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feat(rollout): adding episodic strategy (#3717)

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* feat(rollout): adding legacy strategy

* adding legacy to existing tests

* updating docs and docstring

* changing misleading docstring

Signed-off-by: Maxime Ellerbach <maxime@ellerbach.net>

* adding extra guard like dagged with try except finally

* Potential fix for pull request finding

Signed-off-by: Maxime Ellerbach <maxime@ellerbach.net>

* adding reset to initial position

* moving smooth teleop handover to control_utils and adding this behavior to legacy strategy

* reducing duration of the handover

* * renaming to episodic
* changing semantics of the docstring
* fixing leader - follower handover disable torque
* adding optionnal config to disable handover

* wiring the smooth_leader_follower_handover config

* renaming config smooth_leader_to_follower_handover

---------

Signed-off-by: Maxime Ellerbach <maxime@ellerbach.net>
This commit is contained in:
Maxime Ellerbach
2026-06-06 00:32:38 +02:00
committed by GitHub
parent 2e9cd87bbd
commit 09808183ca
11 changed files with 524 additions and 71 deletions
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docs/source/il_robots.mdx
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@@ -647,5 +647,6 @@ The `--strategy.type` flag selects the execution mode:
- `sentry`: Continuous recording with auto-upload (useful for large-scale evaluation)
- `highlight`: Ring buffer recording with keystroke save (useful for capturing interesting events)
- `dagger`: Human-in-the-loop data collection (see [HIL Data Collection](./hil_data_collection))
- `episodic`: Episode-oriented policy recording with reset phases between episodes
All strategies support `--inference.type=rtc` for smooth execution with slow VLA models (Pi0, Pi0.5, SmolVLA).