I came across this question, trying to answer what turned out to be basically the same question in a different form. A dataset containing references to other objects is a bit uncomfortable in HDF5, but you can actually read them in a fairly simple way. The idea is to get the name of the referenced object, and then just read that object directly from the file.
HDF5, ref , file, , :
>>> name = h5py.h5r.get_name(ref, file.id)
, :
>>> data = file[name].value
, , map .