imports and comments

src/lerobot/rollout/strategies/base.py

@@ -22,7 +22,7 @@ import time
 from lerobot.utils.robot_utils import precise_sleep
 
 from ..context import RolloutContext
-from . import RolloutStrategy, infer_action
+from .core import RolloutStrategy, infer_action
 
 logger = logging.getLogger(__name__)
 

src/lerobot/rollout/strategies/core.py

@@ -28,10 +28,12 @@ from lerobot.utils.constants import OBS_STR
 from lerobot.utils.feature_utils import build_dataset_frame
 from lerobot.utils.robot_utils import precise_sleep
 
+from ..inference import InferenceEngine
+
 if TYPE_CHECKING:
-    from lerobot.rollout.configs import RolloutStrategyConfig
-    from lerobot.rollout.context import RolloutContext
-    from lerobot.rollout.inference import InferenceEngine
+    from ..configs import RolloutStrategyConfig
+    from ..context import RolloutContext
+    from ..inference import InferenceEngine
 
 
 class RolloutStrategy(abc.ABC):
@@ -54,7 +56,6 @@ class RolloutStrategy(abc.ABC):
         Call this from ``setup()`` to avoid duplicating the engine
         construction across every strategy.
         """
-        from lerobot.rollout.inference import InferenceEngine
 
         self._interpolator = ActionInterpolator(multiplier=ctx.cfg.interpolation_multiplier)
         self._engine = InferenceEngine(

src/lerobot/rollout/strategies/highlight.py

@@ -21,6 +21,7 @@ import logging
 import time
 from threading import Event as ThreadingEvent
 
+from lerobot.common.control_utils import is_headless
 from lerobot.datasets import VideoEncodingManager
 from lerobot.utils.constants import ACTION, OBS_STR
 from lerobot.utils.feature_utils import build_dataset_frame
@@ -44,8 +45,6 @@ class HighlightStrategy(RolloutStrategy):
     2. Live recording continues until the save key is pressed again.
     3. The episode is saved and the ring buffer resumes capturing.
 
-    All actions flow through ``robot_action_processor`` before reaching
-    the robot, supporting EE-space recording with joint-space robots.
     """
 
     config: HighlightStrategyConfig
@@ -173,7 +172,6 @@ class HighlightStrategy(RolloutStrategy):
 
     def _setup_keyboard(self) -> None:
         """Set up keyboard listener for the save key."""
-        from lerobot.common.control_utils import is_headless
 
         if is_headless():
             logger.warning("Headless environment — highlight save key unavailable")

src/lerobot/scripts/lerobot_rollout.py

@@ -17,17 +17,13 @@
 """Policy deployment engine with pluggable rollout strategies.
 
 ``lerobot-rollout`` is the single CLI for running trained policies on
-real robots.  It uses a **Strategy Pattern** to provide completely
-isolated, mutually exclusive execution loops:
+real robots.
 
     --strategy.type=base       24/7 autonomous rollout (no recording)
     --strategy.type=sentry     Continuous recording with auto-upload
     --strategy.type=highlight  Ring buffer + keystroke save
     --strategy.type=dagger     Human-in-the-loop (DAgger/RaC)
 
-All strategies accept ``--rtc.enabled=true`` for asynchronous inference
-with slow VLA models (Pi0, Pi0.5, SmolVLA).
-
 Usage examples::
 
     # Base mode (sync inference)
@@ -92,6 +88,7 @@ from lerobot.teleoperators import (  # noqa: F401
     so_leader,
     unitree_g1 as unitree_g1_teleop,
 )
+from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.utils import init_logging
 
 logger = logging.getLogger(__name__)
@@ -123,8 +120,6 @@ def rollout(cfg: RolloutConfig):
 
 
 def main():
-    from lerobot.utils.import_utils import register_third_party_plugins
-
     register_third_party_plugins()
     rollout()