diff --git a/examples/7_get_started_with_real_robot.md b/examples/7_get_started_with_real_robot.md
index 7bf88881b..7622028f7 100644
--- a/examples/7_get_started_with_real_robot.md
+++ b/examples/7_get_started_with_real_robot.md
@@ -46,13 +46,6 @@ Using `uv`:
 uv sync --extra "dynamixel"
 ```
 
-/!\ For Linux only, ffmpeg and opencv requires conda install for now. Run this exact sequence of commands:
-```bash
-conda install -c conda-forge ffmpeg
-pip uninstall opencv-python
-conda install -c conda-forge "opencv>=4.10.0"
-```
-
 You are now ready to plug the 5V power supply to the motor bus of the leader arm (the smaller one) since all its motors only require 5V.
 
 Then plug the 12V power supply to the motor bus of the follower arm. It has two motors that need 12V, and the rest will be powered with 5V through the voltage convertor.
@@ -834,11 +827,6 @@ It contains:
 - `dtRphone:33.84 (29.5hz)` which is the delta time of capturing an image from the phone camera in the thread running asynchronously.
 
 Troubleshooting:
-- On Linux, if you encounter a hanging issue when using cameras, uninstall opencv and re-install it with conda:
-```bash
-pip uninstall opencv-python
-conda install -c conda-forge opencv=4.10.0
-```
 - On Linux, if you encounter any issue during video encoding with `ffmpeg: unknown encoder libsvtav1`, you can:
   - install with conda-forge by running `conda install -c conda-forge ffmpeg` (it should be compiled with `libsvtav1`),
   - or, install [Homebrew](https://brew.sh) and run `brew install ffmpeg` (it should be compiled with `libsvtav1`),
diff --git a/lerobot/common/policies/pi0/modeling_pi0.py b/lerobot/common/policies/pi0/modeling_pi0.py
index ede199a63..aeb63398a 100644
--- a/lerobot/common/policies/pi0/modeling_pi0.py
+++ b/lerobot/common/policies/pi0/modeling_pi0.py
@@ -313,7 +313,7 @@ class PI0Policy(PreTrainedPolicy):
         state = self.prepare_state(batch)
         lang_tokens, lang_masks = self.prepare_language(batch)
         actions = self.prepare_action(batch)
-        actions_is_pad = batch.get("actions_is_pad")
+        actions_is_pad = batch.get("action_is_pad")
 
         loss_dict = {}
         losses = self.model.forward(images, img_masks, lang_tokens, lang_masks, state, actions, noise, time)
diff --git a/lerobot/common/robots/lekiwi/README.md b/lerobot/common/robots/lekiwi/README.md
index dc310af25..798b7bd36 100644
--- a/lerobot/common/robots/lekiwi/README.md
+++ b/lerobot/common/robots/lekiwi/README.md
@@ -113,12 +113,6 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 cd ~/lerobot && pip install -e ".[feetech]"
 ```
 
-*EXTRA: For Linux only (not Mac)*: install extra dependencies for recording datasets:
-```bash
-conda install -y -c conda-forge ffmpeg
-pip uninstall -y opencv-python
-conda install -y -c conda-forge "opencv>=4.10.0"
-```
 Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms and Mobile base :robot:.
 Every time you now want to use LeRobot you can go to the `~/lerobot` folder where we installed LeRobot and run one of the commands.
 
diff --git a/lerobot/common/robots/moss/README.md b/lerobot/common/robots/moss/README.md
index de7dd1563..62febd03a 100644
--- a/lerobot/common/robots/moss/README.md
+++ b/lerobot/common/robots/moss/README.md
@@ -36,13 +36,6 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 cd ~/lerobot && pip install -e ".[feetech]"
 ```
 
-For Linux only (not Mac), install extra dependencies for recording datasets:
-```bash
-conda install -y -c conda-forge ffmpeg
-pip uninstall -y opencv-python
-conda install -y -c conda-forge "opencv>=4.10.0"
-```
-
 ## Configure the motors
 
 Follow steps 1 of the [assembly video](https://www.youtube.com/watch?v=DA91NJOtMic) which illustrates the use of our scripts below.
diff --git a/lerobot/common/robots/so100/README.md b/lerobot/common/robots/so100/README.md
index cb3c084c4..770ffa2ee 100644
--- a/lerobot/common/robots/so100/README.md
+++ b/lerobot/common/robots/so100/README.md
@@ -62,12 +62,6 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 cd ~/lerobot && pip install -e ".[feetech]"
 ```
 
