diff --git a/scripts/setup_mujoco_py312.sh b/scripts/setup_mujoco_py312.sh
index ae45831fa..b2ed30863 100755
--- a/scripts/setup_mujoco_py312.sh
+++ b/scripts/setup_mujoco_py312.sh
@@ -48,7 +48,7 @@ pip install torch torchvision --index-url https://download.pytorch.org/whl/cu128
 pip install astor easydict ipdb joblib loguru lxml matplotlib meshcat omegaconf \
     opencv-python plotly pygame pynput rich scipy tensorboard tensordict \
     termcolor tqdm trimesh "yourdfpy>=0.0.58" zmq shapely click \
-    "warp-lang>=1.10" pydantic "tyro>=1.0.0" "numpy<2"
+    "warp-lang>=1.10" pydantic "tyro>=1.0.10" "numpy<2"
 
 # --- Install holosoma + extensions (--no-deps to skip numpy==1.23.5 pin) ---
 pip install --no-deps -e $ROOT_DIR/src/holosoma
diff --git a/src/holosoma/pyproject.toml b/src/holosoma/pyproject.toml
index 31d77d52d..b6f4a5d8a 100644
--- a/src/holosoma/pyproject.toml
+++ b/src/holosoma/pyproject.toml
@@ -44,7 +44,7 @@ dependencies = [
     "types-python-dateutil",
     "types-requests",
     "types-tqdm",
-    "tyro>=1.0.0",
+    "tyro>=1.0.10",
     "wandb==0.22.0", # pin version until https://github.com/wandb/wandb/issues/10647 is fixed
     "warp-lang==1.10.0",
     "yourdfpy>=0.0.58",
diff --git a/src/holosoma_inference/holosoma_inference/config/config_types/inference.py b/src/holosoma_inference/holosoma_inference/config/config_types/inference.py
index e99db9bfb..489a75167 100644
--- a/src/holosoma_inference/holosoma_inference/config/config_types/inference.py
+++ b/src/holosoma_inference/holosoma_inference/config/config_types/inference.py
@@ -2,7 +2,9 @@
 
 from __future__ import annotations
 
+import tyro
 from pydantic.dataclasses import dataclass
+from typing_extensions import Annotated
 
 from .observation import ObservationConfig
 from .robot import RobotConfig
@@ -26,8 +28,31 @@ class InferenceConfig:
     task: TaskConfig
     """Task execution configuration."""
 
-    secondary: InferenceConfig | None = None
-    """Secondary policy config for dual-mode (X-button switch).
-    When set, enables runtime switching between this (primary) policy and the secondary.
-    Override any field: --secondary.task.model-path, --secondary.task.rl-rate, etc.
-    Set to None to disable dual-mode."""
+
+def _make_secondary_constructor():
+    """Build subcommand constructor for the secondary config selector.
+
+    Lazily imports get_defaults() to avoid circular import (config_types <=> config_values).
+    Extracts .primary from each DualModePolicyConfig so the secondary offers the same presets
+    as the top-level selector. A config must be registered as a primary to be used as a secondary.
+    """
+    from holosoma_inference.config.config_values.inference import get_defaults
+
+    return tyro.extras.subcommand_type_from_defaults({k: v.primary for k, v in get_defaults().items()})
+
+
+@dataclass
+class DualModePolicyConfig:
+    """A primary inference config paired with an optional secondary for dual-mode."""
+
+    primary: Annotated[InferenceConfig, tyro.conf.arg(name="")]
+    """Primary inference config."""
+
+    secondary: (
+        Annotated[
+            InferenceConfig,
+            tyro.conf.arg(constructor_factory=_make_secondary_constructor),
+        ]
+        | None
+    ) = None
+    """Secondary inference config for dual-mode (X-button switch)."""
diff --git a/src/holosoma_inference/holosoma_inference/config/config_values/inference.py b/src/holosoma_inference/holosoma_inference/config/config_values/inference.py
index 2a00e39d3..fa61ab6a0 100644
--- a/src/holosoma_inference/holosoma_inference/config/config_values/inference.py
+++ b/src/holosoma_inference/holosoma_inference/config/config_values/inference.py
@@ -1,18 +1,20 @@
 """Default inference configurations for holosoma_inference."""
 
