diff --git a/src/lerobot/processor/__init__.py b/src/lerobot/processor/__init__.py
index 6718b723a..4279a3e27 100644
--- a/src/lerobot/processor/__init__.py
+++ b/src/lerobot/processor/__init__.py
@@ -23,11 +23,10 @@ from .hil_processor import (
     GripperPenaltyProcessor,
     ImageCropResizeProcessor,
     InterventionActionProcessor,
-    Numpy2TorchActionProcessor,
     RewardClassifierProcessor,
     TimeLimitProcessor,
-    Torch2NumpyActionProcessor,
 )
+from .gym_action_processor import RobotAction2TensorProcessor, Torch2NumpyActionProcessor, Numpy2TorchActionProcessor
 from .joint_observations_processor import JointVelocityProcessor, MotorCurrentProcessor
 from .normalize_processor import NormalizerProcessor, UnnormalizerProcessor, hotswap_stats
 from .observation_processor import VanillaObservationProcessor
@@ -56,6 +55,7 @@ __all__ = [
     "DoneProcessor",
     "MapDeltaActionToRobotAction",
     "MapTensorToDeltaActionDict",
+    "RobotAction2TensorProcessor",
     "EnvTransition",
     "GripperPenaltyProcessor",
     "IdentityProcessor",
diff --git a/src/lerobot/processor/gym_action_processor.py b/src/lerobot/processor/gym_action_processor.py
new file mode 100644
index 000000000..febf51cd2
--- /dev/null
+++ b/src/lerobot/processor/gym_action_processor.py
@@ -0,0 +1,81 @@
+#! /usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+
+from dataclasses import dataclass
+
+import torch
+import numpy as np
+
+from lerobot.processor.pipeline import ActionProcessor, ProcessorStepRegistry
+
+
+@ProcessorStepRegistry.register("robot_action_to_tensor_processor")
+@dataclass
+class RobotAction2TensorProcessor(ActionProcessor):
+    """Convert robot action to tensor."""
+    motor_names: list[str]
+
+    def action(self, action: dict | None) -> torch.Tensor | None:
+        if action is None:
+            return None
+
+        action_tensor = torch.tensor([action[f"action.{motor_name}.pos"] for motor_name in self.motor_names])
+        return action_tensor
+
+@ProcessorStepRegistry.register("torch2numpy_action_processor")
+@dataclass
+class Torch2NumpyActionProcessor(ActionProcessor):
+    """Convert PyTorch tensor actions to NumPy arrays."""
+
+    squeeze_batch_dim: bool = True
+
+    def action(self, action: torch.Tensor | None) -> np.ndarray | None:
+        if action is None:
+            return None
+
+        if not isinstance(action, torch.Tensor):
+            raise TypeError(
+                f"Expected torch.Tensor or None, got {type(action).__name__}. "
+                "Use appropriate processor for non-tensor actions."
+            )
+
+        numpy_action = action.detach().cpu().numpy()
+
+        # Remove batch dimensions but preserve action dimensions
+        # Only squeeze if there's a batch dimension (first dim == 1)
+        if (
+            self.squeeze_batch_dim
+            and numpy_action.shape
+            and len(numpy_action.shape) > 1
+            and numpy_action.shape[0] == 1
+        ):
+            numpy_action = numpy_action.squeeze(0)
+
+        return numpy_action
+
+
+@ProcessorStepRegistry.register("numpy2torch_action_processor")
+@dataclass
+class Numpy2TorchActionProcessor(ActionProcessor):
+    """Convert NumPy array action to PyTorch tensor."""
+
+    def action(self, action: np.ndarray | None) -> torch.Tensor | None:
+        if action is None:
+            return None
+        if not isinstance(action, np.ndarray):
+            raise TypeError(
+                f"Expected np.ndarray or None, got {type(action).__name__}. "
+                "Use appropriate processor for non-tensor actions."
+            )
+        torch_action = torch.from_numpy(action)
+        return torch_action
\ No newline at end of file
diff --git a/src/lerobot/processor/hil_processor.py b/src/lerobot/processor/hil_processor.py
index 4afc92a86..7fa5267e8 100644
--- a/src/lerobot/processor/hil_processor.py
+++ b/src/lerobot/processor/hil_processor.py
@@ -49,53 +49,6 @@ class AddTeleopEventsAsInfo(InfoProcessor):
         return info
 
