diff --git a/docs/source/adding_benchmarks.mdx b/docs/source/adding_benchmarks.mdx
index 3a024f026..6e9d23bdf 100644
--- a/docs/source/adding_benchmarks.mdx
+++ b/docs/source/adding_benchmarks.mdx
@@ -216,7 +216,7 @@ class MyBenchmarkEnvConfig(EnvConfig):
 
     def get_env_processors(self):
         """Override if your benchmark needs observation/action transforms."""
-        from lerobot.processor.pipeline import PolicyProcessorPipeline
+        from lerobot.processor import PolicyProcessorPipeline
         from lerobot.processor.env_processor import MyBenchmarkProcessorStep
         return (
             PolicyProcessorPipeline(steps=[MyBenchmarkProcessorStep()]),
diff --git a/docs/source/async.mdx b/docs/source/async.mdx
index a46408a0d..7b1efae97 100644
--- a/docs/source/async.mdx
+++ b/docs/source/async.mdx
@@ -170,7 +170,7 @@ python -m lerobot.async_inference.robot_client \
 ```python
 import threading
 from lerobot.robots.so_follower import SO100FollowerConfig
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.async_inference.configs import RobotClientConfig
 from lerobot.async_inference.robot_client import RobotClient
 from lerobot.async_inference.helpers import visualize_action_queue_size
diff --git a/docs/source/backwardcomp.mdx b/docs/source/backwardcomp.mdx
index 3366c8ab9..a83ee2e2e 100644
--- a/docs/source/backwardcomp.mdx
+++ b/docs/source/backwardcomp.mdx
@@ -41,7 +41,7 @@ The script:
 
 ```python
 # New usage pattern (after migration)
-from lerobot.policies.factory import make_policy, make_pre_post_processors
+from lerobot.policies import make_policy, make_pre_post_processors
 
 # Load model and processors separately
 policy = make_policy(config, ds_meta=dataset.meta)
diff --git a/docs/source/bring_your_own_policies.mdx b/docs/source/bring_your_own_policies.mdx
index 38c32aa71..57ecc2fb2 100644
--- a/docs/source/bring_your_own_policies.mdx
+++ b/docs/source/bring_your_own_policies.mdx
@@ -47,9 +47,9 @@ Here is a template to get you started, customize the parameters and methods as n
 ```python
 # configuration_my_custom_policy.py
 from dataclasses import dataclass, field
-from lerobot.configs.policies import PreTrainedConfig
-from lerobot.optim.optimizers import AdamWConfig
-from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
+from lerobot.configs import PreTrainedConfig
+from lerobot.optim import AdamWConfig
+from lerobot.optim import CosineDecayWithWarmupSchedulerConfig
 
 @PreTrainedConfig.register_subclass("my_custom_policy")
 @dataclass
@@ -120,7 +120,7 @@ import torch
 import torch.nn as nn
 from typing import Any
 
-from lerobot.policies.pretrained import PreTrainedPolicy
+from lerobot.policies import PreTrainedPolicy
 from lerobot.utils.constants import ACTION
 from .configuration_my_custom_policy import MyCustomPolicyConfig
 
diff --git a/docs/source/cameras.mdx b/docs/source/cameras.mdx
index 8af0f5ae5..2dc2859dd 100644
--- a/docs/source/cameras.mdx
+++ b/docs/source/cameras.mdx
@@ -79,9 +79,8 @@ The following examples show how to use the camera API to configure and capture f
 
 <!-- prettier-ignore-start -->
 ```python
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.cameras.opencv.camera_opencv import OpenCVCamera
-from lerobot.cameras.configs import ColorMode, Cv2Rotation
+from lerobot.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
+from lerobot.cameras import ColorMode, Cv2Rotation
 
 # Construct an `OpenCVCameraConfig` with your desired FPS, resolution, color mode, and rotation.
 config = OpenCVCameraConfig(
@@ -126,9 +125,8 @@ with OpenCVCamera(config) as camera:
 
 <!-- prettier-ignore-start -->
 ```python
-from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig
-from lerobot.cameras.realsense.camera_realsense import RealSenseCamera
-from lerobot.cameras.configs import ColorMode, Cv2Rotation
+from lerobot.cameras.realsense import RealSenseCamera, RealSenseCameraConfig
+from lerobot.cameras import ColorMode, Cv2Rotation
 
 # Create a `RealSenseCameraConfig` specifying your camera’s serial number and enabling depth.
 config = RealSenseCameraConfig(
diff --git a/docs/source/dataset_subtask.mdx b/docs/source/dataset_subtask.mdx
index beb5d80bd..6264aca22 100644
--- a/docs/source/dataset_subtask.mdx
+++ b/docs/source/dataset_subtask.mdx
@@ -95,7 +95,7 @@ After completing your annotation:
 When you load a dataset with subtask annotations, the subtask information is automatically available:
 
 ```python
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset
 
 # Load a dataset with subtask annotations
 dataset = LeRobotDataset("jadechoghari/collect-fruit-annotated")
@@ -133,11 +133,10 @@ if has_subtasks:
 The `TokenizerProcessor` automatically handles subtask tokenization for Vision-Language Action (VLA) models:
 
 ```python
-from lerobot.processor.tokenizer_processor import TokenizerProcessor
-from lerobot.processor.pipeline import ProcessorPipeline
+from lerobot.processor import TokenizerProcessorStep
 
-# Create a tokenizer processor
-tokenizer_processor = TokenizerProcessor(
+# Create a tokenizer processor step
+tokenizer_processor = TokenizerProcessorStep(
     tokenizer_name_or_path="google/paligemma-3b-pt-224",
     padding="max_length",
     max_length=64,
@@ -158,7 +157,7 @@ When subtasks are available in the batch, the tokenizer processor adds:
 
 ```python
 import torch
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset
 
 dataset = LeRobotDataset("jadechoghari/collect-fruit-annotated")
 
@@ -182,7 +181,7 @@ for batch in dataloader:
 Try loading a dataset with subtask annotations:
 
 ```python
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset
 
 # Example dataset with subtask annotations
 dataset = LeRobotDataset("jadechoghari/collect-fruit-annotated")
diff --git a/docs/source/earthrover_mini_plus.mdx b/docs/source/earthrover_mini_plus.mdx
index 884e84d8c..a87bd325b 100644
--- a/docs/source/earthrover_mini_plus.mdx
+++ b/docs/source/earthrover_mini_plus.mdx
@@ -66,10 +66,10 @@ The SDK gives you:
 
 Follow our [Installation Guide](./installation) to install LeRobot.
 
-In addition to the base installation, install the EarthRover Mini dependencies:
+In addition to the base installation, install the EarthRover Mini with hardware dependencies:
 