-*EXTRA: For Linux only (not Mac)*: install extra dependencies for recording datasets:
-```bash
-conda install -y -c conda-forge ffmpeg
-pip uninstall -y opencv-python
-conda install -y -c conda-forge "opencv>=4.10.0"
-```
 Great :hugs:! You are now done installing LeRobot and we can begin assembling the SO100 arms :robot:.
 Every time you now want to use LeRobot you can go to the `~/lerobot` folder where we installed LeRobot and run one of the commands.
 
diff --git a/lerobot/common/robots/stretch3/README.md b/lerobot/common/robots/stretch3/README.md
index 802ea7187..02f1ddc1a 100644
--- a/lerobot/common/robots/stretch3/README.md
+++ b/lerobot/common/robots/stretch3/README.md
@@ -50,13 +50,6 @@ cd ~/lerobot && pip install -e ".[stretch]"
 
 > **Note:** If you get this message, you can ignore it: `ERROR: pip's dependency resolver does not currently take into account all the packages that are installed.`
 
-For Linux only (not Mac), install extra dependencies for recording datasets:
-```bash
-conda install -y -c conda-forge ffmpeg
-pip uninstall -y opencv-python
-conda install -y -c conda-forge "opencv>=4.10.0"
-```
-
 7. Run a [system check](https://docs.hello-robot.com/0.3/getting_started/stretch_hardware_overview/#system-check) to make sure your robot is ready:
 ```bash
 stretch_system_check.py
diff --git a/lerobot/common/robots/viperx/README.md b/lerobot/common/robots/viperx/README.md
index 62dee5888..dad8e1c9f 100644
--- a/lerobot/common/robots/viperx/README.md
+++ b/lerobot/common/robots/viperx/README.md
@@ -35,13 +35,6 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 cd ~/lerobot && pip install -e ".[dynamixel, intelrealsense]"
 ```
 
-For Linux only (not Mac), install extra dependencies for recording datasets:
-```bash
-conda install -y -c conda-forge ffmpeg
-pip uninstall -y opencv-python
-conda install -y -c conda-forge "opencv>=4.10.0"
-```
-
 ## Teleoperate
 
 **/!\ FOR SAFETY, READ THIS /!\**
diff --git a/lerobot/common/utils/wandb_utils.py b/lerobot/common/utils/wandb_utils.py
index 700ebea5d..3fe241d41 100644
--- a/lerobot/common/utils/wandb_utils.py
+++ b/lerobot/common/utils/wandb_utils.py
@@ -90,6 +90,7 @@ class WandBLogger:
             # TODO(rcadene): split train and eval, and run async eval with job_type="eval"
             job_type="train_eval",
             resume="must" if cfg.resume else None,
+            mode=self.cfg.mode if self.cfg.mode in ["online", "offline", "disabled"] else "online",
         )
         print(colored("Logs will be synced with wandb.", "blue", attrs=["bold"]))
         logging.info(f"Track this run --> {colored(wandb.run.get_url(), 'yellow', attrs=['bold'])}")
diff --git a/lerobot/configs/default.py b/lerobot/configs/default.py
index b23bbb6d9..ce72466a8 100644
--- a/lerobot/configs/default.py
+++ b/lerobot/configs/default.py
@@ -48,6 +48,7 @@ class WandBConfig:
     entity: str | None = None
     notes: str | None = None
     run_id: str | None = None
+    mode: str | None = None  # Allowed values: 'online', 'offline' 'disabled'. Defaults to 'online'
 
 
 @dataclass
diff --git a/pyproject.toml b/pyproject.toml
index 8d285bd77..41c51cb8b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -62,7 +62,7 @@ dependencies = [
     "omegaconf>=2.3.0",
     "opencv-python>=4.9.0",
     "packaging>=24.2",
-    "av>=12.0.5",
+    "av>=12.0.5,<13.0.0",
     "pymunk>=6.6.0",
     "pynput>=1.7.7",
     "pyzmq>=26.2.1",