1,789 | 26.6 | custom terms | 1,025 |
| [robot-lev/rh20t_cfg5](https://datasets.gurasees.com/datasets/robot-lev/rh20t_cfg5.md) | Franka | single arm | recording | 1,225 | 15.9 | custom terms | 753 |
| [Voxel51/rh20t-cfg1-28ep](https://datasets.gurasees.com/datasets/Voxel51/rh20t-cfg1-28ep.md) | Other robots | other | recording | 28 | 0.3 | custom terms | 712 |
| [robot-lev/rh20t_cfg3](https://datasets.gurasees.com/datasets/robot-lev/rh20t_cfg3.md) | UR | single arm | recording | 798 | 12.3 | custom terms | 687 |
| [Chipaipai/tcc-rh20t-training](https://datasets.gurasees.com/datasets/Chipaipai/tcc-rh20t-training.md) | not stated | other | other |  |  | open | 640 |

Confirm the licence at the link before relying on it.