 ```bash
-pip install -e .
+pip install -e ".[hardware]"
 ```
 
 ## How It Works
diff --git a/docs/source/env_processor.mdx b/docs/source/env_processor.mdx
index 290af3b34..8bfafdfb9 100644
--- a/docs/source/env_processor.mdx
+++ b/docs/source/env_processor.mdx
@@ -173,8 +173,8 @@ observation = {
 The `make_env_pre_post_processors` function follows the same pattern as `make_pre_post_processors` for policies:
 
 ```python
-from lerobot.envs.factory import make_env_pre_post_processors
-from lerobot.envs.configs import LiberoEnv, PushtEnv
+from lerobot.envs import make_env_pre_post_processors, PushtEnv
+from lerobot.envs.configs import LiberoEnv
 
 # For LIBERO: Returns LiberoProcessorStep in preprocessor
 libero_cfg = LiberoEnv(task="libero_spatial", camera_name=["agentview"])
@@ -257,7 +257,7 @@ def eval_main(cfg: EvalPipelineConfig):
 The `LiberoProcessorStep` demonstrates a real-world environment processor:
 
 ```python
-from lerobot.processor.pipeline import ObservationProcessorStep
+from lerobot.processor import ObservationProcessorStep
 
 @dataclass
 @ProcessorStepRegistry.register(name="libero_processor")
diff --git a/docs/source/envhub.mdx b/docs/source/envhub.mdx
index 36c08a8b3..47f5567a8 100644
--- a/docs/source/envhub.mdx
+++ b/docs/source/envhub.mdx
@@ -34,7 +34,7 @@ Finally, your environment must implement the standard `gym.vector.VectorEnv` int
 Loading an environment from the Hub is as simple as:
 
 ```python
-from lerobot.envs.factory import make_env
+from lerobot.envs import make_env
 
 # Load a hub environment (requires explicit consent to run remote code)
 env = make_env("lerobot/cartpole-env", trust_remote_code=True)
@@ -191,7 +191,7 @@ api.upload_folder(
 ### Basic Usage
 
 ```python
-from lerobot.envs.factory import make_env
+from lerobot.envs import make_env
 
 # Load from the hub
 envs_dict = make_env(
@@ -314,7 +314,7 @@ env = make_env("trusted-org/verified-env@a1b2c3d4", trust_remote_code=True)
 Here's a complete example using the reference CartPole environment:
 
 ```python
-from lerobot.envs.factory import make_env
+from lerobot.envs import make_env
 import numpy as np
 
 # Load the environment
diff --git a/docs/source/envhub_isaaclab_arena.mdx b/docs/source/envhub_isaaclab_arena.mdx
index 828d51bad..b934240d6 100644
--- a/docs/source/envhub_isaaclab_arena.mdx
+++ b/docs/source/envhub_isaaclab_arena.mdx
@@ -58,10 +58,10 @@ pip install -e .
 cd ..
 
 
-# 5. Install LeRobot
+# 5. Install LeRobot (evaluation extra for env/policy evaluation)
 git clone https://github.com/huggingface/lerobot.git
 cd lerobot
-pip install -e .
+pip install -e ".[evaluation]"
 cd ..
 
 
@@ -262,7 +262,7 @@ def main(cfg: EvalPipelineConfig):
     """Run random action rollout for IsaacLab Arena environment."""
     logging.info(pformat(asdict(cfg)))
 
-    from lerobot.envs.factory import make_env
+    from lerobot.envs import make_env
 
     env_dict = make_env(
         cfg.env,
diff --git a/docs/source/envhub_leisaac.mdx b/docs/source/envhub_leisaac.mdx
index 2537700a5..91bb6a871 100644
--- a/docs/source/envhub_leisaac.mdx
+++ b/docs/source/envhub_leisaac.mdx
@@ -74,7 +74,7 @@ EnvHub exposes every LeIsaac-supported task in a uniform interface. The examples
 # envhub_random_action.py
 
 import torch
-from lerobot.envs.factory import make_env
+from lerobot.envs import make_env
 
 # Load from the hub
 envs_dict = make_env("LightwheelAI/leisaac_env:envs/so101_pick_orange.py", n_envs=1, trust_remote_code=True)
@@ -142,7 +142,7 @@ from lerobot.teleoperators import (  # noqa: F401
 )
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import init_logging
-from lerobot.envs.factory import make_env
+from lerobot.envs import make_env
 
 
 @dataclass
@@ -282,7 +282,7 @@ Note: when working with `bi_so101_fold_cloth`, call `initialize()` immediately a
 
 ```python
 import torch
-from lerobot.envs.factory import make_env
+from lerobot.envs import make_env
 
 # Load from the hub
 envs_dict = make_env("LightwheelAI/leisaac_env:envs/bi_so101_fold_cloth.py", n_envs=1, trust_remote_code=True)
diff --git a/docs/source/il_robots.mdx b/docs/source/il_robots.mdx
index c80f2047a..d03e35d8d 100644
--- a/docs/source/il_robots.mdx
+++ b/docs/source/il_robots.mdx
@@ -58,8 +58,8 @@ lerobot-teleoperate \
 
 <!-- prettier-ignore-start -->
 ```python
-from lerobot.teleoperators.so_leader import SO101LeaderConfig, SO101Leader
-from lerobot.robots.so_follower import SO101FollowerConfig, SO101Follower
+from lerobot.teleoperators.so_leader import SO101Leader, SO101LeaderConfig
+from lerobot.robots.so_follower import SO101Follower, SO101FollowerConfig
 
 robot_config = SO101FollowerConfig(
     port="/dev/tty.usbmodem58760431541",
@@ -116,9 +116,9 @@ lerobot-teleoperate \
 
