diff --git a/quickstep/recents_ui_overrides/src/com/android/launcher3/uioverrides/touchcontrollers/NavBarToHomeTouchController.java b/quickstep/recents_ui_overrides/src/com/android/launcher3/uioverrides/touchcontrollers/NavBarToHomeTouchController.java
index 738436a757..1897fb2f9c 100644
--- a/quickstep/recents_ui_overrides/src/com/android/launcher3/uioverrides/touchcontrollers/NavBarToHomeTouchController.java
+++ b/quickstep/recents_ui_overrides/src/com/android/launcher3/uioverrides/touchcontrollers/NavBarToHomeTouchController.java
@@ -23,6 +23,7 @@ import static com.android.launcher3.LauncherState.OVERVIEW;
 import static com.android.launcher3.allapps.AllAppsTransitionController.ALL_APPS_PROGRESS;
 import static com.android.launcher3.anim.Interpolators.DEACCEL_3;
 import static com.android.launcher3.touch.AbstractStateChangeTouchController.SUCCESS_TRANSITION_PROGRESS;
+import static com.android.systemui.shared.system.ActivityManagerWrapper.CLOSE_SYSTEM_WINDOWS_REASON_RECENTS;
 
 import android.animation.Animator;
 import android.animation.AnimatorSet;
@@ -43,11 +44,14 @@ import com.android.launcher3.anim.AnimatorPlaybackController;
 import com.android.launcher3.anim.AnimatorSetBuilder;
 import com.android.launcher3.anim.Interpolators;
 import com.android.launcher3.compat.AccessibilityManagerCompat;
+import com.android.launcher3.config.FeatureFlags;
 import com.android.launcher3.touch.SingleAxisSwipeDetector;
 import com.android.launcher3.userevent.nano.LauncherLogProto;
 import com.android.launcher3.userevent.nano.LauncherLogProto.Action.Touch;
 import com.android.launcher3.util.TouchController;
+import com.android.quickstep.util.AssistantUtilities;
 import com.android.quickstep.views.RecentsView;
+import com.android.systemui.shared.system.ActivityManagerWrapper;
 
 /**
  * Handles swiping up on the nav bar to go home from launcher, e.g. overview or all apps.
@@ -104,6 +108,10 @@ public class NavBarToHomeTouchController implements TouchController,
         if (AbstractFloatingView.getTopOpenView(mLauncher) != null) {
             return true;
         }
+        if (FeatureFlags.ASSISTANT_GIVES_LAUNCHER_FOCUS.get()
+                && AssistantUtilities.isExcludedAssistantRunning()) {
+            return true;
+        }
         return false;
     }
 
@@ -194,6 +202,8 @@ public class NavBarToHomeTouchController implements TouchController,
                 AbstractFloatingView.closeAllOpenViews(mLauncher);
                 logStateChange(topOpenView.getLogContainerType(), logAction);
             }
+            ActivityManagerWrapper.getInstance()
+                    .closeSystemWindows(CLOSE_SYSTEM_WINDOWS_REASON_RECENTS);
         } else {
             // Quickly return to the state we came from (we didn't move far).
             ValueAnimator anim = mCurrentAnimation.getAnimationPlayer();
diff --git a/quickstep/recents_ui_overrides/src/com/android/launcher3/uioverrides/touchcontrollers/QuickSwitchTouchController.java b/quickstep/recents_ui_overrides/src/com/android/launcher3/uioverrides/touchcontrollers/QuickSwitchTouchController.java
index a4ac1b0c00..912be983f7 100644
--- a/quickstep/recents_ui_overrides/src/com/android/launcher3/uioverrides/touchcontrollers/QuickSwitchTouchController.java
+++ b/quickstep/recents_ui_overrides/src/com/android/launcher3/uioverrides/touchcontrollers/QuickSwitchTouchController.java
@@ -30,6 +30,7 @@ import static com.android.launcher3.anim.Interpolators.INSTANT;
 import static com.android.launcher3.anim.Interpolators.LINEAR;
 import static com.android.launcher3.util.SystemUiController.UI_STATE_OVERVIEW;
 import static com.android.quickstep.views.RecentsView.UPDATE_SYSUI_FLAGS_THRESHOLD;
+import static com.android.systemui.shared.system.ActivityManagerWrapper.CLOSE_SYSTEM_WINDOWS_REASON_RECENTS;
 import static com.android.systemui.shared.system.QuickStepContract.SYSUI_STATE_OVERVIEW_DISABLED;
 
 import android.view.MotionEvent;
@@ -50,6 +51,7 @@ import com.android.quickstep.SysUINavigationMode.Mode;
 import com.android.quickstep.SystemUiProxy;
 import com.android.quickstep.views.RecentsView;
 import com.android.quickstep.views.TaskView;
+import com.android.systemui.shared.system.ActivityManagerWrapper;
 