+from __future__ import annotations
+
 from dataclasses import replace
 from importlib.metadata import entry_points
 
 import tyro
 from typing_extensions import Annotated
 
-from holosoma_inference.config.config_types.inference import InferenceConfig
+from holosoma_inference.config.config_types.inference import DualModePolicyConfig, InferenceConfig
 from holosoma_inference.config.config_values import observation, robot, task
 
-# Shared safety secondary for all G1 configs — FastSAC locomotion.
-# Each config references the same object; users can override any field
-# with --secondary.task.model-path etc., or disable with --secondary none.
-_g1_safety_secondary = InferenceConfig(
+# Safety secondary for G1 configs - FastSAC locomotion.
+# Users can select this explicitly via `secondary:g1-29dof-safety-loco`,
+# or disable the secondary with `secondary:none`.
+g1_safety_loco = InferenceConfig(
     robot=robot.g1_29dof,
     observation=observation.loco_g1_29dof,
     task=task.safety_locomotion_g1,
@@ -22,7 +24,6 @@
     robot=robot.g1_29dof,
     observation=observation.loco_g1_29dof,
     task=task.locomotion,
-    secondary=_g1_safety_secondary,
 )
 
 t1_29dof_loco = InferenceConfig(
@@ -62,14 +63,14 @@
 # fmt: on
     observation=observation.wbt,
     task=task.wbt,
-    secondary=_g1_safety_secondary,
 )
 
 # Core defaults - no extension imports at module load time
-DEFAULTS = {
-    "g1-29dof-loco": g1_29dof_loco,
-    "t1-29dof-loco": t1_29dof_loco,
-    "g1-29dof-wbt": g1_29dof_wbt,
+DEFAULTS: dict[str, DualModePolicyConfig] = {
+    "g1-29dof-loco": DualModePolicyConfig(primary=g1_29dof_loco, secondary=g1_safety_loco),
+    "t1-29dof-loco": DualModePolicyConfig(primary=t1_29dof_loco, secondary=None),
+    "g1-29dof-wbt": DualModePolicyConfig(primary=g1_29dof_wbt, secondary=g1_safety_loco),
+    "g1-29dof-safety-loco": DualModePolicyConfig(primary=g1_safety_loco, secondary=None),
 }
 
 # Track whether extensions have been loaded
@@ -90,31 +91,31 @@ def _load_extensions() -> None:
         DEFAULTS[ep.name] = ep.load()
 
 
-def get_annotated_inference_config() -> type:
-    """Build the annotated InferenceConfig type with all discovered configs.
-
-    This function loads extension configs lazily and returns a tyro-compatible
-    annotated type for CLI subcommand generation.
+def _make_dual_mode_constructor():
+    """Build subcommand constructor for the top-level config selector."""
+    defaults = get_defaults()
 
-    Returns:
-        Annotated type suitable for use with tyro.cli()
-    """
-    _load_extensions()
-    return Annotated[
-        InferenceConfig,
-        tyro.conf.arg(
-            constructor=tyro.extras.subcommand_type_from_defaults(
-                {f"inference:{k}": v for k, v in DEFAULTS.items()}
+    # Validate: each default secondary must be registered as a primary in DEFAULTS,
+    # because we ask tyro to build the secondary subcommand choices from the same set.
+    primaries = {id(v.primary) for v in defaults.values()}
+    for name, cfg in defaults.items():
+        if cfg.secondary is not None and id(cfg.secondary) not in primaries:
+            raise ValueError(
+                f"Default secondary for '{name}' is not a registered primary in DEFAULTS."
             )
-        ),
-    ]
 
+    return tyro.extras.subcommand_type_from_defaults(
+        {f"inference:{k}": v for k, v in defaults.items()}
+    )
 
-def get_defaults() -> dict:
-    """Get all inference config defaults, including extensions.
 
