Huggingzhu1/stretch_pickup_search_v6

Stretch pickup-search v6 (500 simulated + 64 real demonstrations)

LeRobot v2.1 dataset used to fine-tune pi0.5 for a Hello Robot Stretch 3 "search for the object, drive to the desk, pick it up and hold it retracted" task. Splits: train 464, validation 53, test 47 episodes (564 total).

• 500 simulated demonstrations (MagicSim / Isaac Sim): random start heading, head sweep + base turn search, 0-2 bystanders, 7 object classes, randomised desk/floor/lighting/camera mounts, white and black Stretch models.
• 64 real demonstrations teleoperated on a Stretch 3 with a Meta Quest (scene_family: real_teleop in policy_contract.json), apple pickups on a desk.

Control at 10 Hz. Two cameras: observation.images.head_cam (1280x720) and observation.images.wrist_cam (640x480).

observation.state (11): lift_m, total_extension_m, head_pan_rad, head_tilt_rad, wrist_yaw_rad, wrist_pitch_rad, wrist_roll_rad, left_finger_rad, right_finger_rad, forward_m_s, yaw_rad_s.

action (8): forward_m_s, yaw_rad_s, lift_m_s, total_extension_m_s, wrist_yaw_target_rad, head_pan_target_rad, gripper_close, wrist_pitch_target_rad.

policy_contract.json holds the full contract (units, limits, camera calibration, finger model motor, per-episode provenance). Related datasets: Huggingzhu1/stretch_pickup_nav_detour_v5, Huggingzhu1/stretch_raw_episodes.