diff --git a/lerobot/__init__.py b/lerobot/__init__.py
index 851383dd9..b9ab76dd9 100644
--- a/lerobot/__init__.py
+++ b/lerobot/__init__.py
@@ -195,8 +195,8 @@
 
 # lists all available robots from `lerobot/common/robot_devices/robots`
 available_robots = [
-    "koch",
-    "koch_bimanual",
+    # "koch",
+    # "koch_bimanual",
     "aloha",
 ]
 
@@ -216,7 +216,9 @@
     "aloha": ["act"],
     "pusht": ["diffusion", "vqbet"],
     "xarm": ["tdmpc"],
-    "dora_aloha_real": ["act_real"],
+    "koch_real": ["act_koch_real"],
+    "aloha_real": ["act_aloha_real"],
+    "dora_aloha_real": ["act_aloha_real"],
 }
 
 env_task_pairs = [(env, task) for env, tasks in available_tasks_per_env.items() for task in tasks]
diff --git a/lerobot/configs/env/aloha_real.yaml b/lerobot/configs/env/aloha_real.yaml
new file mode 100644
index 000000000..f468685e8
--- /dev/null
+++ b/lerobot/configs/env/aloha_real.yaml
@@ -0,0 +1,10 @@
+# @package _global_
+
+fps: 30
+
+env:
+  name: real_world
+  task: null
+  state_dim: 14
+  action_dim: 14
+  fps: ${fps}
diff --git a/lerobot/configs/policy/act_real.yaml b/lerobot/configs/policy/act_aloha_real.yaml
similarity index 75%
rename from lerobot/configs/policy/act_real.yaml
rename to lerobot/configs/policy/act_aloha_real.yaml
index 058104f4d..70da3c561 100644
--- a/lerobot/configs/policy/act_real.yaml
+++ b/lerobot/configs/policy/act_aloha_real.yaml
@@ -1,16 +1,22 @@
 # @package _global_
 
-# Use `act_real.yaml` to train on real-world Aloha/Aloha2 datasets.
-# Compared to `act.yaml`, it contains 4 cameras (i.e. cam_right_wrist, cam_left_wrist, images,
-# cam_low) instead of 1 camera (i.e. top). Also, `training.eval_freq` is set to -1. This config is used
-# to evaluate checkpoints at a certain frequency of training steps. When it is set to -1, it deactivates evaluation.
-# This is because real-world evaluation is done through [dora-lerobot](https://github.com/dora-rs/dora-lerobot).
-# Look at its README for more information on how to evaluate a checkpoint in the real-world.
+# Use `act_aloha_real.yaml` to train on real-world datasets collected on Aloha or Aloha-2 robots.
+# Compared to `act.yaml`, it contains 4 cameras (i.e. cam_right_wrist, cam_left_wrist, cam_high, cam_low) instead of 1 camera (i.e. top).
+# Also, `training.eval_freq` is set to -1. This config is used to evaluate checkpoints at a certain frequency of training steps.
+# When it is set to -1, it deactivates evaluation. This is because real-world evaluation is done through our `control_robot.py` script.
+# Look at the documentation in header of `control_robot.py` for more information on how to collect data , train and evaluate a policy.
 #
-# Example of usage for training:
+# Example of usage for training and inference with `control_robot.py`:
 # ```bash
 # python lerobot/scripts/train.py \
-#   policy=act_real \
+#   policy=act_aloha_real \
+#   env=aloha_real
+# ```
+#
+# Example of usage for training and inference with [Dora-rs](https://github.com/dora-rs/dora-lerobot):
+# ```bash
+# python lerobot/scripts/train.py \
+#   policy=act_aloha_real \
 #   env=dora_aloha_real
 # ```
 
@@ -36,10 +42,11 @@ override_dataset_stats:
     std: [[[0.229]], [[0.224]], [[0.225]]]  # (c,1,1)
 
 training:
-  offline_steps: 100000
+  offline_steps: 80000
   online_steps: 0
   eval_freq: -1
-  save_freq: 20000
+  save_freq: 10000
+  log_freq: 100
   save_checkpoint: true
 
   batch_size: 8
@@ -62,7 +69,7 @@ policy:
 
