I really don't know any. There are ones translated by Ralph Griffith in 1896, based on the then recent dubious Aryan Invasion Theory. But a relatively recent study from a non-committal view point by I believe, a Christian sanskrit scholar, Hans Hock, stated that the references to 'dasas' can make sense if its definition was treated as dark (as in darkness of the sky). More info on the linguistic aspects:
http://www.bharatvani.org/books/ait/ch48.htm .
This entire debate is ongoing, so, just being a normal person, I'm not going to say anything that hasn't been conclusively proven yet. As for me, I'm learning Sanskrit, so I can read the Vedas in their original form and not have to deal with anybody's translation or view.
But, I mean it's up to you. A google search for the Rig Veda will provide you with Ralph Griffith's translation, maybe with the info on the linguistic aspects given earlier, you can read them with that in mind. But, again, there will be others who say these references are to dark people, so in the end, it is up to you.
But, considering that Vidura, himself a so-called Shudra, was able to summon the god Brahma's son and the name of Lord Krishna itself means dark or black in Sanskrit, I have chosen to believe that the references are to darkness. What you decide is up to you and no one else.