 /**
  * Handles quick switching to a recent task from the home screen.
@@ -94,6 +96,8 @@ public class QuickSwitchTouchController extends AbstractStateChangeTouchControll
         super.onDragStart(start);
         mStartContainerType = LauncherLogProto.ContainerType.NAVBAR;
         mTaskToLaunch = mLauncher.<RecentsView>getOverviewPanel().getTaskViewAt(0);
+        ActivityManagerWrapper.getInstance()
+                .closeSystemWindows(CLOSE_SYSTEM_WINDOWS_REASON_RECENTS);
     }
 
     @Override
diff --git a/quickstep/recents_ui_overrides/src/com/android/quickstep/TouchInteractionService.java b/quickstep/recents_ui_overrides/src/com/android/quickstep/TouchInteractionService.java
index a8974e5e4a..7ad3f37d66 100644
--- a/quickstep/recents_ui_overrides/src/com/android/quickstep/TouchInteractionService.java
+++ b/quickstep/recents_ui_overrides/src/com/android/quickstep/TouchInteractionService.java
@@ -33,7 +33,6 @@ import android.annotation.TargetApi;
 import android.app.ActivityManager;
 import android.app.ActivityManager.RunningTaskInfo;
 import android.app.Service;
-import android.app.TaskInfo;
 import android.content.ComponentName;
 import android.content.Context;
 import android.content.Intent;
@@ -57,6 +56,7 @@ import androidx.annotation.WorkerThread;
 import com.android.launcher3.BaseDraggingActivity;
 import com.android.launcher3.Utilities;
 import com.android.launcher3.allapps.DiscoveryBounce;
+import com.android.launcher3.config.FeatureFlags;
 import com.android.launcher3.logging.UserEventDispatcher;
 import com.android.launcher3.model.AppLaunchTracker;
 import com.android.launcher3.provider.RestoreDbTask;
@@ -74,6 +74,7 @@ import com.android.quickstep.inputconsumers.OverviewWithoutFocusInputConsumer;
 import com.android.quickstep.inputconsumers.ResetGestureInputConsumer;
 import com.android.quickstep.inputconsumers.ScreenPinnedInputConsumer;
 import com.android.quickstep.util.ActiveGestureLog;
+import com.android.quickstep.util.AssistantUtilities;
 import com.android.systemui.plugins.OverscrollPlugin;
 import com.android.systemui.plugins.PluginListener;
 import com.android.systemui.shared.recents.IOverviewProxy;
@@ -83,7 +84,6 @@ import com.android.systemui.shared.system.InputChannelCompat.InputEventReceiver;
 import com.android.systemui.shared.system.InputConsumerController;
 import com.android.systemui.shared.system.InputMonitorCompat;
 import com.android.systemui.shared.system.RecentsAnimationListener;
-import com.android.systemui.shared.system.TaskInfoCompat;
 
 import java.io.FileDescriptor;
 import java.io.PrintWriter;
@@ -518,17 +518,16 @@ public class TouchInteractionService extends Service implements PluginListener<O
         }
 
         boolean forceOverviewInputConsumer = false;
-        if (isExcludedAssistant(gestureState.getRunningTask())) {
+        if (AssistantUtilities.isExcludedAssistant(gestureState.getRunningTask())) {
             // In the case where we are in the excluded assistant state, ignore it and treat the
             // running activity as the task behind the assistant
             gestureState.updateRunningTask(TraceHelper.whitelistIpcs("getRunningTask.assistant",
-                    () -> mAM.getRunningTask(ACTIVITY_TYPE_ASSISTANT)));
-            if (!ActivityManagerWrapper.isHomeTask(gestureState.getRunningTask())) {
-                final ComponentName homeComponent =
-                        mOverviewComponentObserver.getHomeIntent().getComponent();
-                forceOverviewInputConsumer = gestureState.getRunningTask()
-                        .baseIntent.getComponent().equals(homeComponent);
-            }
+                    () -> mAM.getRunningTask(ACTIVITY_TYPE_ASSISTANT /* ignoreActivityType */)));
+            ComponentName homeComponent = mOverviewComponentObserver.getHomeIntent().getComponent();
+            ComponentName runningComponent =
+                    gestureState.getRunningTask().baseIntent.getComponent();
+            forceOverviewInputConsumer =
+                    runningComponent != null && runningComponent.equals(homeComponent);
         }
 
