Huggingzhu1/stretch_pickup_nav_detour_v5

Stretch pickup + navigation + human detour, export v5

LeRobot-format export (policy_contract.json describes the state/action layout and camera keys) of 2337 accepted simulated demonstrations of a Stretch 3: navigate to a desk past animated people, dock, and pick up a small object (train 1846 / validation 251 / test 240, split by scene family). v5 = stretch_pickup_nav_detour_v4 (1899 episodes) plus 438 "detour, hand ahead" episodes recorded 24-27 Oct 2026: a person crosses, pauses in or stands in the robot's route, and the person at the desk reaches a hand directly between the object and the gripper (half of them pressing on toward the robot); the expert yields, pulls the hand back and resumes. The last 121 of them use a capped re-planned grasp height. All 821 detour episodes carry green person boxes drawn on both camera streams at export; the older 1516 episodes do not. Raw episodes: Huggingzhu1/stretch_raw_episodes.