diff --git a/pyproject.toml b/pyproject.toml
index 5b3ba9b53..b61f20933 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -125,9 +125,7 @@ hardware = [
 ]
 viz = [
     "rerun-sdk>=0.24.0,<0.34.0",
-]
-foxglove = [
-    "foxglove-sdk>=0.25.1,<1.0.0",
+    "foxglove-sdk>=0.25.1,<0.26.0",
 ]
 # ── User-facing composite extras (map to CLI scripts) ─────
 # lerobot-record, lerobot-replay, lerobot-calibrate, lerobot-teleoperate, etc.
diff --git a/src/lerobot/rollout/configs.py b/src/lerobot/rollout/configs.py
index 60c47cfba..639e2ba29 100644
--- a/src/lerobot/rollout/configs.py
+++ b/src/lerobot/rollout/configs.py
@@ -226,11 +226,14 @@ class RolloutConfig:
     device: str | None = None
     task: str = ""
     display_data: bool = False
-    # Display data on a remote Rerun server
+    # Visualization backend used when display_data is True: "rerun" or "foxglove".
+    display_mode: str = "rerun"
+    # For "rerun": IP of a remote server to send to. For "foxglove": interface to bind the WebSocket
+    # server to (127.0.0.1 for local only, 0.0.0.0 for all interfaces).
     display_ip: str | None = None
-    # Port of the remote Rerun server
+    # For "rerun": port of the remote server. For "foxglove": port to bind the WebSocket server to.
     display_port: int | None = None
-    # Whether to display compressed images in Rerun
+    # Whether to display compressed (JPEG) images instead of raw frames
     display_compressed_images: bool = False
     # Use vocal synthesis to read events
     play_sounds: bool = True
diff --git a/src/lerobot/rollout/strategies/core.py b/src/lerobot/rollout/strategies/core.py
index 9c897522f..460ad12e5 100644
--- a/src/lerobot/rollout/strategies/core.py
+++ b/src/lerobot/rollout/strategies/core.py
@@ -26,7 +26,7 @@ from lerobot.utils.action_interpolator import ActionInterpolator
 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 lerobot.utils.visualization_utils import log_rerun_data
+from lerobot.utils.visualization_utils import log_visualization_data
 
 from ..inference import InferenceEngine
 
@@ -162,11 +162,12 @@ class RolloutStrategy(abc.ABC):
         action_dict: dict | None,
         runtime_ctx: RuntimeContext,
     ) -> None:
-        """Log observation/action telemetry to Rerun if display_data is enabled."""
+        """Log observation/action telemetry to the visualization backend if display_data is enabled."""
         cfg = runtime_ctx.cfg
         if not cfg.display_data:
             return
-        log_rerun_data(
+        log_visualization_data(
+            cfg.display_mode,
             observation=obs_processed,
             action=action_dict,
             compress_images=cfg.display_compressed_images,
diff --git a/src/lerobot/rollout/strategies/episodic.py b/src/lerobot/rollout/strategies/episodic.py
index e70e66787..15b9bb971 100644
--- a/src/lerobot/rollout/strategies/episodic.py
+++ b/src/lerobot/rollout/strategies/episodic.py
@@ -44,7 +44,7 @@ from lerobot.utils.feature_utils import build_dataset_frame
 from lerobot.utils.keyboard_input import init_keyboard_listener
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import log_say
-from lerobot.utils.visualization_utils import log_rerun_data
+from lerobot.utils.visualization_utils import log_visualization_data
 
 from ..configs import EpisodicStrategyConfig
 from ..context import RolloutContext
@@ -171,6 +171,7 @@ class EpisodicStrategy(RolloutStrategy):
                             fps=fps,
                             control_time_s=reset_time_s,
                             display_data=cfg.display_data,
+                            display_mode=cfg.display_mode,
                             display_compressed=display_compressed,
                         )
 
@@ -259,6 +260,7 @@ class EpisodicStrategy(RolloutStrategy):
         fps: float,
         control_time_s: float,
         display_data: bool,
+        display_mode: str,
         display_compressed: bool,
     ) -> None:
         """Reset-phase loop: teleop drives the robot if available, no recording."""
@@ -288,7 +290,8 @@ class EpisodicStrategy(RolloutStrategy):
 
