diff --git a/src/lerobot/robots/lekiwi/lekiwi_client.py b/src/lerobot/robots/lekiwi/lekiwi_client.py
index 1bc3dadc4..2850842a2 100644
--- a/src/lerobot/robots/lekiwi/lekiwi_client.py
+++ b/src/lerobot/robots/lekiwi/lekiwi_client.py
@@ -323,6 +323,10 @@ class LeKiwiClient(Robot):
             np.ndarray: the action sent to the motors, potentially clipped.
         """
 
+        # Action values may be torch tensors (e.g. replayed from a dataset) or numpy
+        # scalars; json.dumps only serializes Python primitives, so coerce each value to a
+        # plain float before sending.
+        action = {key: float(value) for key, value in action.items()}
         self.zmq_cmd_socket.send_string(json.dumps(action))  # action is in motor space
 
         # TODO(Steven): Remove the np conversion when it is possible to record a non-numpy array value
diff --git a/src/lerobot/scripts/lerobot_replay.py b/src/lerobot/scripts/lerobot_replay.py
index 1851f7c2b..b2ab2b731 100644
--- a/src/lerobot/scripts/lerobot_replay.py
+++ b/src/lerobot/scripts/lerobot_replay.py
@@ -61,6 +61,7 @@ from lerobot.robots import (  # noqa: F401
     earthrover_mini_plus,
     hope_jr,
     koch_follower,
+    lekiwi,
     make_robot_from_config,
     omx_follower,
     openarm_follower,