-    Returns:
-        Dictionary mapping config names to InferenceConfig instances.
-    """
+AnnotatedDualModePolicyConfig = Annotated[
+    DualModePolicyConfig,
+    tyro.conf.arg(constructor_factory=_make_dual_mode_constructor),
+]
+
+
+def get_defaults() -> dict[str, DualModePolicyConfig]:
+    """Get all config defaults, including extensions."""
     _load_extensions()
     return DEFAULTS
diff --git a/src/holosoma_inference/holosoma_inference/policies/dual_mode.py b/src/holosoma_inference/holosoma_inference/policies/dual_mode.py
index 16df88d18..7f1a1e113 100644
--- a/src/holosoma_inference/holosoma_inference/policies/dual_mode.py
+++ b/src/holosoma_inference/holosoma_inference/policies/dual_mode.py
@@ -7,7 +7,7 @@
 from loguru import logger
 from termcolor import colored
 
-from holosoma_inference.config.config_types.inference import InferenceConfig
+from holosoma_inference.config.config_types.inference import DualModePolicyConfig, InferenceConfig
 
 
 def _select_policy_class(config: InferenceConfig):
@@ -48,22 +48,22 @@ class DualModePolicy:
     The existing Select/1-9 multi-model switching still works within each policy.
     """
 
-    def __init__(self, primary_config: InferenceConfig, secondary_config: InferenceConfig):
-        primary_cls = _select_policy_class(primary_config)
-        secondary_cls = _select_policy_class(secondary_config)
+    def __init__(self, config: DualModePolicyConfig):
+        primary_cls = _select_policy_class(config.primary)
+        secondary_cls = _select_policy_class(config.secondary)
 
         logger.info(
             colored(f"Dual-mode: primary={primary_cls.__name__}, secondary={secondary_cls.__name__}", "magenta")
         )
 
         # Fully init primary (owns hardware)
-        self.primary = primary_cls(config=primary_config)
+        self.primary = primary_cls(config=config.primary)
 
         # Init secondary with shared hardware
         logger.info(colored("Initializing secondary policy (shared hardware)...", "magenta"))
         secondary = object.__new__(secondary_cls)
         secondary._shared_hardware_source = self.primary
-        secondary.__init__(config=secondary_config)
+        secondary.__init__(config=config.secondary)
         self.secondary = secondary
 
         self.active = self.primary
diff --git a/src/holosoma_inference/holosoma_inference/run_policy.py b/src/holosoma_inference/holosoma_inference/run_policy.py
index b35735df5..3b25952e8 100644
--- a/src/holosoma_inference/holosoma_inference/run_policy.py
+++ b/src/holosoma_inference/holosoma_inference/run_policy.py
@@ -6,8 +6,8 @@
 
 Usage:
     python run_policy.py inference:g1-29dof-loco --task.model-path path/to/model.onnx
-    python run_policy.py inference:g1-29dof-loco --task.model-path wandb://project/run/model.onnx
-    python run_policy.py inference:g1-29dof-loco --task.model-path https://wandb-url/files/model.onnx
+    python run_policy.py inference:g1-29dof-loco secondary:none
+    python run_policy.py inference:g1-29dof-loco secondary:g1-29dof-safety-loco
 """
 
 from __future__ import annotations
@@ -18,8 +18,8 @@
 import tyro
 from loguru import logger
 
-from holosoma_inference.config.config_types.inference import InferenceConfig
-from holosoma_inference.config.config_values.inference import get_annotated_inference_config
+from holosoma_inference.config.config_types.inference import DualModePolicyConfig
+from holosoma_inference.config.config_values.inference import AnnotatedDualModePolicyConfig
 from holosoma_inference.config.utils import TYRO_CONFIG
 from holosoma_inference.policies.dual_mode import DualModePolicy, _select_policy_class
 from holosoma_inference.utils.misc import restore_terminal_settings
@@ -98,28 +98,28 @@ def _print_control_guide(policy_class, use_joystick: bool, dual_mode: bool = Fal
     logger.info("")
 
