Huggingzhu1/stretch_pickup_nav_detour_v4

Stretch pickup + navigation + human detour, export v4

LeRobot-format export (policy_contract.json describes the state/action layout and camera keys) of 1882 accepted simulated demonstrations of a Stretch 3: navigate to a desk past animated people, dock, and pick up a small object; v4 adds 383 "detour" episodes where a person steps into the robot's way or reaches toward the gripper and the expert yields. It is a superset of stretch_pickup_nav_v1 (pickups + nav) and the reach-randomised v3 set; the recovery-noise nav episodes of stretch_pickup_nav_recovery_v2 are not included. Raw episodes: Huggingzhu1/stretch_raw_episodes.