diff --git a/docs/source/il_robots.mdx b/docs/source/il_robots.mdx
index dc2e02737..c0e6b80a5 100644
--- a/docs/source/il_robots.mdx
+++ b/docs/source/il_robots.mdx
@@ -647,5 +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
 
 All strategies support `--inference.type=rtc` for smooth execution with slow VLA models (Pi0, Pi0.5, SmolVLA).
diff --git a/docs/source/inference.mdx b/docs/source/inference.mdx
index b2874d823..89260d9c1 100644
--- a/docs/source/inference.mdx
+++ b/docs/source/inference.mdx
@@ -157,6 +157,42 @@ Foot pedal input is also supported via `--strategy.input_device=pedal`. Configur
 | `--strategy.input_device`            | Input device: `keyboard` or `pedal` (default: keyboard) |
 | `--teleop.type`                      | **Required.** Teleoperator type                         |
 
+### Legacy (`--strategy.type=legacy`)
+
+Episode-oriented recording that mirrors the old `lerobot-record` inference path. The policy drives the robot for each episode; an optional teleoperator can drive the robot during the reset phase between episodes.
+
+```bash
+lerobot-rollout \
+    --strategy.type=legacy \
+    --policy.path=${HF_USER}/my_policy \
+    --robot.type=so100_follower \
+    --robot.port=/dev/ttyACM0 \
+    --teleop.type=so100_leader \
+    --teleop.port=/dev/ttyACM1 \
+    --dataset.repo_id=${HF_USER}/my_eval_data \
+    --dataset.num_episodes=20 \
+    --dataset.episode_time_s=30 \
+    --dataset.reset_time_s=10 \
+    --dataset.single_task="Pick up the red cube"
+```
+
+Teleop is optional — if omitted the robot holds its position during the reset phase.
+
+**Keyboard controls:**
+
+| Key         | Action                           |
+| ----------- | -------------------------------- |
+| `→` (right) | End the current episode early    |
+| `←` (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 |
+
 ---
 
 ## Inference Backends
diff --git a/src/lerobot/scripts/lerobot_rollout.py b/src/lerobot/scripts/lerobot_rollout.py
index 8ff2071db..d1bed58c7 100644
--- a/src/lerobot/scripts/lerobot_rollout.py
+++ b/src/lerobot/scripts/lerobot_rollout.py
@@ -115,11 +115,12 @@ Usage examples
     # Legacy mode — episode-oriented recording, mirrors old lerobot-record
     lerobot-rollout \\
         --strategy.type=legacy \\
+        --policy.path=user/my_policy \\
         --robot.type=so100_follower \\
         --robot.port=/dev/ttyACM0 \\
         --teleop.type=so100_leader \\
         --teleop.port=/dev/ttyACM1 \\
-        --dataset.repo_id=user/grab_cube \\
+        --dataset.repo_id=user/rollout_legacy_data \\
         --dataset.num_episodes=20 \\
         --dataset.single_task="Grab the cube"