         if (previousGestureState.getFinishingRecentsAnimationTaskId() > 0) {
@@ -543,10 +542,12 @@ public class TouchInteractionService extends Service implements PluginListener<O
         } else if (previousGestureState.isRunningAnimationToLauncher()
                 || gestureState.getActivityInterface().isResumed()
                 || forceOverviewInputConsumer) {
-            return createOverviewInputConsumer(previousGestureState, gestureState, event);
+            return createOverviewInputConsumer(
+                    previousGestureState, gestureState, event, forceOverviewInputConsumer);
         } else if (ENABLE_QUICKSTEP_LIVE_TILE.get()
                 && gestureState.getActivityInterface().isInLiveTileMode()) {
-            return createOverviewInputConsumer(previousGestureState, gestureState, event);
+            return createOverviewInputConsumer(
+                    previousGestureState, gestureState, event, forceOverviewInputConsumer);
         } else if (mDeviceState.isGestureBlockedActivity(gestureState.getRunningTask())) {
             return mResetGestureInputConsumer;
         } else {
@@ -554,12 +555,6 @@ public class TouchInteractionService extends Service implements PluginListener<O
         }
     }
 
-    private boolean isExcludedAssistant(TaskInfo info) {
-        return info != null
-                && TaskInfoCompat.getActivityType(info) == ACTIVITY_TYPE_ASSISTANT
-                && (info.baseIntent.getFlags() & Intent.FLAG_ACTIVITY_EXCLUDE_FROM_RECENTS) != 0;
-    }
-
     private InputConsumer createOtherActivityInputConsumer(GestureState previousGestureState,
             GestureState gestureState, MotionEvent event) {
 
@@ -592,14 +587,17 @@ public class TouchInteractionService extends Service implements PluginListener<O
     }
 
     public InputConsumer createOverviewInputConsumer(GestureState previousGestureState,
-            GestureState gestureState, MotionEvent event) {
+            GestureState gestureState, MotionEvent event,
+            boolean forceOverviewInputConsumer) {
         BaseDraggingActivity activity = gestureState.getActivityInterface().getCreatedActivity();
         if (activity == null) {
             return mResetGestureInputConsumer;
         }
 
         if (activity.getRootView().hasWindowFocus()
-                || previousGestureState.isRunningAnimationToLauncher()) {
+                || previousGestureState.isRunningAnimationToLauncher()
+                || (FeatureFlags.ASSISTANT_GIVES_LAUNCHER_FOCUS.get()
+                    && forceOverviewInputConsumer)) {
             return new OverviewInputConsumer(gestureState, activity, mInputMonitorCompat,
                     false /* startingInActivityBounds */);
         } else {
diff --git a/quickstep/recents_ui_overrides/src/com/android/quickstep/inputconsumers/OverviewWithoutFocusInputConsumer.java b/quickstep/recents_ui_overrides/src/com/android/quickstep/inputconsumers/OverviewWithoutFocusInputConsumer.java
index d700a37414..875ec29530 100644
--- a/quickstep/recents_ui_overrides/src/com/android/quickstep/inputconsumers/OverviewWithoutFocusInputConsumer.java
+++ b/quickstep/recents_ui_overrides/src/com/android/quickstep/inputconsumers/OverviewWithoutFocusInputConsumer.java
@@ -21,9 +21,9 @@ import static android.view.MotionEvent.ACTION_MOVE;
 import static android.view.MotionEvent.ACTION_UP;
 
 import static com.android.launcher3.Utilities.squaredHypot;
-import static com.android.systemui.shared.system.ActivityManagerWrapper.CLOSE_SYSTEM_WINDOWS_REASON_RECENTS;
 
 import android.content.Context;
+import android.content.Intent;
 import android.graphics.PointF;
 import android.view.MotionEvent;
 import android.view.VelocityTracker;
@@ -35,11 +35,10 @@ import com.android.launcher3.Utilities;
 import com.android.launcher3.logging.StatsLogUtils;
 import com.android.launcher3.userevent.nano.LauncherLogProto.Action.Direction;
 import com.android.launcher3.userevent.nano.LauncherLogProto.Action.Touch;
-import com.android.quickstep.InputConsumer;
 import com.android.quickstep.GestureState;
+import com.android.quickstep.InputConsumer;
 import com.android.quickstep.RecentsAnimationDeviceState;
 import com.android.quickstep.util.ActiveGestureLog;
-import com.android.systemui.shared.system.ActivityManagerWrapper;
 import com.android.systemui.shared.system.InputMonitorCompat;
 