 <!-- prettier-ignore-start -->
 ```python
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.teleoperators.koch_leader import KochLeaderConfig, KochLeader
-from lerobot.robots.koch_follower import KochFollowerConfig, KochFollower
+from lerobot.cameras.opencv import OpenCVCameraConfig
+from lerobot.teleoperators.koch_leader import KochLeader, KochLeaderConfig
+from lerobot.robots.koch_follower import KochFollower, KochFollowerConfig
 
 camera_config = {
     "front": OpenCVCameraConfig(index_or_path=0, width=1920, height=1080, fps=30)
@@ -195,12 +195,11 @@ lerobot-record \
 
 <!-- prettier-ignore-start -->
 ```python
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.utils import hw_to_dataset_features
+from lerobot.cameras.opencv import OpenCVCameraConfig
+from lerobot.datasets import LeRobotDataset
+from lerobot.utils.feature_utils import hw_to_dataset_features
 from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
-from lerobot.teleoperators.so_leader.config_so100_leader import SO100LeaderConfig
-from lerobot.teleoperators.so_leader.so100_leader import SO100Leader
+from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
 from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
@@ -410,9 +409,8 @@ lerobot-replay \
 ```python
 import time
 
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.robots.so_follower.config_so100_follower import SO100FollowerConfig
-from lerobot.robots.so_follower.so100_follower import SO100Follower
+from lerobot.datasets import LeRobotDataset
+from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import log_say
 
@@ -532,13 +530,12 @@ lerobot-record  \
 
 <!-- prettier-ignore-start -->
 ```python
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.utils import hw_to_dataset_features
-from lerobot.policies.act.modeling_act import ACTPolicy
-from lerobot.policies.factory import make_pre_post_processors
-from lerobot.robots.so_follower.config_so100_follower import SO100FollowerConfig
-from lerobot.robots.so_follower.so100_follower import SO100Follower
+from lerobot.cameras.opencv import OpenCVCameraConfig
+from lerobot.datasets import LeRobotDataset
+from lerobot.utils.feature_utils import hw_to_dataset_features
+from lerobot.policies.act import ACTPolicy
+from lerobot.policies import make_pre_post_processors
+from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.common.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
diff --git a/docs/source/installation.mdx b/docs/source/installation.mdx
index a988523b5..246e6415b 100644
--- a/docs/source/installation.mdx
+++ b/docs/source/installation.mdx
@@ -116,6 +116,8 @@ brew install ffmpeg
 
 ## Step 3: Install LeRobot 🤗
 
+The base `lerobot` install is intentionally **lightweight** — it includes only core ML dependencies (PyTorch, torchvision, numpy, opencv, einops, draccus, huggingface-hub, gymnasium, safetensors). Heavier dependencies are gated behind optional extras so you only install what you need.
+
 ### From Source
 
 First, clone the repository and navigate into the directory:
@@ -131,12 +133,16 @@ Then, install the library in editable mode. This is useful if you plan to contri
 <hfoptions id="install_lerobot_src">
 <hfoption id="conda">
 ```bash
-pip install -e .
+pip install -e ".[robot]"    # For real robot workflows (recording, replaying)
+pip install -e ".[training]" # For training policies
+pip install -e ".[all]"      # Everything (all policies, envs, hardware, dev tools)
 ```
 </hfoption>
 <hfoption id="uv">
 ```bash
-uv pip install -e .
+uv pip install -e ".[robot]"    # For real robot workflows (recording, replaying)
+uv pip install -e ".[training]" # For training policies
+uv pip install -e ".[all]"      # Everything (all policies, envs, hardware, dev tools)
 ```
 </hfoption>
 </hfoptions>
@@ -162,26 +168,49 @@ uv pip install lerobot
 </hfoptions>
 <!-- prettier-ignore-end -->
 
-_This installs only the default dependencies._
+_This installs only the core ML dependencies. You will need to add extras for most workflows._
 
-**Extra Features:**
-To install additional functionality, use one of the following (If you are using `uv`, replace `pip install` with `uv pip install` in the commands below.):
+**Feature Extras:**
+LeRobot provides **feature-scoped extras** that map to common workflows. If you are using `uv`, replace `pip install` with `uv pip install` in the commands below.
+
+| Extra      | What it adds                                | Typical use case                    |
+| ---------- | ------------------------------------------- | ----------------------------------- |
+| `dataset`  | `datasets`, `av`, `torchcodec`, `jsonlines` | Loading & creating datasets         |
+| `training` | `dataset` + `accelerate`, `wandb`           | Training policies                   |
+| `hardware` | `pynput`, `pyserial`, `deepdiff`            | Connecting to real robots           |
+| `viz`      | `rerun-sdk`                                 | Visualization during recording/eval |
+| `build`    | `cmake`, `setuptools`                       | Building native extensions          |
+
+**Composite Extras** combine feature extras for common CLI scripts:
+
+| Extra         | Includes                       | Typical use case                                        |
+| ------------- | ------------------------------ | ------------------------------------------------------- |
+| `robot`       | `dataset` + `hardware` + `viz` | `lerobot-record`, `lerobot-replay`, `lerobot-calibrate` |
+| `evaluation`  | `av`                           | `lerobot-eval` (add policy + env extras as needed)      |
+| `dataset_viz` | `dataset` + `viz`              | `lerobot-dataset-viz`, `lerobot-imgtransform-viz`       |
 
 ```bash
-pip install 'lerobot[all]'          # All available features
-pip install 'lerobot[aloha,pusht]'  # Specific features (Aloha & Pusht)
-pip install 'lerobot[feetech]'      # Feetech motor support
+pip install 'lerobot[robot]'          # Record, replay, calibrate
+pip install 'lerobot[training]'       # Train policies
+pip install 'lerobot[robot,training]' # Record + train
+pip install 'lerobot[all]'            # Everything
 ```
 
-_Replace `[...]` with your desired features._
+**Policy, environment, and hardware extras** are still available for specific dependencies:
 
-**Available Tags:**
-For a full list of optional dependencies, see:
-https://pypi.org/project/lerobot/
+```bash
+pip install 'lerobot[pi]'             # Pi0/Pi0.5/Pi0-FAST policy deps
+pip install 'lerobot[smolvla]'        # SmolVLA policy deps
+pip install 'lerobot[diffusion]'      # Diffusion policy deps (diffusers)
+pip install 'lerobot[aloha,pusht]'    # Simulation environments
+pip install 'lerobot[feetech]'        # Feetech motor support
+```
+
+_Multiple extras can be combined (e.g., `.[robot,pi,pusht]`). For a full list of available extras, refer to `pyproject.toml`._
 
 ### Troubleshooting
 
-If you encounter build errors, you may need to install additional dependencies: `cmake`, `build-essential`, and `ffmpeg libs`.
+If you encounter build errors, you may need to install additional system dependencies: `cmake`, `build-essential`, and `ffmpeg libs`.
 To install these for Linux run:
 
 ```bash
@@ -196,8 +225,8 @@ LeRobot provides optional extras for specific functionalities. Multiple extras c
 
 ### Simulations
 
-Install environment packages: `aloha` ([gym-aloha](https://github.com/huggingface/gym-aloha)), or `pusht` ([gym-pusht](https://github.com/huggingface/gym-pusht))
-Example:
+Install environment packages: `aloha` ([gym-aloha](https://github.com/huggingface/gym-aloha)), or `pusht` ([gym-pusht](https://github.com/huggingface/gym-pusht)).
+These automatically include the `dataset` extra.
 