                 if display_data:
                     obs_processed = processors.robot_observation_processor(obs)
-                    log_rerun_data(
+                    log_visualization_data(
+                        display_mode,
                         observation=obs_processed,
                         action=act_teleop,
                         compress_images=display_compressed,
diff --git a/src/lerobot/scripts/lerobot_dataset_viz.py b/src/lerobot/scripts/lerobot_dataset_viz.py
index 2c94736ee..2f1e978af 100644
--- a/src/lerobot/scripts/lerobot_dataset_viz.py
+++ b/src/lerobot/scripts/lerobot_dataset_viz.py
@@ -70,6 +70,7 @@ local$ lerobot-dataset-viz \
 ```
 This starts a Foxglove WebSocket server that serves the episode on demand from the on-disk dataset,
 so you can play/pause and scrub anywhere in the episode using Foxglove's playback controls.
+Requires the Foxglove extra: ``pip install 'lerobot[foxglove]'``.
 
 """
 
diff --git a/src/lerobot/scripts/lerobot_rollout.py b/src/lerobot/scripts/lerobot_rollout.py
index daee87bbe..879070721 100644
--- a/src/lerobot/scripts/lerobot_rollout.py
+++ b/src/lerobot/scripts/lerobot_rollout.py
@@ -145,6 +145,9 @@ Usage examples
         --dataset.rgb_encoder.vcodec=h264 \\
         --dataset.rgb_encoder.preset=fast \\
         --dataset.rgb_encoder.extra_options={"tune": "film", "profile:v": "high", "bf": 2}
+
+    # Stream to Foxglove instead of Rerun:
+    # add --display_mode=foxglove, then connect the Foxglove app to ws://127.0.0.1:8765.
 """
 
 import logging
@@ -190,7 +193,7 @@ from lerobot.teleoperators import (  # noqa: F401
 from lerobot.utils.import_utils import register_third_party_plugins
 from lerobot.utils.process import ProcessSignalHandler
 from lerobot.utils.utils import init_logging
-from lerobot.utils.visualization_utils import init_rerun
+from lerobot.utils.visualization_utils import init_visualization, shutdown_visualization
 
 logger = logging.getLogger(__name__)
 
@@ -201,8 +204,13 @@ def rollout(cfg: RolloutConfig):
     init_logging()
 
     if cfg.display_data:
-        logger.info("Initializing Rerun visualization (ip=%s, port=%s)", cfg.display_ip, cfg.display_port)
-        init_rerun(session_name="rollout", ip=cfg.display_ip, port=cfg.display_port)
+        logger.info(
+            "Initializing %s visualization (ip=%s, port=%s)",
+            cfg.display_mode,
+            cfg.display_ip,
+            cfg.display_port,
+        )
+        init_visualization(cfg.display_mode, session_name="rollout", ip=cfg.display_ip, port=cfg.display_port)
 
     signal_handler = ProcessSignalHandler(use_threads=True, display_pid=False)
     shutdown_event = signal_handler.shutdown_event
@@ -227,6 +235,8 @@ def rollout(cfg: RolloutConfig):
         logger.info("Interrupted by user")
     finally:
         strategy.teardown(ctx)
+        if cfg.display_data:
+            shutdown_visualization(cfg.display_mode)
 
     logger.info("Rollout finished")
 
diff --git a/src/lerobot/scripts/lerobot_teleoperate.py b/src/lerobot/scripts/lerobot_teleoperate.py
index 0c7f49010..30f13987e 100644
--- a/src/lerobot/scripts/lerobot_teleoperate.py
+++ b/src/lerobot/scripts/lerobot_teleoperate.py
@@ -31,8 +31,8 @@ lerobot-teleoperate \
     --display_data=true
 ```
 
