docs: fix table formatting via prettier

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>

docs/source/inference.mdx

@@ -149,14 +149,13 @@ 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)                                                                                                        |
-| `--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                                                                                                                                |
+| 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                         |
 
 ### Episodic (`--strategy.type=episodic`)
 
@@ -187,14 +186,15 @@ Teleop is optional — if omitted the robot holds its position during the reset
 | `←` (left)  | Discard episode and re-record it |
 | `ESC`       | Stop the recording session       |
 
-| Flag                                            | Description                                                                |
-| ----------------------------------------------- | -------------------------------------------------------------------------- |
-| `--dataset.num_episodes`                        | Number of episodes to record                                               |
-| `--dataset.episode_time_s`                      | Duration of each recording episode in seconds                              |
-| `--dataset.reset_time_s`                        | Duration of the reset phase between episodes in seconds                    |
-| `--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. |
+| Flag                                            | Description                                                                                                                                                |
+| ----------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| `--dataset.num_episodes`                        | Number of episodes to record                                                                                                                               |
+| `--dataset.episode_time_s`                      | Duration of each recording episode in seconds                                                                                                              |
+| `--dataset.reset_time_s`                        | Duration of the reset phase between episodes in seconds                                                                                                    |
+| `--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 |
 
 ---
 

src/lerobot/rollout/configs.py

@@ -149,6 +149,15 @@ class EpisodicStrategyConfig(RolloutStrategyConfig):
     # Note that leader -> follower handover is only supported when the leader has `send_feedback` capability.
     smooth_leader_to_follower_handover: bool = True
 
+    # Whether to turn on or off the smooth handover behavior at the start of the
+    # reset phase: the leader is driven to the follower position (actuated
+    # teleops, see `smooth_leader_to_follower_handover`), or the follower is
+    # slid to the teleop pose (non-actuated teleops). Disable for clutch-style
+    # teleoperators (e.g. VR controllers) that re-reference at the current robot
+    # pose on engage: the handover is already continuous there, and the blocking
+    # interpolation only delays the start of the reset phase.
+    smooth_handover: bool = True
+
 
 @RolloutStrategyConfig.register_subclass("dagger")
 @dataclass
@@ -180,14 +189,6 @@ class DAggerStrategyConfig(RolloutStrategyConfig):
     # Target video file size in MB for episode rotation (record_autonomous
     # mode only).  Defaults to DEFAULT_VIDEO_FILE_SIZE_IN_MB when None.
     target_video_file_size_mb: int | None = None
-    # Whether to turn on or off the smooth handover behavior at phase transitions:
-    # the leader is driven to the follower position on pause (teleops with
-    # `send_feedback` capability), and the follower is slid to the teleop pose when
-    # a correction starts (non-actuated teleops). Disable for clutch-style
-    # teleoperators (e.g. VR controllers) that re-reference at the current robot
-    # pose on engage: the handover is already continuous there, and the blocking
-    # interpolation only delays the start of the correction.
-    smooth_handover: bool = True
     input_device: str = "keyboard"
     keyboard: DAggerKeyboardConfig = field(default_factory=DAggerKeyboardConfig)
     pedal: DAggerPedalConfig = field(default_factory=DAggerPedalConfig)

src/lerobot/rollout/strategies/dagger.py

@@ -623,8 +623,8 @@ class DAggerStrategy(RolloutStrategy):
     # State-machine transition side-effects
     # ------------------------------------------------------------------
 
+    @staticmethod
     def _apply_transition(
-        self,
         old_phase: DAggerPhase,
         new_phase: DAggerPhase,
         engine,
@@ -634,10 +634,6 @@ class DAggerStrategy(RolloutStrategy):
     ) -> None:
         """Execute side-effects for a validated phase transition, including smooth handovers.
 
-        The smooth handovers below can be disabled with
-        ``--strategy.smooth_handover=false`` (useful for clutch-style teleops
-        that re-reference at the current robot pose on engage).
-
         AUTONOMOUS -> PAUSED (actuated teleop):
             Pause the engine, then drive the leader arm to the follower's last
             commanded position so the operator takes over without a jerk.
@@ -661,7 +657,7 @@ class DAggerStrategy(RolloutStrategy):
             logger.info("Pausing engine - robot holds position")
             engine.pause()
 
-            if self.config.smooth_handover and teleop_supports_feedback(teleop) and prev_action is not None:
+            if teleop_supports_feedback(teleop) and prev_action is not None:
                 # TODO(Maxime): prev_action is in robot action key space (output of robot_action_processor).
                 # send_feedback expects teleop feedback key space. For homogeneous setups (e.g. SO-101
                 # leader + SO-101 follower) the keys are identical so this works. If the processor pipeline
@@ -672,11 +668,7 @@ class DAggerStrategy(RolloutStrategy):
 
         elif old_phase == DAggerPhase.PAUSED and new_phase == DAggerPhase.CORRECTING:
             logger.info("Entering correction mode - human teleop control")
-            if (
-                self.config.smooth_handover
-                and not teleop_supports_feedback(teleop)
-                and prev_action is not None
-            ):
+            if not teleop_supports_feedback(teleop) and prev_action is not None:
                 logger.info("Smooth handover: sliding follower to teleop position")
                 obs = robot.get_observation()
                 teleop_action = teleop.get_action()

src/lerobot/rollout/strategies/episodic.py

@@ -143,21 +143,25 @@ class EpisodicStrategy(RolloutStrategy):
                             # position so the operator takes over without fighting the arm.
                             # For non-actuated teleops: slide the follower to the teleop's current
                             # pose instead, since the leader cannot be driven.
-                            obs = robot.get_observation()
-                            current_pos = {k: v for k, v in obs.items() if k.endswith(".pos")}
-                            if (
-                                teleop_supports_feedback(teleop)
-                                and self.config.smooth_leader_to_follower_handover
-                            ):
-                                logger.info("Smooth handover: moving leader arm to follower position")
-                                teleop_smooth_move_to(teleop, current_pos, duration_s=2)
-                                teleop.disable_torque()
-                            else:
-                                logger.info("Smooth handover: sliding follower to teleop position")
-                                teleop_action = teleop.get_action()
-                                processed = ctx.processors.teleop_action_processor((teleop_action, obs))
-                                target = ctx.processors.robot_action_processor((processed, obs))
-                                follower_smooth_move_to(robot, current_pos, target, duration_s=1)
+                            # Disabled entirely with --strategy.smooth_handover=false (useful for
+                            # clutch-style teleops that re-reference at the current robot pose on
+                            # engage).
+                            if self.config.smooth_handover:
+                                obs = robot.get_observation()
+                                current_pos = {k: v for k, v in obs.items() if k.endswith(".pos")}
+                                if (
+                                    teleop_supports_feedback(teleop)
+                                    and self.config.smooth_leader_to_follower_handover
+                                ):
+                                    logger.info("Smooth handover: moving leader arm to follower position")
+                                    teleop_smooth_move_to(teleop, current_pos, duration_s=2)
+                                    teleop.disable_torque()
+                                else:
+                                    logger.info("Smooth handover: sliding follower to teleop position")
+                                    teleop_action = teleop.get_action()
+                                    processed = ctx.processors.teleop_action_processor((teleop_action, obs))
+                                    target = ctx.processors.robot_action_processor((processed, obs))
+                                    follower_smooth_move_to(robot, current_pos, target, duration_s=1)
 
                         elif self.config.reset_to_initial_position:
                             # No teleop: return the robot to its startup position.