diff --git a/docs/source/earthrover_mini_plus.mdx b/docs/source/earthrover_mini_plus.mdx
index e3ffa6b32..d8083336a 100644
--- a/docs/source/earthrover_mini_plus.mdx
+++ b/docs/source/earthrover_mini_plus.mdx
@@ -1,5 +1,11 @@
 # EarthRover Mini Plus
 
+<img
+  src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/Earth_Rover_Mini_5_240c9adc-4f9e-44b7-982f-5d1dc24af1d8.png.webp"
+  alt="EarthRover Mini Plus"
+  width="70%"
+/>
+
 The EarthRover Mini Plus is a fully open source mobile robot that connects through the cloud using the Frodobots SDK. This lets you control the robot and record datasets for training AI models.
 
 ## What You Need
diff --git a/docs/source/lekiwi.mdx b/docs/source/lekiwi.mdx
index 511521580..b339225d8 100644
--- a/docs/source/lekiwi.mdx
+++ b/docs/source/lekiwi.mdx
@@ -1,5 +1,11 @@
 # LeKiwi
 
+<img
+  src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/1740517739083.jpeg"
+  alt="LeKiwi"
+  width="70%"
+/>
+
 In the steps below, we explain how to assemble the LeKiwi mobile robot.
 
 ## Source the parts
diff --git a/docs/source/libero.mdx b/docs/source/libero.mdx
index 3617f3b25..def974531 100644
--- a/docs/source/libero.mdx
+++ b/docs/source/libero.mdx
@@ -42,6 +42,7 @@ lerobot-eval \
 ```
 
 - `--env.task` picks the suite (`libero_object`, `libero_spatial`, etc.).
+- `--env.task_ids` picks task ids to run (`[0]`, `[1,2,3]`, etc.). Omit this flag (or set it to `null`) to run all tasks in the suite.
 - `--eval.batch_size` controls how many environments run in parallel.
 - `--eval.n_episodes` sets how many episodes to run in total.
 
diff --git a/docs/source/so101.mdx b/docs/source/so101.mdx
index cf882b373..7c9df588a 100644
--- a/docs/source/so101.mdx
+++ b/docs/source/so101.mdx
@@ -1,5 +1,18 @@
 # SO-101
 
+<div style="display: flex; align-items: center; gap: 10px;">
+  <img
+    src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/SO101_Follower.webp"
+    alt="SO-101"
+    width="60%"
+  />
+  <img
+    src="https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/lerobot/SO101_Leader.webp"
+    alt="SO-101"
+    width="60%"
+  />
+</div>
+
 In the steps below, we explain how to assemble our flagship robot, the SO-101.
 
 ## Source the parts