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Maxime Ellerbach
6e196eea0e
* 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>