   # Input / output structure.
   n_obs_steps: 1
-  chunk_size: 100 # chunk_size
+  chunk_size: 100
   n_action_steps: 100
 
   input_shapes:
@@ -107,7 +114,7 @@ policy:
   n_vae_encoder_layers: 4
 
   # Inference.
-  temporal_ensemble_coeff: null
+  temporal_ensemble_momentum: null
 
   # Training and loss computation.
   dropout: 0.1
diff --git a/lerobot/configs/policy/act_real_no_state.yaml b/lerobot/configs/policy/act_real_no_state.yaml
deleted file mode 100644
index 082610503..000000000
--- a/lerobot/configs/policy/act_real_no_state.yaml
+++ /dev/null
@@ -1,110 +0,0 @@
-# @package _global_
-
-# Use `act_real_no_state.yaml` to train on real-world Aloha/Aloha2 datasets when cameras are moving (e.g. wrist cameras)
-# Compared to `act_real.yaml`, it is camera only and does not use the state as input which is vector of robot joint positions.
-# We validated experimentaly that not using state reaches better success rate. Our hypothesis is that `act_real.yaml` might
-# overfits to the state, because the images are more complex to learn from since they are moving.
-#
-# Example of usage for training:
-# ```bash
-# python lerobot/scripts/train.py \
-#   policy=act_real_no_state \
-#   env=dora_aloha_real
-# ```
-
-seed: 1000
-dataset_repo_id: lerobot/aloha_static_vinh_cup
-
-override_dataset_stats:
-  observation.images.cam_right_wrist:
-    # stats from imagenet, since we use a pretrained vision model
-    mean: [[[0.485]], [[0.456]], [[0.406]]]  # (c,1,1)
-    std: [[[0.229]], [[0.224]], [[0.225]]]  # (c,1,1)
-  observation.images.cam_left_wrist:
-    # stats from imagenet, since we use a pretrained vision model
-    mean: [[[0.485]], [[0.456]], [[0.406]]]  # (c,1,1)
-    std: [[[0.229]], [[0.224]], [[0.225]]]  # (c,1,1)
-  observation.images.cam_high:
-    # stats from imagenet, since we use a pretrained vision model
-    mean: [[[0.485]], [[0.456]], [[0.406]]]  # (c,1,1)
-    std: [[[0.229]], [[0.224]], [[0.225]]]  # (c,1,1)
-  observation.images.cam_low:
-    # stats from imagenet, since we use a pretrained vision model
-    mean: [[[0.485]], [[0.456]], [[0.406]]]  # (c,1,1)
-    std: [[[0.229]], [[0.224]], [[0.225]]]  # (c,1,1)
-
-training:
-  offline_steps: 100000
-  online_steps: 0
-  eval_freq: -1
-  save_freq: 20000
-  save_checkpoint: true
-
-  batch_size: 8
-  lr: 1e-5
-  lr_backbone: 1e-5
-  weight_decay: 1e-4
-  grad_clip_norm: 10
-  online_steps_between_rollouts: 1
-
-  delta_timestamps:
-    action: "[i / ${fps} for i in range(${policy.chunk_size})]"
-
-eval:
-  n_episodes: 50
-  batch_size: 50
-
-# See `configuration_act.py` for more details.
-policy:
-  name: act
-
-  # Input / output structure.
-  n_obs_steps: 1
-  chunk_size: 100 # chunk_size
-  n_action_steps: 100
-
-  input_shapes:
-    # TODO(rcadene, alexander-soare): add variables for height and width from the dataset/env?
-    observation.images.cam_right_wrist: [3, 480, 640]
-    observation.images.cam_left_wrist: [3, 480, 640]
-    observation.images.cam_high: [3, 480, 640]
-    observation.images.cam_low: [3, 480, 640]
-  output_shapes:
-    action: ["${env.action_dim}"]
-
-  # Normalization / Unnormalization
-  input_normalization_modes:
-    observation.images.cam_right_wrist: mean_std
-    observation.images.cam_left_wrist: mean_std
-    observation.images.cam_high: mean_std
-    observation.images.cam_low: mean_std
-  output_normalization_modes:
-    action: mean_std
-
-  # Architecture.
-  # Vision backbone.
-  vision_backbone: resnet18
-  pretrained_backbone_weights: ResNet18_Weights.IMAGENET1K_V1
-  replace_final_stride_with_dilation: false
-  # Transformer layers.
-  pre_norm: false
-  dim_model: 512
-  n_heads: 8
-  dim_feedforward: 3200
-  feedforward_activation: relu
-  n_encoder_layers: 4
-  # Note: Although the original ACT implementation has 7 for `n_decoder_layers`, there is a bug in the code
-  # that means only the first layer is used. Here we match the original implementation by setting this to 1.
-  # See this issue https://github.com/tonyzhaozh/act/issues/25#issue-2258740521.
-  n_decoder_layers: 1
-  # VAE.
-  use_vae: true
-  latent_dim: 32
-  n_vae_encoder_layers: 4
-
-  # Inference.
-  temporal_ensemble_coeff: null
-
-  # Training and loss computation.
-  dropout: 0.1
-  kl_weight: 10.0
diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py
index 742dd8bca..8adc2a649 100644
--- a/lerobot/scripts/control_robot.py
+++ b/lerobot/scripts/control_robot.py
@@ -102,6 +102,7 @@
 import concurrent.futures
 import json
 import logging
+import multiprocessing
 import os
 import platform
 import shutil
@@ -239,6 +240,48 @@ def is_headless():
         return True
 
