refactor(utils): consolidate keyboard listener creation

src/lerobot/rollout/strategies/dagger.py

@@ -47,7 +47,6 @@ from __future__ import annotations
 import contextlib
 import enum
 import logging
-import sys
 import time
 from concurrent.futures import Future, ThreadPoolExecutor
 from threading import Event, Lock
@@ -64,8 +63,7 @@ from lerobot.datasets import VideoEncodingManager
 from lerobot.datasets.utils import DEFAULT_VIDEO_FILE_SIZE_IN_MB
 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
+from lerobot.utils.keyboard_input import create_key_listener
-from lerobot.utils.keyboard_input import TerminalKeyListener, pynput_can_capture
 from lerobot.utils.pedal import start_pedal_listener
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import log_say
@@ -74,15 +72,6 @@ from ..configs import DAggerKeyboardConfig, DAggerPedalConfig, DAggerStrategyCon
 from ..context import RolloutContext
 from .core import RolloutStrategy, estimate_max_episode_seconds, safe_push_to_hub, send_next_action
 
-keyboard = None
-PYNPUT_AVAILABLE = _pynput_available
-if PYNPUT_AVAILABLE:
-    try:
-        from pynput import keyboard
-    except Exception as e:
-        PYNPUT_AVAILABLE = False
-        logging.info("Could not import pynput keyboard backend: %s", e)
-
 logger = logging.getLogger(__name__)
 
 
@@ -177,12 +166,11 @@ class DAggerEvents:
 def _init_dagger_keyboard(events: DAggerEvents, cfg: DAggerKeyboardConfig):
     """Initialise a keyboard listener for DAgger's 3 controls.
 
-    Uses the pynput global listener on X11 / trusted-macOS / Windows, and falls
+    Backend selection (pynput on X11 / trusted-macOS / Windows, a terminal reader on
-    back to a display-independent terminal reader on Wayland / headless sessions
+    Wayland / headless TTY) is delegated to :func:`create_key_listener`. Returns the
-    (as long as stdin is an interactive TTY). Returns the listener (exposing
+    listener (exposing ``stop()``) or ``None`` when no keyboard backend is usable.
-    ``stop()``) or ``None`` when no keyboard backend is usable.
     """
-    # Map config key names to DAgger event names (shared by both backends).
+    # Map config key names to DAgger event names.
     key_to_event = {
         cfg.pause_resume: "pause_resume",
         cfg.correction: "correction",
@@ -199,62 +187,13 @@ def _init_dagger_keyboard(events: DAggerEvents, cfg: DAggerKeyboardConfig):
         if name == cfg.upload:
             events.upload_requested.set()
 
-    if pynput_can_capture() and keyboard is not None:
+    return create_key_listener(
-        # Map pynput special keys to the same names the terminal backend emits.
+        dispatch,
-        special_keys = {
+        controls_help=(
-            "space": keyboard.Key.space,
+            f"pause_resume='{cfg.pause_resume}', correction='{cfg.correction}', "
-            "tab": keyboard.Key.tab,
+            f"upload='{cfg.upload}', ESC=stop"
-            "enter": keyboard.Key.enter,
+        ),
-        }
-
-        def _resolve_key(key) -> str | None:
-            """Resolve a pynput key event to a config-comparable string."""
-            if key == keyboard.Key.esc:
-                return "esc"
-            for name, pynput_key in special_keys.items():
-                if key == pynput_key:
-                    return name
-            if hasattr(key, "char") and key.char:
-                return key.char
-            return None
-
-        def on_press(key):
-            try:
-                resolved = _resolve_key(key)
-                if resolved is not None:
-                    dispatch(resolved)
-            except Exception as e:
-                logger.debug("Key error: %s", e)
-
-        listener = keyboard.Listener(on_press=on_press)
-        listener.start()
-        logger.info(
-            "DAgger keyboard listener started (pause_resume='%s', correction='%s', upload='%s', ESC=stop)",
-            cfg.pause_resume,
-            cfg.correction,
-            cfg.upload,
-        )
-        return listener
-
-    if sys.stdin.isatty():
-        listener = TerminalKeyListener(dispatch)
-        listener.start()
-        logger.info(
-            "DAgger terminal keyboard listener started — no global capture available "
-            "(Wayland/headless); keep this terminal focused "
-            "(pause_resume='%s', correction='%s', upload='%s', ESC=stop)",
-            cfg.pause_resume,
-            cfg.correction,
-            cfg.upload,
-        )
-        return listener
-
-    logger.warning(
-        "DAgger keyboard controls disabled: no usable display (Wayland/headless) and stdin is not "
-        "an interactive terminal. Run from an interactive terminal, or set the DAgger "
-        "input_device to 'pedal'."
     )
-    return None
 