 ```bash
 pip install -e ".[aloha]" # or "[pusht]" for example
@@ -213,7 +242,7 @@ pip install -e ".[feetech]" # or "[dynamixel]" for example
 
 ### Experiment Tracking
 
-To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tracking, log in with
+Weights and Biases is included in the `training` extra. To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiment tracking, log in with:
 
 ```bash
 wandb login
diff --git a/docs/source/introduction_processors.mdx b/docs/source/introduction_processors.mdx
index 6f3768615..4395e889b 100644
--- a/docs/source/introduction_processors.mdx
+++ b/docs/source/introduction_processors.mdx
@@ -19,10 +19,10 @@ This means that your favorite policy can be used like this:
 ```python
 import torch
 
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.policies.factory import make_pre_post_processors
+from lerobot.datasets import LeRobotDataset
+from lerobot.policies import make_pre_post_processors
 from lerobot.policies.your_policy import YourPolicy
-from lerobot.processor.pipeline import RobotProcessorPipeline, PolicyProcessorPipeline
+from lerobot.processor import RobotProcessorPipeline, PolicyProcessorPipeline
 dataset = LeRobotDataset("hf_user/dataset", episodes=[0])
 sample = dataset[10]
 
@@ -260,7 +260,7 @@ Since processor pipelines can add new features (like velocity fields), change te
 These functions work together by starting with robot hardware specifications (`create_initial_features()`) then simulating the entire pipeline transformation (`aggregate_pipeline_dataset_features()`) to compute the final feature dictionary that gets passed to `LeRobotDataset.create()`, ensuring perfect alignment between what processors output and what datasets expect to store.
 
 ```python
-from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features
+from lerobot.datasets import aggregate_pipeline_dataset_features
 
 # Start with robot's raw features
 initial_features = create_initial_features(
diff --git a/docs/source/lerobot-dataset-v3.mdx b/docs/source/lerobot-dataset-v3.mdx
index aadc6f4ab..8ab4a5d40 100644
--- a/docs/source/lerobot-dataset-v3.mdx
+++ b/docs/source/lerobot-dataset-v3.mdx
@@ -89,7 +89,7 @@ A core v3 principle is **decoupling storage from the user API**: data is stored
 
 ```python
 import torch
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset
 
 repo_id = "yaak-ai/L2D-v3"
 
@@ -135,7 +135,7 @@ for batch in data_loader:
 Use `StreamingLeRobotDataset` to iterate directly from the Hub without local copies. This allows to stream large datasets without the need to downloading them onto disk or loading them onto memory, and is a key feature of the new dataset format.
 
 ```python
-from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
+from lerobot.datasets import StreamingLeRobotDataset
 
 repo_id = "yaak-ai/L2D-v3"
 dataset = StreamingLeRobotDataset(repo_id)  # streams directly from the Hub
@@ -167,7 +167,7 @@ Currently, transforms are applied during **training time only**, not during reco
 Use the `image_transforms` parameter when loading a dataset for training:
 
 ```python
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset
 from lerobot.transforms import ImageTransforms, ImageTransformsConfig, ImageTransformConfig
 
 # Option 1: Use default transform configuration (disabled by default)
@@ -290,7 +290,7 @@ python -m lerobot.datasets.v30.convert_dataset_v21_to_v30 --repo-id=<HF_USER/DAT
 When creating or recording datasets, you **must** call `dataset.finalize()` to properly close parquet writers. See the [PR #1903](https://github.com/huggingface/lerobot/pull/1903) for more details.
 
 ```python
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset
 
 # Create dataset and record episodes
 dataset = LeRobotDataset.create(...)
diff --git a/docs/source/multi_gpu_training.mdx b/docs/source/multi_gpu_training.mdx
index 122670f69..d7369e8f8 100644
--- a/docs/source/multi_gpu_training.mdx
+++ b/docs/source/multi_gpu_training.mdx
@@ -4,10 +4,10 @@ This guide shows you how to train policies on multiple GPUs using [Hugging Face
 
 ## Installation
 
-First, ensure you have accelerate installed:
+`accelerate` is included in the `training` extra. Install it with:
 
 ```bash
-pip install accelerate
+pip install 'lerobot[training]'
 ```
 
 ## Training with Multiple GPUs
diff --git a/docs/source/phone_teleop.mdx b/docs/source/phone_teleop.mdx
index 678783e7b..ae79531ef 100644
--- a/docs/source/phone_teleop.mdx
+++ b/docs/source/phone_teleop.mdx
@@ -45,7 +45,8 @@ Modify the examples to use `PhoneOS.IOS` or `PhoneOS.ANDROID` in `PhoneConfig`.
 Teleoperation example:
 
 ```python
-from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
+from lerobot.teleoperators.phone import Phone, PhoneConfig
+from lerobot.teleoperators.phone.config_phone import PhoneOS
 
 teleop_config = PhoneConfig(phone_os=PhoneOS.IOS)  # or PhoneOS.ANDROID
 teleop_device = Phone(teleop_config)
diff --git a/docs/source/pi0.mdx b/docs/source/pi0.mdx
index 980490163..a8934efd2 100644
--- a/docs/source/pi0.mdx
+++ b/docs/source/pi0.mdx
@@ -110,8 +110,7 @@ lerobot-edit-dataset \
 Or equivalently in Python:
 
 ```python
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.dataset_tools import recompute_stats
+from lerobot.datasets import LeRobotDataset, recompute_stats
 
 dataset = LeRobotDataset("your_dataset")
 recompute_stats(dataset, relative_action=True, chunk_size=50, relative_exclude_joints=["gripper"])
diff --git a/docs/source/pi05.mdx b/docs/source/pi05.mdx
index 74e056efa..f99ad3286 100644
--- a/docs/source/pi05.mdx
+++ b/docs/source/pi05.mdx
@@ -116,8 +116,7 @@ lerobot-edit-dataset \
 Or equivalently in Python:
 
 ```python
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.dataset_tools import recompute_stats
+from lerobot.datasets import LeRobotDataset, recompute_stats
 
 dataset = LeRobotDataset("your_dataset")
 recompute_stats(dataset, relative_action=True, chunk_size=50, relative_exclude_joints=["gripper"])
diff --git a/docs/source/policy_pi0_README.md b/docs/source/policy_pi0_README.md
index 312c3cb3d..925093f1d 100644
--- a/docs/source/policy_pi0_README.md
+++ b/docs/source/policy_pi0_README.md
@@ -60,11 +60,10 @@ When `use_relative_actions=true`, the training script automatically:
 ### Recomputing stats for an existing dataset
 
 If you want to precompute relative action stats offline, use `recompute_stats` from
-`lerobot.datasets.dataset_tools`:
+`lerobot.datasets`:
 
 ```python
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.dataset_tools import recompute_stats
+from lerobot.datasets import LeRobotDataset, recompute_stats
 
 dataset = LeRobotDataset("your_org/your_dataset")
 dataset = recompute_stats(
diff --git a/docs/source/rtc.mdx b/docs/source/rtc.mdx
index f63c00fca..9485d8b66 100644
--- a/docs/source/rtc.mdx
+++ b/docs/source/rtc.mdx
@@ -39,9 +39,8 @@ The snippet below provides a simplified pseudo-example of how RTC operates with
 
