diff --git a/lerobot/common/errors.py b/lerobot/common/errors.py
new file mode 100644
index 00000000..aba958a1
--- /dev/null
+++ b/lerobot/common/errors.py
@@ -0,0 +1,23 @@
+class ConnectionError(Exception):
+    """Base exception class for connection errors."""
+
+    pass
+
+
+class DeviceNotConnectedError(ConnectionError):
+    """Exception raised when the device is not connected."""
+
+    def __init__(self, message="This device is not connected. Try calling `connect()` first."):
+        self.message = message
+        super().__init__(self.message)
+
+
+class DeviceAlreadyConnectedError(ConnectionError):
+    """Exception raised when the device is already connected."""
+
+    def __init__(
+        self,
+        message="This device is already connected. Try not calling `connect()` twice.",
+    ):
+        self.message = message
+        super().__init__(self.message)