 public class OverviewWithoutFocusInputConsumer implements InputConsumer {
@@ -152,9 +151,9 @@ public class OverviewWithoutFocusInputConsumer implements InputConsumer {
         }
 
         if (triggerQuickstep) {
-            mGestureState.getActivityInterface().closeOverlay();
-            ActivityManagerWrapper.getInstance()
-                    .closeSystemWindows(CLOSE_SYSTEM_WINDOWS_REASON_RECENTS);
+            mContext.startActivity(new Intent(Intent.ACTION_MAIN)
+                    .addCategory(Intent.CATEGORY_HOME)
+                    .setFlags(Intent.FLAG_ACTIVITY_NEW_TASK));
             ActiveGestureLog.INSTANCE.addLog("startQuickstep");
             BaseActivity activity = BaseDraggingActivity.fromContext(mContext);
             int pageIndex = -1; // This number doesn't reflect workspace page index.
diff --git a/quickstep/recents_ui_overrides/src/com/android/quickstep/util/AssistantUtilities.java b/quickstep/recents_ui_overrides/src/com/android/quickstep/util/AssistantUtilities.java
new file mode 100644
index 0000000000..552db1f4dd
--- /dev/null
+++ b/quickstep/recents_ui_overrides/src/com/android/quickstep/util/AssistantUtilities.java
@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2019 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.android.quickstep.util;
+
+import static com.android.systemui.shared.system.RemoteAnimationTargetCompat.ACTIVITY_TYPE_ASSISTANT;
+
+import android.annotation.TargetApi;
+import android.app.TaskInfo;
+import android.content.Intent;
+import android.os.Build;
+
+import com.android.systemui.shared.system.ActivityManagerWrapper;
+import com.android.systemui.shared.system.TaskInfoCompat;
+
+/**
+ * Utility class for interacting with the Assistant.
+ */
+@TargetApi(Build.VERSION_CODES.Q)
+public final class AssistantUtilities {
+
+    /** Returns true if an Assistant activity that is excluded from recents is running. */
+    public static boolean isExcludedAssistantRunning() {
+        return isExcludedAssistant(ActivityManagerWrapper.getInstance().getRunningTask());
+    }
+
+    /** Returns true if the given task holds an Assistant activity that is excluded from recents. */
+    public static boolean isExcludedAssistant(TaskInfo info) {
+        return info != null
+            && TaskInfoCompat.getActivityType(info) == ACTIVITY_TYPE_ASSISTANT
+            && (info.baseIntent.getFlags() & Intent.FLAG_ACTIVITY_EXCLUDE_FROM_RECENTS) != 0;
+    }
+
+    private AssistantUtilities() {}
+}
diff --git a/src/com/android/launcher3/config/FeatureFlags.java b/src/com/android/launcher3/config/FeatureFlags.java
index 4abdbefc1b..d7543abcbc 100644
--- a/src/com/android/launcher3/config/FeatureFlags.java
+++ b/src/com/android/launcher3/config/FeatureFlags.java
@@ -120,6 +120,10 @@ public final class FeatureFlags {
     public static final TogglableFlag ENABLE_QUICK_CAPTURE_GESTURE = new TogglableFlag(
             "ENABLE_QUICK_CAPTURE_GESTURE", false, "Swipe from right to left to quick capture");
 
+    public static final TogglableFlag ASSISTANT_GIVES_LAUNCHER_FOCUS = new TogglableFlag(
+            "ASSISTANT_GIVES_LAUNCHER_FOCUS", false,
+            "Allow Launcher to handle nav bar gestures while Assistant is running over it");
+
     public static void initialize(Context context) {
         // Avoid the disk read for user builds
         if (Utilities.IS_DEBUG_DEVICE) {
diff --git a/src/com/android/launcher3/views/BaseDragLayer.java b/src/com/android/launcher3/views/BaseDragLayer.java
index 2a4c5a7bfe..e43fc8a01c 100644
--- a/src/com/android/launcher3/views/BaseDragLayer.java
+++ b/src/com/android/launcher3/views/BaseDragLayer.java
@@ -170,10 +170,8 @@ public abstract class BaseDragLayer<T extends Context & ActivityContext>
             // Only look for controllers if we are not dispatching from gesture area and proxy is
             // not active
             mActiveController = findControllerToHandleTouch(ev);
-
-            if (mActiveController != null) return true;
         }
-        return false;
+        return mActiveController != null;
     }
 
     @Override