chore(rollout): address coments + minor improvements

docs/source/hil_data_collection.mdx

@@ -108,7 +108,7 @@ lerobot-rollout --strategy.type=dagger \
     --teleop.port_left=/dev/ttyACM0 \
     --teleop.port_right=/dev/ttyACM1 \
     --policy.path=outputs/pretrain/checkpoints/last/pretrained_model \
-    --dataset.repo_id=your-username/hil-dataset \
+    --dataset.repo_id=your-username/rollout_hil_dataset \
     --dataset.single_task="Fold the T-shirt properly" \
     --dataset.fps=30 \
     --strategy.num_episodes=50 \
@@ -135,7 +135,7 @@ lerobot-rollout --strategy.type=dagger \
     --teleop.port_left=/dev/ttyACM0 \
     --teleop.port_right=/dev/ttyACM1 \
     --policy.path=outputs/pretrain/checkpoints/last/pretrained_model \
-    --dataset.repo_id=your-username/hil-rtc-dataset \
+    --dataset.repo_id=your-username/rollout_hil_rtc_dataset \
     --dataset.single_task="Fold the T-shirt properly" \
     --dataset.fps=30 \
     --strategy.num_episodes=50 \

docs/source/inference.mdx

@@ -59,7 +59,7 @@ lerobot-rollout \
     --robot.type=so100_follower \
     --robot.port=/dev/ttyACM0 \
     --robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}}" \
-    --dataset.repo_id=${HF_USER}/eval_data \
+    --dataset.repo_id=${HF_USER}/rollout_eval_data \
     --dataset.single_task="Put lego brick into the box" \
     --duration=3600
 ```
@@ -84,7 +84,7 @@ lerobot-rollout \
     --policy.path=${HF_USER}/my_policy \
     --robot.type=koch_follower \
     --robot.port=/dev/ttyACM0 \
-    --dataset.repo_id=${HF_USER}/highlight_data \
+    --dataset.repo_id=${HF_USER}/rollout_highlight_data \
     --dataset.single_task="Pick up the red cube"
 ```
 
@@ -118,7 +118,7 @@ lerobot-rollout \
     --policy.path=outputs/pretrain/checkpoints/last/pretrained_model \
     --robot.type=bi_openarm_follower \
     --teleop.type=openarm_mini \
-    --dataset.repo_id=${HF_USER}/hil_data \
+    --dataset.repo_id=${HF_USER}/rollout_hil_data \
     --dataset.single_task="Fold the T-shirt"
 ```
 
@@ -134,7 +134,7 @@ lerobot-rollout \
     --robot.port=/dev/ttyACM0 \
     --teleop.type=so101_leader \
     --teleop.port=/dev/ttyACM1 \
-    --dataset.repo_id=${HF_USER}/dagger_data \
+    --dataset.repo_id=${HF_USER}/rollout_dagger_data \
     --dataset.single_task="Grasp the block"
 ```
 

src/lerobot/rollout/configs.py

@@ -136,11 +136,11 @@ class DAggerStrategyConfig(RolloutStrategyConfig):
     2. **correction** — toggle human correction recording.
     3. **upload** — push dataset to hub on demand (corrections-only mode).
 
-    When ``record_autonomous=True`` (default) both autonomous and correction
+    When ``record_autonomous=False`` (default) only human-correction windows
-    frames are recorded with size-based episode rotation (same as Sentry)
+    are recorded — each correction becomes its own episode.  Set to ``True``
-    and background uploading.  ``push_to_hub`` is blocked while a correction
+    to record both autonomous and correction frames with size-based episode
-    is in progress.  Set to ``False`` to record only the human-correction
+    rotation (same as Sentry) and background uploading.  ``push_to_hub`` is
-    windows, where each correction becomes its own episode.
+    blocked while a correction is in progress.
     """
 
     # Number of correction episodes to collect (corrections-only mode).

src/lerobot/rollout/context.py

@@ -346,10 +346,11 @@ def build_rollout_context(
                     "names": None,
                 }
 
-            if not cfg.dataset.repo_id.startswith("rollout_"):
+            repo_name = cfg.dataset.repo_id.split("/", 1)[-1]
+            if not repo_name.startswith("rollout_"):
                 raise ValueError(
                     "Dataset names for rollout must start with 'rollout_'. "
-                    "Use --dataset.repo_id=rollout_<name> for policy deployment datasets."
+                    "Use --dataset.repo_id=<user>/rollout_<name> for policy deployment datasets."
                 )
             cfg.dataset.stamp_repo_id()
             dataset = LeRobotDataset.create(

src/lerobot/rollout/inference/factory.py

@@ -68,10 +68,10 @@ class SyncInferenceConfig(InferenceEngineConfig):
 class RTCInferenceConfig(InferenceEngineConfig):
     """Real-Time Chunking: async policy inference in a background thread."""
 
