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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
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parent 2e9cd87bbd
commit 09808183ca
11 changed files with 524 additions and 71 deletions
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docs/source/inference.mdx
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@@ -157,6 +157,44 @@ Foot pedal input is also supported via `--strategy.input_device=pedal`. Configur
| `--strategy.input_device` | Input device: `keyboard` or `pedal` (default: keyboard) |
| `--teleop.type` | **Required.** Teleoperator type |
### Episodic (`--strategy.type=episodic`)
Episode-oriented recording that mirrors the behavior of `lerobot-record`. The policy drives the robot for each episode; an optional teleoperator can drive the robot during the reset phase between episodes.
```bash
lerobot-rollout \
--strategy.type=episodic \
--policy.path=${HF_USER}/my_policy \
--robot.type=so100_follower \
--robot.port=/dev/ttyACM0 \
--teleop.type=so100_leader \
--teleop.port=/dev/ttyACM1 \
--dataset.repo_id=${HF_USER}/my_eval_data \
--dataset.num_episodes=20 \
--dataset.episode_time_s=30 \
--dataset.reset_time_s=10 \
--dataset.single_task="Pick up the red cube"
```
Teleop is optional — if omitted the robot holds its position during the reset phase.
**Keyboard controls:**
| Key | Action |
| ----------- | -------------------------------- |
| `→` (right) | End the current episode early |
| `←` (left) | Discard episode and re-record it |
| `ESC` | Stop the recording session |
| Flag | Description |
| ----------------------------------------------- | -------------------------------------------------------------------------- |
| `--dataset.num_episodes` | Number of episodes to record |
| `--dataset.episode_time_s` | Duration of each recording episode in seconds |
| `--dataset.reset_time_s` | Duration of the reset phase between episodes in seconds |
| `--teleop.type` | Optional. Teleoperator to drive the robot during resets |
| `--strategy.reset_to_initial_position` | Whether to reset the robot to its initial position between episodes |
| `--strategy.smooth_leader_to_follower_handover` | Whether to turn on or off the leader -> follower smooth handover behavior. |
---
## Inference Backends