 
-@ProcessorStepRegistry.register("torch2numpy_action_processor")
-@dataclass
-class Torch2NumpyActionProcessor(ActionProcessor):
-    """Convert PyTorch tensor actions to NumPy arrays."""
-
-    squeeze_batch_dim: bool = True
-
-    def action(self, action: torch.Tensor | None) -> np.ndarray | None:
-        if action is None:
-            return None
-
-        if not isinstance(action, torch.Tensor):
-            raise TypeError(
-                f"Expected torch.Tensor or None, got {type(action).__name__}. "
-                "Use appropriate processor for non-tensor actions."
-            )
-
-        numpy_action = action.detach().cpu().numpy()
-
-        # Remove batch dimensions but preserve action dimensions
-        # Only squeeze if there's a batch dimension (first dim == 1)
-        if (
-            self.squeeze_batch_dim
-            and numpy_action.shape
-            and len(numpy_action.shape) > 1
-            and numpy_action.shape[0] == 1
-        ):
-            numpy_action = numpy_action.squeeze(0)
-
-        return numpy_action
-
-
-@ProcessorStepRegistry.register("numpy2torch_action_processor")
-@dataclass
-class Numpy2TorchActionProcessor(ActionProcessor):
-    """Convert NumPy array action to PyTorch tensor."""
-
-    def action(self, action: np.ndarray | None) -> torch.Tensor | None:
-        if action is None:
-            return None
-        if not isinstance(action, np.ndarray):
-            raise TypeError(
-                f"Expected np.ndarray or None, got {type(action).__name__}. "
-                "Use appropriate processor for non-tensor actions."
-            )
-        torch_action = torch.from_numpy(action)
-        return torch_action
 
 
 @ProcessorStepRegistry.register("image_crop_resize_processor")
diff --git a/src/lerobot/scripts/rl/gym_manipulator.py b/src/lerobot/scripts/rl/gym_manipulator.py
index aac9c3d29..098f97565 100644
--- a/src/lerobot/scripts/rl/gym_manipulator.py
+++ b/src/lerobot/scripts/rl/gym_manipulator.py
@@ -41,6 +41,7 @@ from lerobot.processor import (
     MotorCurrentProcessor,
     Numpy2TorchActionProcessor,
     RewardClassifierProcessor,
+    RobotAction2TensorProcessor,
     RobotProcessor,
     TimeLimitProcessor,
     ToBatchProcessor,
@@ -402,9 +403,7 @@ def make_processors(
             joint_names=motor_names,
         )
 
-    env_pipeline_steps = [
-        VanillaObservationProcessor(),
-    ]
+    env_pipeline_steps = [VanillaObservationProcessor()]
 
     if cfg.processor.observation is not None:
         if cfg.processor.observation.add_joint_velocity_to_observation:
@@ -457,6 +456,7 @@ def make_processors(
             )
         )
 
+    env_pipeline_steps.append(RobotAction2TensorProcessor(motor_names=motor_names))
     env_pipeline_steps.append(ToBatchProcessor())
     env_pipeline_steps.append(DeviceProcessor(device=device))
 
@@ -654,6 +654,7 @@ def control_loop(
             env_processor=env_processor,
             action_processor=action_processor,
         )
+        print(transition[TransitionKey.ACTION])
         terminated = transition.get(TransitionKey.DONE, False)
         truncated = transition.get(TransitionKey.TRUNCATED, False)