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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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tests/test_rollout.py
+5
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@@ -59,6 +59,7 @@ def test_strategy_config_types():
from lerobot.rollout import (
BaseStrategyConfig,
DAggerStrategyConfig,
EpisodicStrategyConfig,
HighlightStrategyConfig,
SentryStrategyConfig,
)
@@ -67,6 +68,7 @@ def test_strategy_config_types():
assert SentryStrategyConfig().type == "sentry"
assert HighlightStrategyConfig().type == "highlight"
assert DAggerStrategyConfig().type == "dagger"
assert EpisodicStrategyConfig().type == "episodic"
def test_dagger_config_invalid_input_device():
@@ -203,6 +205,8 @@ def test_create_strategy_dispatches():
BaseStrategyConfig,
DAggerStrategy,
DAggerStrategyConfig,
EpisodicStrategy,
EpisodicStrategyConfig,
SentryStrategy,
SentryStrategyConfig,
create_strategy,
@@ -211,6 +215,7 @@ def test_create_strategy_dispatches():
assert isinstance(create_strategy(BaseStrategyConfig()), BaseStrategy)
assert isinstance(create_strategy(SentryStrategyConfig()), SentryStrategy)
assert isinstance(create_strategy(DAggerStrategyConfig()), DAggerStrategy)
assert isinstance(create_strategy(EpisodicStrategyConfig()), EpisodicStrategy)
def test_create_strategy_unknown_raises():