diff --git a/src/lerobot/replay.py b/src/lerobot/replay.py
index c51c55cee..4c053fd88 100644
--- a/src/lerobot/replay.py
+++ b/src/lerobot/replay.py
@@ -25,6 +25,17 @@ python -m lerobot.replay \
     --dataset.repo_id=aliberts/record-test \
     --dataset.episode=2
 ```
+
+Biteleop example:
+```shell
+python -m lerobot.replay \
+    --robot.type=so101_follower_t \
+    --robot.port=/dev/tty.usbmodem58760432961 \
+    --robot.id=follower_arm_torque \
+    --dataset.repo_id=pepijn223/bilateral-wipe-table \
+    --dataset.episode=0 \
+    --biteleop=true
+```
 """
 
 import logging
@@ -44,7 +55,9 @@ from lerobot.robots import (  # noqa: F401
     make_robot_from_config,
     so100_follower,
     so101_follower,
+    so101_follower_torque,
 )
+from lerobot.robots.so101_follower_torque import SO101FollowerT
 from lerobot.utils.robot_utils import busy_wait
 from lerobot.utils.utils import (
     init_logging,
@@ -70,6 +83,8 @@ class ReplayConfig:
     dataset: DatasetReplayConfig
     # Use vocal synthesis to read events.
     play_sounds: bool = True
+    # Use biteleop to replay the dataset
+    biteleop: bool = False
 
 
 @draccus.wrap()
@@ -80,22 +95,72 @@ def replay(cfg: ReplayConfig):
     robot = make_robot_from_config(cfg.robot)
     dataset = LeRobotDataset(cfg.dataset.repo_id, root=cfg.dataset.root, episodes=[cfg.dataset.episode])
     actions = dataset.hf_dataset.select_columns("action")
+
+    if cfg.biteleop:
+        if not isinstance(robot, SO101FollowerT):
+            raise ValueError(
+                "Bilateral teleoperation replay requires the robot to be of type SO101FollowerT."
+            )
+        log_say("Bilateral teleoperation replay enabled.", cfg.play_sounds)
+
     robot.connect()
 
     log_say("Replaying episode", cfg.play_sounds, blocking=True)
+
+    start_time_all = time.perf_counter()
+
     for idx in range(dataset.num_frames):
-        start_episode_t = time.perf_counter()
+        start_loop_t = time.perf_counter()
 
-        action_array = actions[idx]["action"]
-        action = {}
+        action_from_ds_array = actions[idx]["action"]
+        action_from_ds = {}
         for i, name in enumerate(dataset.features["action"]["names"]):
-            action[name] = action_array[i]
+            action_from_ds[name] = action_from_ds_array[i]
 
-        robot.send_action(action)
+        # Bilateral teleoperation
+        if cfg.biteleop:
+            # Get current follower robot observation
+            obs_f = robot.get_observation()
+            pos_f = {j: obs_f[f"{j}.pos"] for j in robot.bus.motors}
+            vel_f = {j: obs_f[f"{j}.vel"] for j in robot.bus.motors}
+            tau_reaction_f = {j: obs_f[f"{j}.effort"] for j in robot.bus.motors}
 
-        dt_s = time.perf_counter() - start_episode_t
+            # Get target leader state from the dataset
+            pos_l = {j: action_from_ds[f"{j}.pos"] for j in robot.bus.motors}
+            vel_l = {j: action_from_ds[f"{j}.vel"] for j in robot.bus.motors}
+            # The saved effort in dataset is -tau_reaction_l
+            neg_tau_reaction_l = {j: action_from_ds[f"{j}.effort"] for j in robot.bus.motors}
+
+            # Get control gains from the robot instance
+            kp_gains = robot.kp_gains
+            kd_gains = robot.kd_gains
+            kf_gains = robot.kf_gains
+
+            # Compute torque command for the follower robot
+            tau_cmd_f = [
+                (
+                    kp_gains[j] * (pos_l[j] - pos_f[j])  # Position tracking
+                    + kd_gains[j] * (vel_l[j] - vel_f[j])  # Velocity damping
+                    + kf_gains[j] * (neg_tau_reaction_l[j] - tau_reaction_f[j])  # Force reflection
+                )
+                for j in robot.bus.motors
+            ]
+
+            # Format action with calculated torques and send to robot
+            action_to_send = {f"{m}.effort": tau_cmd_f[i] for i, m in enumerate(robot.bus.motors)}
+            robot.send_action(action_to_send)
+        else:
+            # Original logic for standard position-based replay
+            robot.send_action(action_from_ds)
+
+        dt_s = time.perf_counter() - start_loop_t
         busy_wait(1 / dataset.fps - dt_s)
 
+    total_time = time.perf_counter() - start_time_all
+    actual_fps = idx / total_time if total_time > 0 else float("inf")
+    logging.info(f"Average FPS achieved over episode: {actual_fps:.2f}")
+    log_say(f"Average FPS achieved: {actual_fps:.2f}", cfg.play_sounds)
+
     robot.disconnect()