-    # ``RTCConfig`` is a small dataclass with default-only fields, so eagerly
+    # Selecting ``--inference.type=rtc`` means the user wants RTC, so
-    # constructing one here costs nothing and keeps draccus' CLI surface flat
+    # ``enabled`` defaults to True here (unlike the policy-side RTCConfig
-    # (``--inference.rtc.execution_horizon=...`` etc.).  No need to lazy-init.
+    # which defaults to False for the ``rtc_config: RTCConfig | None`` path).
-    rtc: RTCConfig = field(default_factory=RTCConfig)
+    rtc: RTCConfig = field(default_factory=lambda: RTCConfig(enabled=True))
     queue_threshold: int = 30
 
 

src/lerobot/rollout/strategies/base.py

@@ -73,7 +73,7 @@ class BaseStrategy(RolloutStrategy):
             if (sleep_t := control_interval - dt) > 0:
                 precise_sleep(sleep_t)
             else:
-                logging.warning(
+                logger.warning(
                     f"Record loop is running slower ({1 / dt:.1f} Hz) than the target FPS ({cfg.fps} Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation"
                 )
 

src/lerobot/rollout/strategies/dagger.py

@@ -509,7 +509,7 @@ class DAggerStrategy(RolloutStrategy):
                     if (sleep_t := control_interval - dt) > 0:
                         precise_sleep(sleep_t)
                     else:
-                        logging.warning(
+                        logger.warning(
                             f"Record loop is running slower ({1 / dt:.1f} Hz) than the target FPS ({cfg.fps} Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation"
                         )
 
@@ -653,7 +653,7 @@ class DAggerStrategy(RolloutStrategy):
                     if (sleep_t := control_interval - dt) > 0:
                         precise_sleep(sleep_t)
                     else:
-                        logging.warning(
+                        logger.warning(
                             f"Record loop is running slower ({1 / dt:.1f} Hz) than the target FPS ({cfg.fps} Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation"
                         )
 

src/lerobot/rollout/strategies/highlight.py

@@ -152,11 +152,7 @@ class HighlightStrategy(RolloutStrategy):
                         # NOTE: ``is_set()`` then ``clear()`` is not atomic
                         # against the keyboard thread setting the flag again
                         # in between — but that is benign: we lose at most one
-                        # toggle, processed on the next iteration.  The
+                        # toggle, processed on the next iteration.
-                        # ``_recording_live`` branch below is reached in the
-                        # SAME iteration after ``clear()`` runs, so a frame
-                        # finalised by ``save_episode()`` is never re-added to
-                        # the next episode.
                         if self._save_requested.is_set():
                             self._save_requested.clear()
                             if not self._recording_live.is_set():
@@ -177,6 +173,7 @@ class HighlightStrategy(RolloutStrategy):
                                     play_sounds,
                                 )
                                 self._recording_live.clear()
+                                continue  # frame already consumed — skip ring.append
 
                         if self._push_requested.is_set():
                             self._push_requested.clear()
@@ -192,7 +189,7 @@ class HighlightStrategy(RolloutStrategy):
                     if (sleep_t := control_interval - dt) > 0:
                         precise_sleep(sleep_t)
                     else:
-                        logging.warning(
+                        logger.warning(
                             f"Record loop is running slower ({1 / dt:.1f} Hz) than the target FPS ({cfg.fps} Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation"
                         )
 

src/lerobot/rollout/strategies/sentry.py

@@ -161,7 +161,7 @@ class SentryStrategy(RolloutStrategy):
                     if (sleep_t := control_interval - dt) > 0:
                         precise_sleep(sleep_t)
                     else:
-                        logging.warning(
+                        logger.warning(
                             f"Record loop is running slower ({1 / dt:.1f} Hz) than the target FPS ({cfg.fps} Hz). Dataset frames might be dropped and robot control might be unstable. Common causes are: 1) Camera FPS not keeping up 2) Policy inference taking too long 3) CPU starvation"
                         )
 

src/lerobot/scripts/lerobot_rollout.py

@@ -63,7 +63,7 @@ Usage examples
         --inference.type=rtc \\
         --robot.type=so100_follower \\
         --robot.port=/dev/ttyACM0 \\
-        --dataset.repo_id=user/sentry-data \\
+        --dataset.repo_id=user/rollout_sentry_data \\
         --dataset.single_task="patrol" --duration=3600
 
     # Highlight mode — ring buffer, press 's' to save, 'h' to push
@@ -73,7 +73,7 @@ Usage examples
         --policy.path=lerobot/act_koch_real \\
         --robot.type=koch_follower \\
         --robot.port=/dev/ttyACM0 \\
-        --dataset.repo_id=user/highlight-data \\
+        --dataset.repo_id=user/rollout_highlight_data \\
         --dataset.single_task="pick up cube"
 
     # DAgger mode — human-in-the-loop corrections only
@@ -83,7 +83,7 @@ Usage examples
         --policy.path=outputs/pretrain/checkpoints/last/pretrained_model \\
         --robot.type=bi_openarm_follower \\
         --teleop.type=openarm_mini \\
-        --dataset.repo_id=user/hil-data \\
+        --dataset.repo_id=user/rollout_hil_data \\
         --dataset.single_task="Fold the T-shirt"
 
     # DAgger mode — continuous recording with RTC inference
@@ -98,7 +98,7 @@ Usage examples
         --robot.port=/dev/ttyACM0 \\
         --teleop.type=so101_leader \\
         --teleop.port=/dev/ttyACM1 \\
-        --dataset.repo_id=user/dagger-rtc-data \\
+        --dataset.repo_id=user/rollout_dagger_rtc_data \\
         --dataset.single_task="Grasp the block"
 
     # With Rerun visualization and torch.compile
@@ -117,7 +117,7 @@ Usage examples
         --policy.path=user/my_policy \\
         --robot.type=so100_follower \\
         --robot.port=/dev/ttyACM0 \\
-        --dataset.repo_id=user/sentry-data \\
+        --dataset.repo_id=user/rollout_sentry_data \\
         --dataset.single_task="patrol" \\
         --resume=true
 """