 
-def run_policy(config: InferenceConfig):
+def run_policy(config: DualModePolicyConfig):
     """Run policy with Tyro configuration."""
     logger.info("🚀 Starting Policy with Tyro configuration...")
-    logger.info(f"🤖 Robot: {config.robot.robot_type}")
-    logger.info(f"📋 Observation groups: {list(config.observation.obs_dict.keys())}")
-    logger.info(f"⚙️ RL Rate: {config.task.rl_rate} Hz")
-    logger.info(f"📁 Model path: {config.task.model_path}")
+    logger.info(f"🤖 Robot: {config.primary.robot.robot_type}")
+    logger.info(f"📋 Observation groups: {list(config.primary.observation.obs_dict.keys())}")
+    logger.info(f"⚙️ RL Rate: {config.primary.task.rl_rate} Hz")
+    logger.info(f"📁 Model path: {config.primary.task.model_path}")
 
     try:
         # Determine policy class based on observation type
-        policy_class = _select_policy_class(config)
+        policy_class = _select_policy_class(config.primary)
         dual_mode = config.secondary is not None
 
         if dual_mode:
             logger.info(f"Using {policy_class.__name__} (dual-mode enabled)")
-            policy = DualModePolicy(primary_config=config, secondary_config=config.secondary)
+            policy = DualModePolicy(config=config)
         else:
             logger.info(f"Using {policy_class.__name__}")
-            policy = policy_class(config=config)
+            policy = policy_class(config=config.primary)
 
         logger.info("✅ Policy initialized successfully!")
-        _print_control_guide(policy_class, config.task.use_joystick, dual_mode=dual_mode)
+        _print_control_guide(policy_class, config.primary.task.use_joystick, dual_mode=dual_mode)
         policy.run()
         logger.info("✅ Policy execution completed!")
 
@@ -131,90 +131,9 @@ def run_policy(config: InferenceConfig):
         restore_terminal_settings()
 