 ```python
 from lerobot.policies.pi0 import PI0Policy, PI0Config
-from lerobot.configs.types import RTCAttentionSchedule
-from lerobot.policies.rtc.configuration_rtc import RTCConfig
-from lerobot.policies.rtc.action_queue import ActionQueue
+from lerobot.configs import RTCAttentionSchedule
+from lerobot.policies.rtc import RTCConfig, ActionQueue
 
 # Load Pi0 with RTC enabled
 policy_cfg = PI0Config()
diff --git a/docs/source/xvla.mdx b/docs/source/xvla.mdx
index 97e04d4ec..a5ae8f1df 100644
--- a/docs/source/xvla.mdx
+++ b/docs/source/xvla.mdx
@@ -418,7 +418,7 @@ Create a custom preprocessing pipeline for your environment:
 
 ```python
 from lerobot.processor import PolicyProcessorPipeline
-from lerobot.policies.xvla.processor_xvla import (
+from lerobot.policies.xvla import (
     XVLAImageToFloatProcessorStep,
     XVLAImageNetNormalizeProcessorStep,
     XVLAAddDomainIdProcessorStep,
diff --git a/examples/backward_compatibility/replay.py b/examples/backward_compatibility/replay.py
index e999b5913..b5e7db89d 100644
--- a/examples/backward_compatibility/replay.py
+++ b/examples/backward_compatibility/replay.py
@@ -35,7 +35,7 @@ from pprint import pformat
 
 import draccus
 
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
diff --git a/examples/dataset/load_lerobot_dataset.py b/examples/dataset/load_lerobot_dataset.py
index 2d17d92d2..31ca50313 100644
--- a/examples/dataset/load_lerobot_dataset.py
+++ b/examples/dataset/load_lerobot_dataset.py
@@ -31,8 +31,7 @@ from pprint import pprint
 import torch
 from huggingface_hub import HfApi
 
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset, LeRobotDatasetMetadata
 
 
 def main():
diff --git a/examples/dataset/slurm_compute_rabc.py b/examples/dataset/slurm_compute_rabc.py
index 2ddf84d07..c71d8a0fc 100644
--- a/examples/dataset/slurm_compute_rabc.py
+++ b/examples/dataset/slurm_compute_rabc.py
@@ -231,7 +231,7 @@ class AggregateProgress(PipelineStep):
         import pyarrow as pa
         import pyarrow.parquet as pq
 
-        from lerobot.datasets.lerobot_dataset import LeRobotDataset
+        from lerobot.datasets import LeRobotDataset
         from lerobot.utils.utils import init_logging
 
         init_logging()
diff --git a/examples/dataset/use_dataset_image_transforms.py b/examples/dataset/use_dataset_image_transforms.py
index d21beee0c..8bd8970ef 100644
--- a/examples/dataset/use_dataset_image_transforms.py
+++ b/examples/dataset/use_dataset_image_transforms.py
@@ -26,7 +26,7 @@ import torch
 from torchvision.transforms import v2
 from torchvision.transforms.functional import to_pil_image
 
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset
 from lerobot.transforms import ImageTransformConfig, ImageTransforms, ImageTransformsConfig
 
 
diff --git a/examples/dataset/use_dataset_tools.py b/examples/dataset/use_dataset_tools.py
index bd7c389bc..55d87f4c1 100644
--- a/examples/dataset/use_dataset_tools.py
+++ b/examples/dataset/use_dataset_tools.py
@@ -29,15 +29,14 @@ Usage:
 
 import numpy as np
 
-from lerobot.datasets.dataset_tools import (
-    add_features,
+from lerobot.datasets import (
+    LeRobotDataset,
     delete_episodes,
     merge_datasets,
-    modify_features,
     remove_feature,
     split_dataset,
 )
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.dataset_tools import add_features, modify_features
 
 
 def main():
diff --git a/examples/hil/hil_data_collection.py b/examples/hil/hil_data_collection.py
index b93bcfcdc..09a36dbe1 100644
--- a/examples/hil/hil_data_collection.py
+++ b/examples/hil/hil_data_collection.py
@@ -112,17 +112,18 @@ from hil_utils import (
     teleop_smooth_move_to,
 )
 
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
-from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
+from lerobot.cameras.opencv import OpenCVCameraConfig  # noqa: F401
+from lerobot.cameras.realsense import RealSenseCameraConfig  # noqa: F401
 from lerobot.common.control_utils import is_headless, predict_action
-from lerobot.configs import parser
-from lerobot.configs.policies import PreTrainedConfig
-from lerobot.datasets.image_writer import safe_stop_image_writer
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
-from lerobot.datasets.video_utils import VideoEncodingManager
-from lerobot.policies.factory import get_policy_class, make_policy, make_pre_post_processors
-from lerobot.policies.pretrained import PreTrainedPolicy
+from lerobot.configs import PreTrainedConfig, parser
+from lerobot.datasets import (
+    LeRobotDataset,
+    VideoEncodingManager,
+    aggregate_pipeline_dataset_features,
+    create_initial_features,
+    safe_stop_image_writer,
+)
+from lerobot.policies import PreTrainedPolicy, get_policy_class, make_policy, make_pre_post_processors
 from lerobot.policies.rtc import ActionInterpolator, ActionQueue, LatencyTracker, RTCConfig
 from lerobot.policies.utils import make_robot_action
 from lerobot.processor import (
@@ -131,17 +132,17 @@ from lerobot.processor import (
     RelativeActionsProcessorStep,
     TransitionKey,
     create_transition,
+    rename_stats,
+    to_relative_actions,
 )
-from lerobot.processor.relative_action_processor import to_relative_actions
-from lerobot.processor.rename_processor import rename_stats
 from lerobot.robots import Robot, RobotConfig, make_robot_from_config
-from lerobot.robots.bi_openarm_follower.config_bi_openarm_follower import BiOpenArmFollowerConfig
-from lerobot.robots.so_follower.config_so_follower import SOFollowerRobotConfig  # noqa: F401
+from lerobot.robots.bi_openarm_follower import BiOpenArmFollowerConfig
+from lerobot.robots.so_follower import SOFollowerRobotConfig  # noqa: F401
 from lerobot.teleoperators import Teleoperator, TeleoperatorConfig, make_teleoperator_from_config
-from lerobot.teleoperators.openarm_mini.config_openarm_mini import OpenArmMiniConfig  # noqa: F401
-from lerobot.teleoperators.so_leader.config_so_leader import SOLeaderTeleopConfig  # noqa: F401
+from lerobot.teleoperators.openarm_mini import OpenArmMiniConfig  # noqa: F401
+from lerobot.teleoperators.so_leader import SOLeaderTeleopConfig  # noqa: F401
+from lerobot.utils import get_safe_torch_device
 from lerobot.utils.constants import ACTION, OBS_STATE, OBS_STR
-from lerobot.utils.device_utils import get_safe_torch_device
 from lerobot.utils.feature_utils import build_dataset_frame, combine_feature_dicts, hw_to_dataset_features
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import init_logging, log_say
diff --git a/examples/lekiwi/evaluate.py b/examples/lekiwi/evaluate.py
index 87ed125fb..d8c53829e 100644
--- a/examples/lekiwi/evaluate.py
+++ b/examples/lekiwi/evaluate.py
@@ -15,9 +15,9 @@
 # limitations under the License.
 
 from lerobot.common.control_utils import init_keyboard_listener