 
 def _init_dagger_pedal(events: DAggerEvents, cfg: DAggerPedalConfig):

src/lerobot/rollout/strategies/highlight.py

@@ -18,7 +18,6 @@ from __future__ import annotations
 
 import contextlib
 import logging
-import sys
 import time
 from concurrent.futures import Future, ThreadPoolExecutor
 from threading import Event as ThreadingEvent, Lock
@@ -26,8 +25,8 @@ from threading import Event as ThreadingEvent, Lock
 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.import_utils import require_package
-from lerobot.utils.keyboard_input import TerminalKeyListener, pynput_can_capture
+from lerobot.utils.keyboard_input import create_key_listener
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import log_say
 
@@ -36,15 +35,6 @@ from ..context import RolloutContext
 from ..ring_buffer import RolloutRingBuffer
 from .core import RolloutStrategy, safe_push_to_hub, send_next_action
 
-PYNPUT_AVAILABLE = _pynput_available
-keyboard = None
-if PYNPUT_AVAILABLE:
-    try:
-        from pynput import keyboard
-    except Exception as e:
-        PYNPUT_AVAILABLE = False
-        logging.info("Could not import pynput keyboard backend: %s", e)
-
 logger = logging.getLogger(__name__)
 
 
@@ -231,9 +221,8 @@ class HighlightStrategy(RolloutStrategy):
     def _setup_keyboard(self, shutdown_event: ThreadingEvent) -> None:
         """Set up a keyboard listener for the save and push keys.
 
-        Uses the pynput global listener on X11 / trusted-macOS / Windows and falls
+        Backend selection (pynput on X11 / trusted-macOS / Windows, a terminal reader on
-        back to a display-independent terminal reader on Wayland / headless
+        Wayland / headless TTY) is delegated to :func:`create_key_listener`.
-        sessions (when stdin is an interactive TTY).
         """
         save_key = self.config.save_key
         push_key = self.config.push_key
@@ -248,34 +237,8 @@ class HighlightStrategy(RolloutStrategy):
                 self._save_requested.clear()
                 shutdown_event.set()
 
-        if pynput_can_capture() and keyboard is not None:
+        self._listener = create_key_listener(
-
+            dispatch, controls_help=f"save='{save_key}', push='{push_key}', ESC=stop"
-            def on_press(key):
-                with contextlib.suppress(Exception):
-                    if hasattr(key, "char") and key.char:
-                        dispatch(key.char)
-                    elif key == keyboard.Key.esc:
-                        dispatch("esc")
-
-            self._listener = keyboard.Listener(on_press=on_press)
-            self._listener.start()
-            logger.info("Keyboard listener started (save='%s', push='%s', ESC=stop)", save_key, push_key)
-            return
-
-        if sys.stdin.isatty():
-            self._listener = TerminalKeyListener(dispatch)
-            self._listener.start()
-            logger.info(
-                "Terminal keyboard listener started — no global capture available "
-                "(Wayland/headless); keep this terminal focused (save='%s', push='%s', ESC=stop)",
-                save_key,
-                push_key,
-            )
-            return
-
-        logger.warning(
-            "Highlight keyboard controls disabled: no usable display (Wayland/headless) and stdin "
-            "is not an interactive terminal."
         )
 
     def _background_push(self, dataset, cfg) -> None:

src/lerobot/utils/keyboard_input.py

@@ -307,6 +307,92 @@ class TerminalKeyListener:
             atexit.unregister(self.stop)
 