 
-def _split_secondary_args(argv: list[str]) -> tuple[list[str], list[str]]:
-    """Split --secondary.* args out of argv, renaming them for standalone parsing.
-
-    Returns (primary_argv, secondary_argv) where secondary args have the
-    ``--secondary.`` prefix stripped, e.g. ``--secondary.task.model-path X``
-    becomes ``--task.model-path X``.
-    """
-    primary = []
-    secondary = []
-    expect_secondary_value = False
-    for arg in argv:
-        if arg.startswith("--secondary."):
-            renamed = "--" + arg[len("--secondary.") :]
-            secondary.append(renamed)
-            # If not --key=value form, the next token might be the value
-            expect_secondary_value = "=" not in renamed
-        elif expect_secondary_value and not arg.startswith("--"):
-            secondary.append(arg)
-            expect_secondary_value = False
-        else:
-            primary.append(arg)
-            expect_secondary_value = False
-    return primary, secondary
-
-
-def main(annotated_config=None):
-    """Main entry point. Extensions can pass their own AnnotatedInferenceConfig."""
-    import argparse
-
-    from holosoma_inference.config.config_values.inference import DEFAULTS
-
-    # Pre-parse --secondary-preset and --secondary none before tyro.
-    # Tyro can't build a CLI parser for InferenceConfig | None when it
-    # contains dict[str, Any] fields, so we handle secondary selection ourselves.
-    pre = argparse.ArgumentParser(add_help=False, allow_abbrev=False)
-    pre.add_argument(
-        "--secondary-preset",
-        default=None,
-        metavar="NAME",
-        help=f"Select a preset for the secondary policy. Choices: {list(DEFAULTS.keys())}",
-    )
-    pre.add_argument("--secondary", default=None, help="Set to 'none' to disable dual-mode.")
-    known, remaining = pre.parse_known_args()
-
-    disable_secondary = known.secondary is not None and known.secondary.lower() == "none"
-    secondary_preset = known.secondary_preset
-
-    # Strip --secondary.* args from remaining so tyro doesn't see them
-    primary_argv, secondary_argv = _split_secondary_args(remaining)
-    sys.argv = [sys.argv[0]] + primary_argv
-
-    if annotated_config is None:
-        # Use factory function to lazily load extension configs
-        annotated_config = get_annotated_inference_config()
-    config = tyro.cli(annotated_config, config=TYRO_CONFIG)
-
-    from dataclasses import replace as _replace
-
-    if disable_secondary:
-        config = _replace(config, secondary=None)
-    elif secondary_preset:
-        preset = DEFAULTS.get(secondary_preset)
-        if preset is None:
-            logger.error(f"Unknown secondary preset: {secondary_preset}")
-            logger.info(f"Available presets: {list(DEFAULTS.keys())}")
-            sys.exit(1)
-        preset = _replace(preset, secondary=None)
-
-        # Parse secondary overrides against the preset defaults
-        if secondary_argv:
-            sys.argv = [sys.argv[0]] + secondary_argv
-            secondary = tyro.cli(InferenceConfig, default=preset, config=TYRO_CONFIG)
-        else:
-            secondary = preset
-        config = _replace(config, secondary=secondary)
-    elif secondary_argv:
-        # --secondary.* overrides on the config's default secondary
-        if config.secondary is not None:
-            sys.argv = [sys.argv[0]] + secondary_argv
-            secondary = tyro.cli(InferenceConfig, default=config.secondary, config=TYRO_CONFIG)
-            config = _replace(config, secondary=secondary)
-        else:
-            logger.warning("--secondary.* args ignored: no default secondary in this config")
-
+def main():
+    """Main entry point."""
+    config = tyro.cli(AnnotatedDualModePolicyConfig, config=TYRO_CONFIG)
     run_policy(config)
 
 
diff --git a/src/holosoma_inference/setup.py b/src/holosoma_inference/setup.py
index 7cc1776d6..53bc35f9c 100644
--- a/src/holosoma_inference/setup.py
+++ b/src/holosoma_inference/setup.py
@@ -44,7 +44,7 @@
         "sshkeyboard",
         "termcolor",
         "pyyaml",
-        "tyro>=0.10.0a4",
+        "tyro>=1.0.10",
         "wandb",
         "zmq",
         "defusedxml",
@@ -69,9 +69,8 @@
             "t1-29dof = holosoma_inference.config.config_values.robot:t1_29dof",
         ],
         "holosoma.config.inference": [
-            "g1-29dof-loco = holosoma_inference.config.config_values.inference:g1_29dof_loco",
-            "t1-29dof-loco = holosoma_inference.config.config_values.inference:t1_29dof_loco",
-            "g1-29dof-wbt = holosoma_inference.config.config_values.inference:g1_29dof_wbt",
+            # Extensions register DualModePolicyConfig objects here.
+            # Core configs are in DEFAULTS directly; these are for external packages.
         ],
     },
     keywords="humanoid robotics inference policy onnx",
diff --git a/tests/e2e/test_run_policy.py b/tests/e2e/test_run_policy.py
index 3aa5cc398..f5cfa6d96 100644
--- a/tests/e2e/test_run_policy.py
+++ b/tests/e2e/test_run_policy.py
@@ -72,7 +72,7 @@ def assert_run_policy_with_hsinference(config_name: str, model_path: str, timeou
             f"python {REPO_ROOT}/src/holosoma_inference/holosoma_inference/run_policy.py "
             f"inference:{config_name} "
             f"--task.model-path={model_path} "
-            f"--secondary none",
+            f"secondary:none",
         ],
         stdin=subprocess.DEVNULL,
         stdout=subprocess.PIPE,