# Rollout

`lerobot.rollout` is the policy deployment engine behind [`lerobot-rollout`](../inference): it wires up a
policy, an inference backend, and a pluggable recording strategy, then runs the robot control loop. See
[Policy Deployment (lerobot-rollout)](../inference) for CLI usage and [Real-Time Chunking (RTC)](../rtc)
for the async inference backend.

## RolloutConfig

Top-level configuration for the `lerobot-rollout` CLI.

[[autodoc]] lerobot.rollout.RolloutConfig

## Strategies

Strategies implement the control loop and are selected via `--strategy.type=<name>`.

[[autodoc]] lerobot.rollout.RolloutStrategy
    - setup
    - run
    - teardown

[[autodoc]] lerobot.rollout.RolloutStrategyConfig

[[autodoc]] lerobot.rollout.BaseStrategy
    - all

[[autodoc]] lerobot.rollout.BaseStrategyConfig

[[autodoc]] lerobot.rollout.SentryStrategy
    - all

[[autodoc]] lerobot.rollout.SentryStrategyConfig

[[autodoc]] lerobot.rollout.HighlightStrategy
    - all

[[autodoc]] lerobot.rollout.HighlightStrategyConfig

[[autodoc]] lerobot.rollout.EpisodicStrategy
    - all

[[autodoc]] lerobot.rollout.EpisodicStrategyConfig

[[autodoc]] lerobot.rollout.DAggerStrategy
    - all

[[autodoc]] lerobot.rollout.DAggerStrategyConfig

[[autodoc]] lerobot.rollout.DAggerKeyboardConfig

[[autodoc]] lerobot.rollout.DAggerPedalConfig

## create_strategy

[[autodoc]] lerobot.rollout.create_strategy

## Inference backends

Inference backends produce actions during the control loop and are selected via
`--inference.type=<name>`.

[[autodoc]] lerobot.rollout.InferenceEngine
    - start
    - stop
    - reset
    - get_action
    - notify_observation
    - pause
    - resume

[[autodoc]] lerobot.rollout.InferenceEngineConfig

[[autodoc]] lerobot.rollout.SyncInferenceEngine
    - all

[[autodoc]] lerobot.rollout.SyncInferenceConfig

[[autodoc]] lerobot.rollout.RTCInferenceEngine
    - all

[[autodoc]] lerobot.rollout.RTCInferenceConfig

## create_inference_engine

[[autodoc]] lerobot.rollout.create_inference_engine

## build_rollout_context

Wires up policy, processors, hardware, dataset, and inference engine before strategy dispatch.

[[autodoc]] lerobot.rollout.build_rollout_context

## RolloutContext

[[autodoc]] lerobot.rollout.RolloutContext

[[autodoc]] lerobot.rollout.RuntimeContext

[[autodoc]] lerobot.rollout.HardwareContext

[[autodoc]] lerobot.rollout.PolicyContext

[[autodoc]] lerobot.rollout.ProcessorContext

[[autodoc]] lerobot.rollout.DatasetContext

## ThreadSafeRobot

[[autodoc]] lerobot.rollout.robot_wrapper.ThreadSafeRobot
    - all

## RolloutRingBuffer

Memory-bounded ring buffer used by the Highlight strategy for on-demand recording.

[[autodoc]] lerobot.rollout.ring_buffer.RolloutRingBuffer
    - all