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.policies.act.modeling_act import ACTPolicy
-from lerobot.policies.factory import make_pre_post_processors
+from lerobot.datasets import LeRobotDataset
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.act import ACTPolicy
 from lerobot.processor import make_default_processors
 from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
 from lerobot.scripts.lerobot_record import record_loop
diff --git a/examples/lekiwi/record.py b/examples/lekiwi/record.py
index 5cb6d3116..de5df7756 100644
--- a/examples/lekiwi/record.py
+++ b/examples/lekiwi/record.py
@@ -15,10 +15,9 @@
 # limitations under the License.
 
 from lerobot.common.control_utils import init_keyboard_listener
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset
 from lerobot.processor import make_default_processors
-from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
-from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
+from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
 from lerobot.scripts.lerobot_record import record_loop
 from lerobot.teleoperators.keyboard import KeyboardTeleop, KeyboardTeleopConfig
 from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
diff --git a/examples/lekiwi/replay.py b/examples/lekiwi/replay.py
index 0cfd4811c..de65717a8 100644
--- a/examples/lekiwi/replay.py
+++ b/examples/lekiwi/replay.py
@@ -16,9 +16,8 @@
 
 import time
 
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
-from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
+from lerobot.datasets import LeRobotDataset
+from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
 from lerobot.utils.constants import ACTION
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.utils import log_say
diff --git a/examples/phone_to_so100/evaluate.py b/examples/phone_to_so100/evaluate.py
index fb0c8f377..b17e29d23 100644
--- a/examples/phone_to_so100/evaluate.py
+++ b/examples/phone_to_so100/evaluate.py
@@ -14,14 +14,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.common.control_utils import init_keyboard_listener
-from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
+from lerobot.configs import FeatureType, PolicyFeature
+from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.policies.act.modeling_act import ACTPolicy
-from lerobot.policies.factory import make_pre_post_processors
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.act import ACTPolicy
 from lerobot.processor import (
     RobotProcessorPipeline,
     make_default_teleop_action_processor,
diff --git a/examples/phone_to_so100/record.py b/examples/phone_to_so100/record.py
index c406d232c..64d688bc9 100644
--- a/examples/phone_to_so100/record.py
+++ b/examples/phone_to_so100/record.py
@@ -14,10 +14,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.common.control_utils import init_keyboard_listener
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
+from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import RobotProcessorPipeline
 from lerobot.processor.converters import (
@@ -35,9 +34,9 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
     InverseKinematicsEEToJoints,
 )
 from lerobot.scripts.lerobot_record import record_loop
-from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
+from lerobot.teleoperators.phone import Phone, PhoneConfig
+from lerobot.teleoperators.phone.config_phone import PhoneOS
 from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
-from lerobot.teleoperators.phone.teleop_phone import Phone
 from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.feature_utils import combine_feature_dicts
 from lerobot.utils.utils import log_say
diff --git a/examples/phone_to_so100/replay.py b/examples/phone_to_so100/replay.py
index c544614a7..63d031b17 100644
--- a/examples/phone_to_so100/replay.py
+++ b/examples/phone_to_so100/replay.py
@@ -16,7 +16,7 @@
 
 import time
 
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import RobotProcessorPipeline
 from lerobot.processor.converters import (
diff --git a/examples/phone_to_so100/teleoperate.py b/examples/phone_to_so100/teleoperate.py
index 7242c39ce..23bf5c16e 100644
--- a/examples/phone_to_so100/teleoperate.py
+++ b/examples/phone_to_so100/teleoperate.py
@@ -28,9 +28,9 @@ from lerobot.robots.so_follower.robot_kinematic_processor import (
     GripperVelocityToJoint,
     InverseKinematicsEEToJoints,
 )
-from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
+from lerobot.teleoperators.phone import Phone, PhoneConfig
+from lerobot.teleoperators.phone.config_phone import PhoneOS
 from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
-from lerobot.teleoperators.phone.teleop_phone import Phone
 from lerobot.types import RobotAction, RobotObservation
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
diff --git a/examples/port_datasets/port_droid.py b/examples/port_datasets/port_droid.py
index f58bacbe0..cf3d672fb 100644
--- a/examples/port_datasets/port_droid.py
+++ b/examples/port_datasets/port_droid.py
@@ -22,8 +22,7 @@ from pathlib import Path
 import numpy as np
 import tensorflow_datasets as tfds
 
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset, LeRobotDatasetMetadata
 from lerobot.utils.utils import get_elapsed_time_in_days_hours_minutes_seconds
 
 DROID_SHARDS = 2048
diff --git a/examples/port_datasets/slurm_upload.py b/examples/port_datasets/slurm_upload.py
index 7fb01c11b..d03fab0c4 100644
--- a/examples/port_datasets/slurm_upload.py
+++ b/examples/port_datasets/slurm_upload.py
@@ -26,7 +26,7 @@ from huggingface_hub import HfApi
 from huggingface_hub.constants import REPOCARD_NAME
 from port_droid import DROID_SHARDS
 
-from lerobot.datasets.dataset_metadata import CODEBASE_VERSION, LeRobotDatasetMetadata
+from lerobot.datasets import CODEBASE_VERSION, LeRobotDatasetMetadata
 from lerobot.datasets.utils import create_lerobot_dataset_card
 from lerobot.utils.utils import init_logging
 
@@ -155,7 +155,7 @@ class UploadDataset(PipelineStep):
         from datasets.utils.tqdm import disable_progress_bars
         from huggingface_hub import CommitOperationAdd, preupload_lfs_files
 
-        from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
+        from lerobot.datasets import LeRobotDatasetMetadata
         from lerobot.utils.utils import init_logging
 
         init_logging()
diff --git a/examples/rtc/eval_dataset.py b/examples/rtc/eval_dataset.py
index a94d4da48..cb6da431d 100644
--- a/examples/rtc/eval_dataset.py
+++ b/examples/rtc/eval_dataset.py
@@ -109,15 +109,11 @@ except ImportError:
     MATPLOTLIB_AVAILABLE = False
     plt = None
 
-from lerobot.configs import parser
-from lerobot.configs.default import DatasetConfig
-from lerobot.configs.policies import PreTrainedConfig
