From 599e2432e5148ac7d237e1ac42457b32d1586b85 Mon Sep 17 00:00:00 2001
From: Khalil Meftah <khalil.meftah@huggingface.co>
Date: Thu, 2 Jul 2026 18:02:36 +0200
Subject: [PATCH] fix(rollout): clear last_action after return_to_initial

---
 src/lerobot/rollout/strategies/dagger.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/lerobot/rollout/strategies/dagger.py b/src/lerobot/rollout/strategies/dagger.py
index 01a6f2f70..284f4fd0e 100644
--- a/src/lerobot/rollout/strategies/dagger.py
+++ b/src/lerobot/rollout/strategies/dagger.py
@@ -536,6 +536,7 @@ class DAggerStrategy(RolloutStrategy):
                             engine.pause()
                             events.phase = DAggerPhase.PAUSED
                             self._return_to_initial_position(ctx.hardware)
+                            last_action = None
                             logger.info(
                                 "Episode saved — paused for environment reset. Press SPACE to start next episode."
                             )