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* renaming to episodic

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* changing semantics of the docstring
* fixing leader - follower handover disable torque
* adding optionnal config to disable handover
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Maximellerbach
2026-06-05 11:45:58 +02:00
parent eb21cd2b26
commit 8b1ffbe5c8
10 changed files with 58 additions and 51 deletions
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docs/source/il_robots.mdx
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@@ -647,6 +647,6 @@ The `--strategy.type` flag selects the execution mode:
- `sentry`: Continuous recording with auto-upload (useful for large-scale evaluation)
- `highlight`: Ring buffer recording with keystroke save (useful for capturing interesting events)
- `dagger`: Human-in-the-loop data collection (see [HIL Data Collection](./hil_data_collection))
- `legacy`: Episode-oriented policy recording with reset phases, mirrors the old `lerobot-record` inference path
- `episodic`: Episode-oriented policy recording with reset phases between episodes
All strategies support `--inference.type=rtc` for smooth execution with slow VLA models (Pi0, Pi0.5, SmolVLA).