Smooth animation transition logic in Android OpenGL -

i have android app developed using opengl , libgdx.
right not know strategy on how code smooth transitions among set of animations.

example:

we have cat actor.
animation consists of set of key frames paired transform matrix.
have 5 preset animations cat:
idle, walk left, walk right, jump , lie down.

how can transition lets say
walk right => lie down
walk right => walk left
while walk right animation playing half way?

right once animation starts, needs played 1 full cycle until end.
cat can move neutral position.
can play next animation starts neutral position.
final result unnatural , jerky.

what approach should use tackle problem?

just starting next animation when previous 1 isn't finished standard way. looks good, not wait first animation finish.

if still think looks unnatural. must create fast "transition frame" between animations makes more natural. not worth effort if ask me, try first way :)