-To stream the data to Foxglove instead of Rerun, add ``--display_mode=foxglove`` (then connect the
-Foxglove app to ``ws://127.0.0.1:8765``; override the port with ``--display_port=<port>``):
+To stream the data to Foxglove instead of Rerun, add ``--display_mode=foxglove``
+(then connect the Foxglove app to ``ws://127.0.0.1:8765``; override the port with ``--display_port=<port>``):
 
 ```shell
 lerobot-teleoperate \
diff --git a/uv.lock b/uv.lock
index 2b784cab9..bd60319cf 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,5 +1,5 @@
 version = 1
-revision = 2
+revision = 3
 requires-python = ">=3.12"
 resolution-markers = [
     "(python_full_version >= '3.15' and platform_machine == 'AMD64' and sys_platform == 'linux') or (python_full_version >= '3.15' and platform_machine == 'x86_64' and sys_platform == 'linux')",
@@ -2831,6 +2831,7 @@ all = [
     { name = "faker" },
     { name = "fastapi" },
     { name = "feetech-servo-sdk" },
+    { name = "foxglove-sdk" },
     { name = "grpcio" },
     { name = "grpcio-tools" },
     { name = "gym-aloha" },
@@ -2915,6 +2916,7 @@ core-scripts = [
     { name = "av" },
     { name = "datasets" },
     { name = "deepdiff" },
+    { name = "foxglove-sdk" },
     { name = "jsonlines" },
     { name = "pandas" },
     { name = "pyarrow" },
@@ -2937,6 +2939,7 @@ dataset = [
 dataset-viz = [
     { name = "av" },
     { name = "datasets" },
+    { name = "foxglove-sdk" },
     { name = "jsonlines" },
     { name = "pandas" },
     { name = "pyarrow" },
@@ -2980,9 +2983,6 @@ feetech = [
     { name = "feetech-servo-sdk" },
     { name = "pyserial" },
 ]
-foxglove = [
-    { name = "foxglove-sdk" },
-]
 gamepad = [
     { name = "hidapi" },
     { name = "pygame" },
@@ -3206,6 +3206,7 @@ video-benchmark = [
     { name = "scikit-image" },
 ]
 viz = [
+    { name = "foxglove-sdk" },
     { name = "rerun-sdk" },
 ]
 vla-jepa = [
@@ -3245,7 +3246,7 @@ requires-dist = [
     { name = "fastapi", marker = "extra == 'phone'", specifier = "<1.0" },
     { name = "feetech-servo-sdk", marker = "extra == 'feetech'", specifier = ">=1.0.0,<2.0.0" },
     { name = "flash-attn", marker = "sys_platform != 'darwin' and extra == 'groot'", specifier = ">=2.5.9,<3.0.0" },
-    { name = "foxglove-sdk", marker = "extra == 'foxglove'", specifier = ">=0.25.1,<1.0.0" },
+    { name = "foxglove-sdk", marker = "extra == 'viz'", specifier = ">=0.25.1,<0.26.0" },
     { name = "grpcio", marker = "extra == 'grpcio-dep'", specifier = ">=1.73.1,<2.0.0" },
     { name = "grpcio", marker = "extra == 'reachy2'", specifier = "<=1.73.1" },
     { name = "grpcio-tools", marker = "extra == 'dev'", specifier = ">=1.73.1,<2.0.0" },
@@ -3441,7 +3442,7 @@ requires-dist = [
     { name = "transformers", marker = "extra == 'transformers-dep'", specifier = ">=5.4.0,<5.6.0" },
     { name = "wandb", marker = "extra == 'training'", specifier = ">=0.24.0,<0.28.0" },
 ]
-provides-extras = ["dataset", "training", "hardware", "viz", "foxglove", "core-scripts", "evaluation", "dataset-viz", "av-dep", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "accelerate-dep", "can-dep", "peft-dep", "scipy-dep", "diffusers-dep", "qwen-vl-utils-dep", "matplotlib-dep", "pyserial-dep", "deepdiff-dep", "pynput-dep", "pyzmq-dep", "motorbridge-dep", "motorbridge-smart-servo-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "rebot", "kinematics", "intelrealsense", "phone", "diffusion", "wallx", "pi", "molmoact2", "smolvla", "multi-task-dit", "groot", "sarm", "robometer", "topreward", "xvla", "eo1", "hilserl", "vla-jepa", "async", "peft", "annotations", "dev", "notebook", "test", "video-benchmark", "aloha", "pusht", "libero", "metaworld", "all"]
+provides-extras = ["dataset", "training", "hardware", "viz", "core-scripts", "evaluation", "dataset-viz", "av-dep", "pygame-dep", "placo-dep", "transformers-dep", "grpcio-dep", "accelerate-dep", "can-dep", "peft-dep", "scipy-dep", "diffusers-dep", "qwen-vl-utils-dep", "matplotlib-dep", "pyserial-dep", "deepdiff-dep", "pynput-dep", "pyzmq-dep", "motorbridge-dep", "motorbridge-smart-servo-dep", "feetech", "dynamixel", "damiao", "robstride", "openarms", "gamepad", "hopejr", "lekiwi", "unitree-g1", "reachy2", "rebot", "kinematics", "intelrealsense", "phone", "diffusion", "wallx", "pi", "molmoact2", "smolvla", "multi-task-dit", "groot", "sarm", "robometer", "topreward", "xvla", "eo1", "hilserl", "vla-jepa", "async", "peft", "annotations", "dev", "notebook", "test", "video-benchmark", "aloha", "pusht", "libero", "metaworld", "all"]
 
 [[package]]
 name = "librt"