 
+def loop_to_save_frame_in_threads(frame_queue, num_image_writers):
+    with concurrent.futures.ThreadPoolExecutor(max_workers=num_image_writers) as executor:
+        futures = []
+        while True:
+            # Blocks until a frame is available
+            frame_data = frame_queue.get()
+
+            # Exit if we send None to stop the worker
+            if frame_data is None:
+                # Wait for all submitted futures to complete before exiting
+                for _ in tqdm.tqdm(
+                    concurrent.futures.as_completed(futures), total=len(futures), desc="Writting images"
+                ):
+                    pass
+                break
+
+            frame, key, frame_index, episode_index, videos_dir = frame_data
+            futures.append(executor.submit(save_image, frame, key, frame_index, episode_index, videos_dir))
+
+
+def start_frame_workers(frame_queue, num_image_writers, num_workers=1):
+    workers = []
+    for _ in range(num_workers):
+        worker = multiprocessing.Process(
+            target=loop_to_save_frame_in_threads,
+            args=(frame_queue, num_image_writers),
+        )
+        worker.start()
+        workers.append(worker)
+    return workers
+
+
+def stop_workers(workers, frame_queue):
+    # Send None to each process to signal it to stop
+    for _ in workers:
+        frame_queue.put(None)
+
+    # Wait for all processes to terminate
+    for process in workers:
+        process.join()
+
+
 def has_method(_object: object, method_name: str):
     return hasattr(_object, method_name) and callable(getattr(_object, method_name))
 
@@ -465,10 +508,13 @@ def on_press(key):
 
     # Save images using threads to reach high fps (30 and more)
     # Using `with` to exist smoothly if an execption is raised.
-    futures = []
     num_image_writers = num_image_writers_per_camera * len(robot.cameras)
     num_image_writers = max(num_image_writers, 1)
-    with concurrent.futures.ThreadPoolExecutor(max_workers=num_image_writers) as executor:
+    frame_queue = multiprocessing.Queue()
+    frame_workers = start_frame_workers(frame_queue, num_image_writers)
+
+    # Using `try` to exist smoothly if an exception is raised
+    try:
         # Start recording all episodes
         while episode_index < num_episodes:
             logging.info(f"Recording episode {episode_index}")
@@ -489,11 +535,7 @@ def on_press(key):
                 not_image_keys = [key for key in observation if "image" not in key]
 
                 for key in image_keys:
-                    futures += [
-                        executor.submit(
-                            save_image, observation[key], key, frame_index, episode_index, videos_dir
-                        )
-                    ]
+                    frame_queue.put((observation[key], key, frame_index, episode_index, videos_dir))
 
                 if display_cameras and not is_headless():
                     image_keys = [key for key in observation if "image" in key]
@@ -640,11 +682,11 @@ def on_press(key):
                     listener.stop()
 
                 logging.info("Waiting for threads writing the images on disk to terminate...")
-                for _ in tqdm.tqdm(
-                    concurrent.futures.as_completed(futures), total=len(futures), desc="Writting images"
-                ):
-                    pass
-                break
+                stop_workers(frame_workers, frame_queue)
+
+    except Exception:
+        traceback.print_exc()
+        stop_workers(frame_workers, frame_queue)
 
