Primates first appeared around 65 million years ago.
The earliest dinosaurs arose over 200 million years ago.
Therefore, it is possible that by about 130 million years ago, the dinosaurs would have reached our level of development. They could have detected the oncoming asteroid, built space ships, and left this planet. All while mammals were barely getting started.
This extremely likely scientific theory is explored in Hibbett, MJ's "Dinosaur Planet"