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

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Follow-up to #3985, which added the same flag to the DAgger strategy.

The episodic strategy's reset-phase handover had two gaps:
- Non-actuated teleops could not skip the blocking follower slide at all.
- Setting smooth_leader_to_follower_handover=false on an actuated teleop
  swapped which arm moves instead of skipping the handover.

Add --strategy.smooth_handover (default true, existing behavior
unchanged) as a master switch that skips the interpolation entirely,
for clutch-style teleops that re-reference at the current robot pose
on engage.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
griffinaddison
2026-07-23 09:36:11 -07:00
committed by Maxime Ellerbach
parent 0d383d09f2
commit 360e619e18
3 changed files with 29 additions and 15 deletions
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docs/source/inference.mdx
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@@ -194,6 +194,7 @@ Teleop is optional — if omitted the robot holds its position during the reset
| `--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. |
| `--strategy.smooth_handover` | Smoothly hand control to the teleop at reset start (default: true). Disable for clutch-style teleops that re-reference at the current robot pose on engage |
---