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feat(rollout): add smooth_handover flag to DAgger strategy config

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The DAgger phase transitions run blocking smooth handovers: on pause the
leader is driven to the follower (~2 s), and on correction start the
follower is slid to the teleop pose (~1 s), both inside the record loop.

For clutch-style teleoperators (e.g. VR controllers) that re-reference
their command frame at the current robot pose on engage, the handover is
already continuous — the interpolation only delays the start of the
correction and eats its first frames.

Add --strategy.smooth_handover (default true, existing behavior
unchanged) to let such setups skip it, mirroring the episodic strategy's
smooth_leader_to_follower_handover flag.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
griffinaddison
2026-07-10 14:11:45 -07:00
committed by Maxime Ellerbach
parent 0d383d09f2
commit 124d03608c
3 changed files with 20 additions and 3 deletions
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docs/source/inference.mdx
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@@ -155,6 +155,7 @@ Foot pedal input is also supported via `--strategy.input_device=pedal`. Configur
| `--strategy.record_autonomous` | Record autonomous frames too (default: false) |
| `--strategy.upload_every_n_episodes` | Push to Hub every N episodes (default: 5) |
| `--strategy.input_device` | Input device: `keyboard` or `pedal` (default: keyboard) |
| `--strategy.smooth_handover` | Smoothly hand control over at pause / correction start (default: true). Disable for clutch-style teleops that re-reference at the current robot pose on engage |
| `--teleop.type` | **Required.** Teleoperator type |
### Episodic (`--strategy.type=episodic`)