Mines just started doing the same, seems to sort of hesitate and then changes with a jolt, only does it now and then, and only between 1st and 2nd.
I think as Mat said it learns your style of driving, because mine only started when i drove it hard in manaul for a couple of days.
I'm now trying to teach it good behavour now ;)
Also Mat, is there a fuse or something you pull out to reset the ECU ?