admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-07-31 21:49:45 +00:00
Code Issues Packages Projects Releases Wiki Activity

feat(rollout): add smooth_handover flag to DAgger strategy config (#4160)

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

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>

* fix: pre-commit auto-fix (prettier markdown table formatting)

---------

Co-authored-by: griffinaddison <griffinnosidda@gmail.com>
Co-authored-by: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Maxime Ellerbach
2026-07-31 14:48:43 +02:00
committed by GitHub
parent 573e7d0243
commit 6e196eea0e
3 changed files with 27 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/source/inference.mdx
+8 -7
View File
@@ -149,13 +149,14 @@ lerobot-rollout \
Foot pedal input is also supported via `--strategy.input_device=pedal`. Configure pedal codes with `--strategy.pedal.*` flags.
| Flag | Description |
| ------------------------------------ | ------------------------------------------------------- |
| `--strategy.num_episodes` | Number of correction episodes to record (default: 10) |
| `--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) |
| `--teleop.type` | **Required.** Teleoperator type |
| Flag | Description |
| ------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `--strategy.num_episodes` | Number of correction episodes to record (default: 10) |
| `--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`)