-from lerobot.configs.types import RTCAttentionSchedule
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
+from lerobot.configs import DatasetConfig, PreTrainedConfig, RTCAttentionSchedule, parser
+from lerobot.datasets import LeRobotDataset, LeRobotDatasetMetadata
 from lerobot.datasets.factory import resolve_delta_timestamps
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.policies.factory import get_policy_class, make_pre_post_processors
-from lerobot.policies.rtc.configuration_rtc import RTCConfig
+from lerobot.policies import get_policy_class, make_pre_post_processors
+from lerobot.policies.rtc import RTCConfig
 from lerobot.policies.rtc.debug_visualizer import RTCDebugVisualizer
 from lerobot.utils.hub import HubMixin
 from lerobot.utils.utils import init_logging
diff --git a/examples/rtc/eval_with_real_robot.py b/examples/rtc/eval_with_real_robot.py
index 9efbf04d1..e43eb12ab 100644
--- a/examples/rtc/eval_with_real_robot.py
+++ b/examples/rtc/eval_with_real_robot.py
@@ -101,25 +101,23 @@ from threading import Event, Lock, Thread
 import torch
 from torch import Tensor
 
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
-from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
+from lerobot.cameras.opencv import OpenCVCameraConfig  # noqa: F401
+from lerobot.cameras.realsense import RealSenseCameraConfig  # noqa: F401
 from lerobot.cameras.zmq.configuration_zmq import ZMQCameraConfig  # noqa: F401
-from lerobot.configs import parser
-from lerobot.configs.policies import PreTrainedConfig
-from lerobot.configs.types import RTCAttentionSchedule
-from lerobot.policies.factory import get_policy_class, make_pre_post_processors
+from lerobot.configs import PreTrainedConfig, RTCAttentionSchedule, parser
+from lerobot.policies import get_policy_class, make_pre_post_processors
 from lerobot.policies.rtc import ActionInterpolator, ActionQueue, LatencyTracker, RTCConfig
 from lerobot.processor import (
     NormalizerProcessorStep,
     RelativeActionsProcessorStep,
     TransitionKey,
     create_transition,
+    to_relative_actions,
 )
 from lerobot.processor.factory import (
     make_default_robot_action_processor,
     make_default_robot_observation_processor,
 )
-from lerobot.processor.relative_action_processor import to_relative_actions
 from lerobot.rl.process import ProcessSignalHandler
 from lerobot.robots import (  # noqa: F401
     Robot,
diff --git a/examples/so100_to_so100_EE/evaluate.py b/examples/so100_to_so100_EE/evaluate.py
index f7349359c..46eb6cffb 100644
--- a/examples/so100_to_so100_EE/evaluate.py
+++ b/examples/so100_to_so100_EE/evaluate.py
@@ -14,14 +14,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.common.control_utils import init_keyboard_listener
-from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
+from lerobot.configs import FeatureType, PolicyFeature
+from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
-from lerobot.policies.act.modeling_act import ACTPolicy
-from lerobot.policies.factory import make_pre_post_processors
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.act import ACTPolicy
 from lerobot.processor import (
     RobotProcessorPipeline,
     make_default_teleop_action_processor,
diff --git a/examples/so100_to_so100_EE/record.py b/examples/so100_to_so100_EE/record.py
index 896a8575f..49de9d9e5 100644
--- a/examples/so100_to_so100_EE/record.py
+++ b/examples/so100_to_so100_EE/record.py
@@ -15,10 +15,9 @@
 # limitations under the License.
 
 
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.common.control_utils import init_keyboard_listener
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.datasets.pipeline_features import aggregate_pipeline_dataset_features, create_initial_features
+from lerobot.datasets import LeRobotDataset, aggregate_pipeline_dataset_features, create_initial_features
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import RobotProcessorPipeline
 from lerobot.processor.converters import (
diff --git a/examples/so100_to_so100_EE/replay.py b/examples/so100_to_so100_EE/replay.py
index 7caa560f0..61c58e847 100644
--- a/examples/so100_to_so100_EE/replay.py
+++ b/examples/so100_to_so100_EE/replay.py
@@ -17,7 +17,7 @@
 
 import time
 
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset
 from lerobot.model.kinematics import RobotKinematics
 from lerobot.processor import RobotProcessorPipeline
 from lerobot.processor.converters import (
diff --git a/examples/training/train_policy.py b/examples/training/train_policy.py
index 605ecbcb7..1c8e3c912 100644
--- a/examples/training/train_policy.py
+++ b/examples/training/train_policy.py
@@ -18,12 +18,10 @@ from pathlib import Path
 
 import torch
 
-from lerobot.configs.types import FeatureType
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
-from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
-from lerobot.policies.factory import make_pre_post_processors
+from lerobot.configs import FeatureType
+from lerobot.datasets import LeRobotDataset, LeRobotDatasetMetadata
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.diffusion import DiffusionConfig, DiffusionPolicy
 from lerobot.utils.feature_utils import dataset_to_policy_features
 
 
diff --git a/examples/training/train_with_streaming.py b/examples/training/train_with_streaming.py
index 20856e474..4629bcda6 100644
--- a/examples/training/train_with_streaming.py
+++ b/examples/training/train_with_streaming.py
@@ -19,12 +19,10 @@ from pathlib import Path
 
 import torch
 
-from lerobot.configs.types import FeatureType
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.streaming_dataset import StreamingLeRobotDataset
-from lerobot.policies.act.configuration_act import ACTConfig
-from lerobot.policies.act.modeling_act import ACTPolicy
-from lerobot.policies.factory import make_pre_post_processors
+from lerobot.configs import FeatureType
+from lerobot.datasets import LeRobotDatasetMetadata, StreamingLeRobotDataset
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.act import ACTConfig, ACTPolicy
 from lerobot.utils.constants import ACTION
 from lerobot.utils.feature_utils import dataset_to_policy_features
 
diff --git a/examples/tutorial/act/act_training_example.py b/examples/tutorial/act/act_training_example.py
index ef5b5d42d..f9c0ccc69 100644
--- a/examples/tutorial/act/act_training_example.py
+++ b/examples/tutorial/act/act_training_example.py
@@ -4,12 +4,10 @@ from pathlib import Path
 
 import torch
 
-from lerobot.configs.types import FeatureType
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.policies.act.configuration_act import ACTConfig
-from lerobot.policies.act.modeling_act import ACTPolicy
-from lerobot.policies.factory import make_pre_post_processors
