Data Standardization Preprocessing

We've been exploring the RT-X dataset and noticed that though all the datasets are the same tfrecord format, they aren't standardized across datasets (understandably so with the many types of robots). There was a little bit of text in your paper about standardization, but not a lot. We were wondering if there are any pre-processing scripts that standardize the datasets before feeding it into RT-1/RT-2 that you could share as an example? Thank you!