diff --git a/src/lerobot/scripts/lerobot_train.py b/src/lerobot/scripts/lerobot_train.py
index 9987556f1..1863b0db6 100644
--- a/src/lerobot/scripts/lerobot_train.py
+++ b/src/lerobot/scripts/lerobot_train.py
@@ -1013,6 +1013,28 @@ def train(cfg: TrainPipelineConfig, accelerator: "Accelerator | None" = None):
             preprocessor.push_to_hub(active_cfg.repo_id)
             postprocessor.push_to_hub(active_cfg.repo_id)
 
+            # When EMA is on we *eval* the EMA weights but the push above
+            # ships the live weights — they're different models. Push the EMA
+            # weights too, to a sibling ``<repo_id>-ema`` repo, so both are
+            # fully loadable and you can benchmark/deploy whichever is better.
+            # Non-fatal: the live model is already up if this fails.
+            if ema is not None and not (
+                not cfg.is_reward_model_training and cfg.policy.use_peft
+            ):
+                ema_model = ema.ema_model
+                ema_repo_id = f"{active_cfg.repo_id}-ema"
+                orig_repo_id = ema_model.config.repo_id
+                try:
+                    ema_model.config.repo_id = ema_repo_id
+                    ema_model.push_model_to_hub(cfg)
+                    preprocessor.push_to_hub(ema_repo_id)
+                    postprocessor.push_to_hub(ema_repo_id)
+                    logging.info("Pushed EMA weights to %s", ema_repo_id)
+                except Exception as exc:  # noqa: BLE001
+                    logging.warning("Failed to push EMA weights to %s: %s", ema_repo_id, exc)
+                finally:
+                    ema_model.config.repo_id = orig_repo_id
+
     # Properly clean up the distributed process group
     accelerator.wait_for_everyone()
     accelerator.end_training()