     robot.disconnect()
     if display_cameras and not is_headless():
diff --git a/poetry.lock b/poetry.lock
index 43089048d..f0e50dcda 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -5245,7 +5245,7 @@ docs = ["sphinx", "sphinx-automodapi", "sphinx-rtd-theme"]
 name = "pyserial"
 version = "3.5"
 description = "Python Serial Port Extension"
-optional = true
+optional = false
 python-versions = "*"
 files = [
     {file = "pyserial-3.5-py2.py3-none-any.whl", hash = "sha256:c4451db6ba391ca6ca299fb3ec7bae67a5c55dde170964c7a14ceefec02f2cf0"},
diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/actions.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/actions.safetensors
similarity index 100%
rename from tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/actions.safetensors
rename to tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/actions.safetensors
diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/grad_stats.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/grad_stats.safetensors
similarity index 100%
rename from tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/grad_stats.safetensors
rename to tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/grad_stats.safetensors
diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/output_dict.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/output_dict.safetensors
similarity index 100%
rename from tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/output_dict.safetensors
rename to tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/output_dict.safetensors
diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/param_stats.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/param_stats.safetensors
similarity index 100%
rename from tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/param_stats.safetensors
rename to tests/data/save_policy_to_safetensors/dora_aloha_real_act_aloha_real/param_stats.safetensors
diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/actions.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/actions.safetensors
deleted file mode 100644
index 2e26ef270..000000000
--- a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/actions.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b5a9f73a2356aff9c717cdfd0d37a6da08b0cf2cc09c98edbc9492501b7f64a5
-size 5104
diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/grad_stats.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/grad_stats.safetensors
deleted file mode 100644
index b959bc6e0..000000000
--- a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/grad_stats.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:28738b3cfad17af0ac5181effdd796acdf7953cd5bcca3f421a11ddfd6b0076f
-size 30800
diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/output_dict.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/output_dict.safetensors
deleted file mode 100644
index 455834aa8..000000000
--- a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/output_dict.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4bb8a197a40456fdbc16029126268e6bcef3eca1837d88235165dc7e14618bea
-size 68
diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/param_stats.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/param_stats.safetensors
deleted file mode 100644
index d50fb31d9..000000000
--- a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/param_stats.safetensors
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bea60cce42d324f539dd3bca1e66b5ba6391838fdcadb00efc25f3240edb529a
-size 33600
diff --git a/tests/test_control_robot.py b/tests/test_control_robot.py
index f554c2511..7b9130835 100644
--- a/tests/test_control_robot.py
+++ b/tests/test_control_robot.py
@@ -145,13 +145,28 @@ def test_record_and_replay_and_policy(tmpdir, request, robot_type, mock):
 
     replay(robot, episode=0, fps=30, root=root, repo_id=repo_id)
 
+    # TODO(rcadene, aliberts): rethink this design
+    if robot_type == "aloha":
+        env_name = "aloha_real"
+        policy_name = "act_aloha_real"
+    elif robot_type in ["koch", "koch_bimanual"]:
+        env_name = "koch_real"
+        policy_name = "act_koch_real"
+    else:
+        raise NotImplementedError(robot_type)
+
+    overrides = [
+        f"env={env_name}",
+        f"policy={policy_name}",
+        f"device={DEVICE}",
+    ]
+
+    if robot_type == "koch_bimanual":
+        overrides += ["env.state_dim=12", "env.action_dim=12"]
+
     cfg = init_hydra_config(
         DEFAULT_CONFIG_PATH,
-        overrides=[
-            f"env={env_name}",
-            f"policy={policy_name}",
-            f"device={DEVICE}",
-        ],
+        overrides=overrides,
     )
 
     policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
diff --git a/tests/test_datasets.py b/tests/test_datasets.py
index 7fe84bc57..1316df786 100644
--- a/tests/test_datasets.py
+++ b/tests/test_datasets.py
@@ -308,12 +308,11 @@ def test_flatten_unflatten_dict():
         # "lerobot/cmu_stretch",
     ],
 )
+# TODO(rcadene, aliberts): all these tests fail locally on Mac M1, but not on Linux
 def test_backward_compatibility(repo_id):
     """The artifacts for this test have been generated by `tests/scripts/save_dataset_to_safetensors.py`."""
 
-    dataset = LeRobotDataset(
-        repo_id,
-    )
+    dataset = LeRobotDataset(repo_id)
 
     test_dir = Path("tests/data/save_dataset_to_safetensors") / repo_id
 
diff --git a/tests/test_policies.py b/tests/test_policies.py
index d90f00716..f358170d1 100644
--- a/tests/test_policies.py
+++ b/tests/test_policies.py
@@ -367,8 +367,7 @@ def test_normalize(insert_temporal_dim):
         ),
         ("aloha", "act", ["policy.n_action_steps=10"], ""),
         ("aloha", "act", ["policy.n_action_steps=1000", "policy.chunk_size=1000"], "_1000_steps"),
-        ("dora_aloha_real", "act_real", ["policy.n_action_steps=10"], ""),
-        ("dora_aloha_real", "act_real_no_state", ["policy.n_action_steps=10"], ""),
+        ("dora_aloha_real", "act_aloha_real", ["policy.n_action_steps=10"], ""),
     ],
 )
 # As artifacts have been generated on an x86_64 kernel, this test won't