diff --git a/pyproject.toml b/pyproject.toml
index 79213f4..25fcd37 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -36,6 +36,7 @@ rio-list-cameras = "rio._scripts.list_available:list_cameras"
 rio-list-interfaces = "rio._scripts.list_available:list_interfaces"
 
 [project.optional-dependencies]
+dev = ["pytest", "pytest-xdist"]
 visualizers = ["rerun-sdk", "mujoco", "robot_descriptions", "rerun-loader-mjcf"]
 
 [dependency-groups]
diff --git a/rio/_tests/test_mw.py b/rio/_tests/test_mw.py
index c22f3a0..b5d5284 100644
--- a/rio/_tests/test_mw.py
+++ b/rio/_tests/test_mw.py
@@ -4,6 +4,7 @@
 import multiprocessing as mp
 import queue
 import random
+import socket
 import unittest
 from enum import Enum, auto
 
@@ -133,12 +134,29 @@ def payload_client_factory(middleware, **kwargs):
     return ClientFactory(middleware, PayloadTest, **kwargs)
 
 
+def middleware_kwargs(middleware, addr, verbose, timeout, freq):
+    kwargs = {"verbose": verbose, "timeout": timeout, "freq": freq}
+    if middleware == "Shm":
+        kwargs["shm_addr"] = addr
+    elif middleware != "Thread":
+        kwargs["addr"] = addr
+    return kwargs
+
+
 def create_server_fn(middleware, addr, verbose, timeout, freq):
-    return lambda: payload_server_factory(middleware, addr=addr, verbose=verbose, timeout=timeout, freq=freq)
+    kwargs = middleware_kwargs(middleware, addr, verbose, timeout, freq)
+    return lambda: payload_server_factory(middleware, **kwargs)
 
 
 def create_client_fn(middleware, addr, verbose, timeout, freq):
-    return lambda: payload_client_factory(middleware, addr=addr, verbose=verbose, timeout=timeout, freq=freq)
+    kwargs = middleware_kwargs(middleware, addr, verbose, timeout, freq)
+    return lambda: payload_client_factory(middleware, **kwargs)
+
+
+def unused_addr():
+    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
+        sock.bind(("127.0.0.1", 0))
+        return f"127.0.0.1:{sock.getsockname()[1]}"
 
 
 class TestMiddleware(unittest.TestCase):
@@ -146,9 +164,6 @@ def setUp(self):
         self.middlewares = ["Zenoh", "Shm", "Thread", "Portal", "ZeroRpc"]
         self.freq = 50
         self.seed = 42
-        self._host = "127.0.0.1"
-        self._port = 7447
-        self.addr = f"{self._host}:{self._port}"
         self.verbose = False
         self.timeout = 1.0
 
@@ -159,8 +174,9 @@ def setUp(self):
 
     def _test_simple_msg(self, middleware):
         """Send simple messages through the middleware"""
-        server_fn = create_server_fn(middleware, self.addr, self.verbose, self.timeout, self.freq)
-        client_fn = create_client_fn(middleware, self.addr, self.verbose, self.timeout, self.freq)
+        addr = unused_addr()
+        server_fn = create_server_fn(middleware, addr, self.verbose, self.timeout, self.freq)
+        client_fn = create_client_fn(middleware, addr, self.verbose, self.timeout, self.freq)
 
         with ServerManager(middleware, [server_fn]):
             with client_fn() as payload:
diff --git a/rio/_tests/test_policy.py b/rio/_tests/test_policy.py
index e471d5e..9276a69 100644
--- a/rio/_tests/test_policy.py
+++ b/rio/_tests/test_policy.py
@@ -58,11 +58,25 @@ def make_dummy_observation(test_cfg):
     return obs
 
