minor improvements

src/lerobot/rollout/configs.py

@@ -182,18 +182,6 @@ class RolloutConfig:
     compile_warmup_inferences: int = 2
 
     def __post_init__(self):
-        # --- Policy loading (same pattern as existing scripts) ---
-        policy_path = parser.get_path_arg("policy")
-        if policy_path:
-            cli_overrides = parser.get_cli_overrides("policy")
-            self.policy = PreTrainedConfig.from_pretrained(policy_path, cli_overrides=cli_overrides)
-            self.policy.pretrained_path = policy_path
-        if self.policy is None:
-            raise ValueError("--policy.path is required for rollout")
-
-        if self.robot is None:
-            raise ValueError("--robot.type is required for rollout")
-
         # --- Strategy-specific validation ---
         if isinstance(self.strategy, DAggerStrategyConfig) and self.teleop is None:
             raise ValueError("DAgger strategy requires --teleop.type to be set")
@@ -237,6 +225,18 @@ class RolloutConfig:
             logger.warning("DAgger with record_autonomous=True forces streaming_encoding=True")
             self.dataset.streaming_encoding = True
 
+        # --- Policy loading (same pattern as existing scripts) ---
+        if self.robot is None:
+            raise ValueError("--robot.type is required for rollout")
+
+        policy_path = parser.get_path_arg("policy")
+        if policy_path:
+            cli_overrides = parser.get_cli_overrides("policy")
+            self.policy = PreTrainedConfig.from_pretrained(policy_path, cli_overrides=cli_overrides)
+            self.policy.pretrained_path = policy_path
+        if self.policy is None:
+            raise ValueError("--policy.path is required for rollout")
+
     @classmethod
     def __get_path_fields__(cls) -> list[str]:
         return ["policy"]

src/lerobot/rollout/context.py

@@ -21,7 +21,6 @@ and :class:`DatasetContext` — assembled into :class:`RolloutContext`.
 
 from __future__ import annotations
 
-import datetime as _dt
 import logging
 from dataclasses import dataclass, field
 from threading import Event
@@ -48,7 +47,7 @@ from lerobot.robots import make_robot_from_config
 from lerobot.teleoperators import Teleoperator, make_teleoperator_from_config
 from lerobot.utils.feature_utils import combine_feature_dicts, hw_to_dataset_features
 
-from .configs import BaseStrategyConfig, DAggerStrategyConfig, RolloutConfig, SentryStrategyConfig
+from .configs import BaseStrategyConfig, DAggerStrategyConfig, RolloutConfig
 from .inference import (
     InferenceStrategy,
     RTCInferenceConfig,
@@ -269,14 +268,9 @@ def build_rollout_context(
         raw_action_keys,
     )
 
-    # --- 5. Dataset (Sentry gets a unique per-run suffix) -------------
+    # --- 5. Dataset -------------
     dataset = None
     if cfg.dataset is not None and not isinstance(cfg.strategy, BaseStrategyConfig):
-        if not cfg.resume and isinstance(cfg.strategy, SentryStrategyConfig) and cfg.dataset.repo_id:
-            suffix = _dt.datetime.now(_dt.UTC).strftime("%Y%m%dT%H%M%SZ")
-            cfg.dataset.repo_id = f"{cfg.dataset.repo_id}-{suffix}"
-            logger.info("Sentry mode: using run-suffixed repo_id=%s", cfg.dataset.repo_id)
-
         if cfg.resume:
             dataset = LeRobotDataset.resume(
                 cfg.dataset.repo_id,

src/lerobot/rollout/strategies/highlight.py

@@ -18,6 +18,8 @@ from __future__ import annotations
 
 import contextlib
 import logging
+import os
+import sys
 import time
 from threading import Event as ThreadingEvent
 
@@ -25,6 +27,7 @@ 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
+from lerobot.utils.import_utils import _pynput_available, require_package
 from lerobot.utils.robot_utils import precise_sleep
 
 from ..configs import HighlightStrategyConfig
@@ -32,6 +35,19 @@ from ..context import RolloutContext
 from ..ring_buffer import RolloutRingBuffer
 from .core import RolloutStrategy, send_next_action
 
+PYNPUT_AVAILABLE = _pynput_available
+keyboard = None
+if PYNPUT_AVAILABLE:
+    try:
+        if ("DISPLAY" not in os.environ) and ("linux" in sys.platform):
+            logging.info("No DISPLAY set. Skipping pynput import.")
+            PYNPUT_AVAILABLE = False
+        else:
+            from pynput import keyboard
+    except Exception as e:
+        PYNPUT_AVAILABLE = False
+        logging.info(f"Could not import pynput: {e}")
+
 logger = logging.getLogger(__name__)
 
 
@@ -54,6 +70,7 @@ class HighlightStrategy(RolloutStrategy):
 
     def __init__(self, config: HighlightStrategyConfig):
         super().__init__(config)
+        require_package("pynput", extra="pynput-dep")
         self._ring: RolloutRingBuffer | None = None
         self._listener = None
         self._save_requested = ThreadingEvent()
@@ -181,8 +198,6 @@ class HighlightStrategy(RolloutStrategy):
             return
 
         try:
-            from pynput import keyboard
-
             save_key = self.config.save_key
 
             def on_press(key):