 
+# Map pynput key objects to the same canonical names TerminalKeyListener emits, so a
+# single dispatch works across both backends. Empty when pynput is unavailable.
+if keyboard is not None:
+    _PYNPUT_KEY_NAMES = {
+        keyboard.Key.right: "right",
+        keyboard.Key.left: "left",
+        keyboard.Key.up: "up",
+        keyboard.Key.down: "down",
+        keyboard.Key.esc: "esc",
+        keyboard.Key.enter: "enter",
+        keyboard.Key.tab: "tab",
+        keyboard.Key.space: "space",
+        keyboard.Key.backspace: "backspace",
+    }
+else:
+    _PYNPUT_KEY_NAMES = {}
+
+
+def _resolve_pynput_key(key) -> str | None:
+    """Resolve a pynput key event to the canonical name TerminalKeyListener also emits.
+
+    Special keys map through :data:`_PYNPUT_KEY_NAMES`; character keys fall back to their
+    ``.char`` (e.g. ``"n"``). Returns ``None`` for keys with no mapping and no character.
+    """
+    name = _PYNPUT_KEY_NAMES.get(key)
+    if name is not None:
+        return name
+    # ``or None`` keeps the historical truthy-char semantics: an empty/None char is "no key".
+    return getattr(key, "char", None) or None
+
+
+def create_key_listener(dispatch: Callable[[str], None], *, controls_help: str = ""):
+    """Start a keyboard listener that routes resolved key names to ``dispatch``.
+
+    Shared backend selection used by recording and the rollout strategies:
+
+    * the ``pynput`` global listener on X11 / trusted-macOS / Windows (on macOS the
+      listener's ``IS_TRUSTED`` flag is checked after start, and an untrusted listener is
+      stopped so the terminal backend is used instead);
+    * the stdlib :class:`TerminalKeyListener` on Wayland / headless sessions with a TTY;
+    * ``None`` when no backend is usable (non-interactive / piped runs).
+
+    Both backends pass ``dispatch`` the same canonical key names ("right" / "left" / "up" /
+    "down" / "esc" / "enter" / "tab" / "space" / "backspace", or a character), so one
+    ``dispatch`` works regardless of backend. ``controls_help`` is an optional hint
+    appended to the log messages.
+
+    Returns the listener (exposing ``.stop()``) or ``None``.
+    """
+    suffix = f" ({controls_help})" if controls_help else ""
+
+    if pynput_can_capture() and keyboard is not None:
+
+        def on_press(key):
+            with contextlib.suppress(Exception):
+                name = _resolve_pynput_key(key)
+                if name is not None:
+                    dispatch(name)
+
+        listener = keyboard.Listener(on_press=on_press)
+        listener.start()
+        if pynput_listener_is_trusted(listener):
+            logger.info("Keyboard listener started%s.", suffix)
+            return listener
+        # macOS without Accessibility / Input-Monitoring permission: the listener never
+        # fires. Stop it and fall through to the terminal backend.
+        logger.warning(
+            "pynput keyboard listener is not trusted (missing macOS Accessibility / "
+            "Input Monitoring permission); falling back to terminal keyboard input."
+        )
+        listener.stop()
+
+    if sys.stdin.isatty():
+        listener = TerminalKeyListener(dispatch)
+        listener.start()
+        logger.info("Using terminal keyboard input — keep this terminal focused%s.", suffix)
+        return listener
+
+    logger.warning(
+        "Keyboard controls unavailable: no usable display (Wayland/headless) and stdin is "
+        "not an interactive terminal%s.",
+        suffix,
+    )
+    return None
+
+
 def init_keyboard_listener():
     """Initialize a non-blocking keyboard listener for interactive recording controls.
 