+from lerobot.configs import FeatureType
+from lerobot.datasets import LeRobotDataset, LeRobotDatasetMetadata
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.act import ACTConfig, ACTPolicy
 from lerobot.utils.feature_utils import dataset_to_policy_features
 
 
diff --git a/examples/tutorial/act/act_using_example.py b/examples/tutorial/act/act_using_example.py
index 15254d8eb..6a8f73287 100644
--- a/examples/tutorial/act/act_using_example.py
+++ b/examples/tutorial/act/act_using_example.py
@@ -1,9 +1,9 @@
 import torch
 
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.policies.act.modeling_act import ACTPolicy
-from lerobot.policies.factory import make_pre_post_processors
+from lerobot.cameras.opencv import OpenCVCameraConfig
+from lerobot.datasets import LeRobotDatasetMetadata
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.act import ACTPolicy
 from lerobot.policies.utils import build_inference_frame, make_robot_action
 from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 
diff --git a/examples/tutorial/async-inf/robot_client.py b/examples/tutorial/async-inf/robot_client.py
index db6ead3fe..ac2331f38 100644
--- a/examples/tutorial/async-inf/robot_client.py
+++ b/examples/tutorial/async-inf/robot_client.py
@@ -3,7 +3,7 @@ import threading
 from lerobot.async_inference.configs import RobotClientConfig
 from lerobot.async_inference.helpers import visualize_action_queue_size
 from lerobot.async_inference.robot_client import RobotClient
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
+from lerobot.cameras.opencv import OpenCVCameraConfig
 from lerobot.robots.so_follower import SO100FollowerConfig
 
 
diff --git a/examples/tutorial/diffusion/diffusion_training_example.py b/examples/tutorial/diffusion/diffusion_training_example.py
index a3df84c46..5cca15923 100644
--- a/examples/tutorial/diffusion/diffusion_training_example.py
+++ b/examples/tutorial/diffusion/diffusion_training_example.py
@@ -4,12 +4,10 @@ from pathlib import Path
 
 import torch
 
-from lerobot.configs.types import FeatureType
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
-from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
-from lerobot.policies.factory import make_pre_post_processors
+from lerobot.configs import FeatureType
+from lerobot.datasets import LeRobotDataset, LeRobotDatasetMetadata
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.diffusion import DiffusionConfig, DiffusionPolicy
 from lerobot.utils.feature_utils import dataset_to_policy_features
 
 
diff --git a/examples/tutorial/diffusion/diffusion_using_example.py b/examples/tutorial/diffusion/diffusion_using_example.py
index 9b31cf359..8f9150ad6 100644
--- a/examples/tutorial/diffusion/diffusion_using_example.py
+++ b/examples/tutorial/diffusion/diffusion_using_example.py
@@ -1,9 +1,9 @@
 import torch
 
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.datasets.dataset_metadata import LeRobotDatasetMetadata
-from lerobot.policies.diffusion.modeling_diffusion import DiffusionPolicy
-from lerobot.policies.factory import make_pre_post_processors
+from lerobot.cameras.opencv import OpenCVCameraConfig
+from lerobot.datasets import LeRobotDatasetMetadata
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.diffusion import DiffusionPolicy
 from lerobot.policies.utils import build_inference_frame, make_robot_action
 from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 
diff --git a/examples/tutorial/pi0/using_pi0_example.py b/examples/tutorial/pi0/using_pi0_example.py
index f4764b69c..66f6309c2 100644
--- a/examples/tutorial/pi0/using_pi0_example.py
+++ b/examples/tutorial/pi0/using_pi0_example.py
@@ -1,8 +1,8 @@
 import torch
 
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.policies.factory import make_pre_post_processors
-from lerobot.policies.pi0.modeling_pi0 import PI0Policy
+from lerobot.cameras.opencv import OpenCVCameraConfig
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.pi0 import PI0Policy
 from lerobot.policies.utils import build_inference_frame, make_robot_action
 from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 from lerobot.utils.feature_utils import hw_to_dataset_features
diff --git a/examples/tutorial/rl/hilserl_example.py b/examples/tutorial/rl/hilserl_example.py
index d3c4d5ba7..8a08d6d56 100644
--- a/examples/tutorial/rl/hilserl_example.py
+++ b/examples/tutorial/rl/hilserl_example.py
@@ -6,16 +6,16 @@ from queue import Empty, Full
 import torch
 import torch.optim as optim
 
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets import LeRobotDataset
 from lerobot.envs.configs import HILSerlProcessorConfig, HILSerlRobotEnvConfig
-from lerobot.policies.sac.configuration_sac import SACConfig
+from lerobot.policies import SACConfig
 from lerobot.policies.sac.modeling_sac import SACPolicy
 from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
 from lerobot.rl.buffer import ReplayBuffer
 from lerobot.rl.gym_manipulator import make_robot_env
 from lerobot.robots.so_follower import SO100FollowerConfig
+from lerobot.teleoperators import TeleopEvents
 from lerobot.teleoperators.so_leader import SO100LeaderConfig
-from lerobot.teleoperators.utils import TeleopEvents
 from lerobot.utils.feature_utils import hw_to_dataset_features
 
 LOG_EVERY = 10
diff --git a/examples/tutorial/rl/reward_classifier_example.py b/examples/tutorial/rl/reward_classifier_example.py
index 4af6b899c..b386bf4db 100644
--- a/examples/tutorial/rl/reward_classifier_example.py
+++ b/examples/tutorial/rl/reward_classifier_example.py
@@ -1,8 +1,7 @@
 import torch
 
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-from lerobot.policies.factory import make_policy, make_pre_post_processors
-from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
+from lerobot.datasets import LeRobotDataset
+from lerobot.policies import RewardClassifierConfig, make_policy, make_pre_post_processors
 
 
 def main():
diff --git a/examples/tutorial/smolvla/using_smolvla_example.py b/examples/tutorial/smolvla/using_smolvla_example.py
index 67a307e46..f59603db7 100644
--- a/examples/tutorial/smolvla/using_smolvla_example.py
+++ b/examples/tutorial/smolvla/using_smolvla_example.py
@@ -1,8 +1,8 @@
 import torch
 
-from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig
-from lerobot.policies.factory import make_pre_post_processors
-from lerobot.policies.smolvla.modeling_smolvla import SmolVLAPolicy
+from lerobot.cameras.opencv import OpenCVCameraConfig
+from lerobot.policies import make_pre_post_processors
+from lerobot.policies.smolvla import SmolVLAPolicy
 from lerobot.policies.utils import build_inference_frame, make_robot_action
 from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
 from lerobot.utils.feature_utils import hw_to_dataset_features