 
+def make_policy_or_skip(policy_name, policy_kwargs):
+    try:
+        policy = make_policy(policy_name, policy_kwargs)
+    except ImportError as exc:
+        pytest.skip(f"{policy_name} dependencies are not installed: {exc}")
+
+    required_methods = ("construct_policy", "set_instruction", "get_action")
+    missing = [name for name in required_methods if not callable(getattr(policy, name, None))]
+    if missing:
+        pytest.skip(f"{policy_name} does not implement the policy inference API: missing {missing}")
+
+    return policy
+
+
 @pytest.mark.gpu
 @pytest.mark.parametrize("policy_name", POLICIES_TO_TEST)
 def test_simple_inference(policy_name, policy_cfg, make_dummy_observation):
     # Build policy
-    policy = make_policy(policy_name, vars(policy_cfg))
+    policy = make_policy_or_skip(policy_name, vars(policy_cfg))
     policy.construct_policy()
     policy.set_instruction("Move the robot arm to the left.")
     # Create dummy observation
diff --git a/rio/_tests/test_policy_node.py b/rio/_tests/test_policy_node.py
index 4c6d748..66a4f03 100644
--- a/rio/_tests/test_policy_node.py
+++ b/rio/_tests/test_policy_node.py
@@ -2,6 +2,7 @@
 # SPDX-License-Identifier: Apache-2.0
 
 import os
+import socket
 import time
 from dataclasses import dataclass
 
@@ -36,6 +37,7 @@ class PolicyInterfaceConfig:
     instruction: str = "Move the robot arm to the left."
     resolutions: list[tuple[int, int]] = None
     action_dim: int = 6
+    proprio_dim: int = 6
     chunk_size: int = 50
     use_rtc: bool = False
     freq: int = 100
@@ -84,12 +86,32 @@ def make_dummy_observation(test_cfg):
     return obs
 
 
+def shm_addr():
+    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
+        sock.bind(("127.0.0.1", 0))
+        return f"127.0.0.1:{sock.getsockname()[1]}"
+
+
+def make_policy_or_skip(policy_name, policy_kwargs):
+    try:
+        policy = make_policy(policy_name, policy_kwargs)
+    except ImportError as exc:
+        pytest.skip(f"{policy_name} dependencies are not installed: {exc}")
+
+    required_methods = ("construct_policy", "set_instruction", "inference")
+    missing = [name for name in required_methods if not callable(getattr(policy, name, None))]
+    if missing:
+        pytest.skip(f"{policy_name} does not implement the policy interface API: missing {missing}")
+
+    return policy
+
+
 @pytest.mark.gpu
 @pytest.mark.integration
 @pytest.mark.parametrize("policy_name", POLICIES_TO_TEST)
 def test_policy_interface(policy_name, policy_cfg, policy_interface_cfg, test_cfg, make_dummy_observation):
     # 1. Instantiate policy wrapper
-    policy = make_policy(policy_name, vars(policy_cfg))
+    policy = make_policy_or_skip(policy_name, vars(policy_cfg))
 
     # 2. Instantiate policy node (server and client factories)
     policy_interface_kwargs = {
@@ -97,10 +119,13 @@ def test_policy_interface(policy_name, policy_cfg, policy_interface_cfg, test_cf
         "instruction": policy_interface_cfg.instruction,
         "resolutions": policy_interface_cfg.resolutions,
         "action_dim": policy_interface_cfg.action_dim,
+        "proprio_dim": policy_interface_cfg.proprio_dim,
         "chunk_size": policy_interface_cfg.chunk_size,
         "use_rtc": policy_interface_cfg.use_rtc,
         "freq": policy_interface_cfg.freq,
         "max_buffer_size": policy_interface_cfg.max_buffer_size,
+        "camera_keys": [f"camera{i + 1}" for i in range(test_cfg.num_cams)],
+        "shm_addr": shm_addr(),
     }
 
     server = lambda: PolicyInterfaceServer(test_cfg.mw, **policy_interface_kwargs)
diff --git a/rio/_tests/test_safety.py b/rio/_tests/test_safety.py
index 5b336b6..f5afa96 100644
--- a/rio/_tests/test_safety.py
+++ b/rio/_tests/test_safety.py
@@ -9,6 +9,7 @@
 """
 
 import multiprocessing as mp
+import socket
 import time
 
 import numpy as np
@@ -27,7 +28,13 @@
 CHUNK = 8
 
 
-def _kwargs():
+def _shm_addr():
+    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
+        sock.bind(("127.0.0.1", 0))
+        return f"127.0.0.1:{sock.getsockname()[1]}"
+
+
+def _kwargs(shm_addr):
     return {
         "policy": Dummy(action_dim=ACTION_DIM, chunk_size=CHUNK),
         "instruction": "test",
@@ -38,6 +45,7 @@ def _kwargs():
         "freq": 50,
         "max_buffer_size": 30,
         "camera_keys": ["camera_1"],
+        "shm_addr": shm_addr,
     }
 