@@ -337,6 +423,9 @@ def init_keyboard_listener():
         "stop_recording": False,
     }
 
+    # Accept the single-byte letter equivalents n/r/q alongside the arrow/Esc keys: the
+    # letters are immune to the escape-sequence split/delay/interception that affects arrows
+    # over laggy SSH/VNC links. Case-insensitive so Shift+letter still works.
     def on_key(name: str) -> None:
         key = name.lower()
         if key in ("right", "n"):
@@ -347,50 +436,5 @@ def init_keyboard_listener():
             apply_recording_control("esc", events)
         # other keys (incl. up/down) are intentionally ignored
 
-    if pynput_can_capture() and keyboard is not None:
+    listener = create_key_listener(on_key, controls_help="Right/Left/Esc, or n=next, r=re-record, q=quit")
-
-        def on_press(key):
-            try:
-                if key == keyboard.Key.right:
-                    on_key("right")
-                elif key == keyboard.Key.left:
-                    on_key("left")
-                elif key == keyboard.Key.esc:
-                    on_key("esc")
-                else:
-                    # Character keys (e.g. n/r/q) expose a ``.char``; special keys do not.
-                    char = getattr(key, "char", None)
-                    if char is not None:
-                        on_key(char)
-            except Exception as e:
-                print(f"Error handling key press: {e}")
-
-        listener = keyboard.Listener(on_press=on_press)
-        listener.start()
-        if pynput_listener_is_trusted(listener):
-            return listener, events
-        # macOS without Accessibility / Input-Monitoring permission: the listener
-        # never fires. Stop it and fall through to the terminal backend.
-        logger.warning(
-            "pynput keyboard listener is not trusted (missing macOS Accessibility / "
-            "Input Monitoring permission); falling back to terminal keyboard input. "
-            "Grant permission to your Python binary to restore global hotkeys."
-        )
-        listener.stop()
-
-    # Display-independent fallback (Wayland / headless-with-TTY / macOS-untrusted).
-    if not sys.stdin.isatty():
-        logger.warning(
-            "Keyboard controls unavailable: no usable display (Wayland/headless) and "
-            "stdin is not an interactive terminal. Recording will rely on the "
-            "episode/reset timers (or Ctrl+C)."
-        )
-        return None, events
-
-    listener = TerminalKeyListener(on_key)
-    listener.start()
-    logger.info(
-        "Using terminal keyboard input (no global capture available here). "
-        "Controls: Right/Left/Esc, or n=next, r=re-record, q=quit. Keep this terminal focused."
-    )
     return listener, events

tests/utils/test_keyboard_input.py

@@ -32,6 +32,7 @@ import lerobot.utils.keyboard_input as ki
 from lerobot.utils.keyboard_input import (
     TerminalKeyListener,
     apply_recording_control,
+    create_key_listener,
     init_keyboard_listener,
     is_headless,
     is_wayland,
@@ -199,3 +200,29 @@ def test_init_terminal_key_routing(monkeypatch, key, flag):
     listener, events = init_keyboard_listener()
     listener._on_key(key)
     assert events[flag] is True
+
+
+# --- Shared factory + pynput key resolver -----------------------------------
+def test_resolve_pynput_key_char_fallback():
+    """Unmapped keys fall back to ``.char`` (and yield None when there is none)."""
+    assert ki._resolve_pynput_key(type("K", (), {"char": "s"})()) == "s"
+    assert ki._resolve_pynput_key(type("K", (), {"char": None})()) is None
+    assert ki._resolve_pynput_key(type("K", (), {"char": ""})()) is None  # empty char -> no key
+
+
+def test_create_key_listener_routes_to_dispatch(monkeypatch):
+    """The terminal backend forwards canonical key names straight to ``dispatch``."""
+    monkeypatch.setattr(ki, "pynput_can_capture", lambda: False)
+    _set_tty(monkeypatch, is_tty=True)
+    monkeypatch.setattr(TerminalKeyListener, "start", lambda self: None)
+    seen = []
+    listener = create_key_listener(seen.append, controls_help="save='s'")
+    assert isinstance(listener, TerminalKeyListener)
+    listener._on_key("space")
+    assert seen == ["space"]
+
+
+def test_create_key_listener_none_without_tty(monkeypatch):
+    monkeypatch.setattr(ki, "pynput_can_capture", lambda: False)
+    _set_tty(monkeypatch, is_tty=False)
+    assert create_key_listener(lambda name: None) is None