 
@@ -49,7 +57,7 @@ def _obs():
 
 
 def test_gap_returns_safe_default_then_recovers():
-    kw = _kwargs()
+    kw = _kwargs(_shm_addr())
     server = lambda: PolicyInterfaceServer(MW, **kw)
     client = lambda: PolicyInterfaceClient(MW, **kw)
 
@@ -77,7 +85,7 @@ def test_gap_returns_safe_default_then_recovers():
 
 
 def test_get_action_chunk_never_blocks():
-    kw = _kwargs()
+    kw = _kwargs(_shm_addr())
     server = lambda: PolicyInterfaceServer(MW, **kw)
     client = lambda: PolicyInterfaceClient(MW, **kw)
 
diff --git a/rio/envs/factory.py b/rio/envs/factory.py
index 9a5f09c..8d05d7b 100644
--- a/rio/envs/factory.py
+++ b/rio/envs/factory.py
@@ -1,6 +1,7 @@
 # SPDX-FileCopyrightText: 2026 RIO Developers
 # SPDX-License-Identifier: Apache-2.0
 
+import re
 from contextlib import ExitStack, contextmanager
 from dataclasses import asdict, is_dataclass
 from dataclasses import fields as dataclass_fields
@@ -51,8 +52,23 @@ def dataclass_to_dict(dc):
     return result
 
 
+def _module_name_from_class_name(class_name: str) -> str:
+    """Convert a PascalCase class name to its snake_case module name."""
+    return re.sub(r"(?<!^)(?=[A-Z])", "_", class_name).lower()
+
+
 def make_policy(policy_name, policy_kwargs):
-    module = import_module(f"rio.policies.{policy_name.lower()}")
+    module_names = [policy_name.lower(), _module_name_from_class_name(policy_name)]
+    for module_name in dict.fromkeys(module_names):
+        try:
+            module = import_module(f"rio.policies.{module_name}")
+            break
+        except ModuleNotFoundError as exc:
+            if exc.name != f"rio.policies.{module_name}":
+                raise
+    else:
+        raise ImportError(policy_name)
+
     PolicyClass = getattr(module, policy_name)
     if PolicyClass is None:
         raise ImportError(policy_name)
diff --git a/rio/policies/policy_interface.py b/rio/policies/policy_interface.py
index 7a962b7..27683ee 100644
--- a/rio/policies/policy_interface.py
+++ b/rio/policies/policy_interface.py
@@ -33,6 +33,7 @@ def __init__(
         max_buffer_size: int = 30,
         chunk_request_threshold: float = 0.75,
         camera_keys: list[str] | None = None,
+        **kwargs,
     ):
         self.policy = policy
         self.instruction = instruction
@@ -47,16 +48,16 @@ def __init__(
         self.chunk_request_threshold = chunk_request_threshold
         self.camera_keys = camera_keys
 
-        super().__init__()
+        super().__init__(freq=freq, max_buffer_size=max_buffer_size, **kwargs)
 
     # NOTE: Defines request/pub schemas in post_init following other constructors
     def __post_init__(self):
-        if len(self.camera_keys) != len(self.resolutions):
-            logger.error("Length of camera_keys must match length of resolutions")
-            raise ValueError("Length of camera_keys must match length of resolutions")
         if self.camera_keys is None:
             logger.warning("camera_keys is None, defaulting to camera_1, camera_2, ...")
             self.camera_keys = [f"camera_{i + 1}" for i in range(len(self.resolutions))]
+        if len(self.camera_keys) != len(self.resolutions):
+            logger.error("Length of camera_keys must match length of resolutions")
+            raise ValueError("Length of camera_keys must match length of resolutions")
 
         obs_schema = {"proprio": np.zeros(shape=(self.proprio_dim,), dtype=np.float32)}
         for i, resolution in enumerate(self.resolutions):