diff --git a/lerobot/common/policies/act/configuration_act.py b/lerobot/common/policies/act/configuration_act.py
index a4b0b7d2..92a52eac 100644
--- a/lerobot/common/policies/act/configuration_act.py
+++ b/lerobot/common/policies/act/configuration_act.py
@@ -26,7 +26,10 @@ class ACTConfig:
     Those are: `input_shapes` and 'output_shapes`.
 
     Notes on the inputs and outputs:
-        - At least one key starting with "observation.image is required as an input.
+        - Either:
+            - At least one key starting with "observation.image is required as an input.
+              AND/OR
+            - The key "observation.environment_state" is required as input.
         - If there are multiple keys beginning with "observation.images." they are treated as multiple camera
           views. Right now we only support all images having the same shape.
         - May optionally work without an "observation.state" key for the proprioceptive robot state.
@@ -162,3 +165,8 @@ class ACTConfig:
             raise ValueError(
                 f"Multiple observation steps not handled yet. Got `nobs_steps={self.n_obs_steps}`"
             )
+        if (
+            not any(k.startswith("observation.image") for k in self.input_shapes)
+            and "observation.environment_state" not in self.input_shapes
+        ):
+            raise ValueError("You must provide at least one image or the environment state among the inputs.")
diff --git a/lerobot/common/policies/act/modeling_act.py b/lerobot/common/policies/act/modeling_act.py
index 5f302bc7..0a236100 100644
--- a/lerobot/common/policies/act/modeling_act.py
+++ b/lerobot/common/policies/act/modeling_act.py
@@ -97,7 +97,8 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin):
         self.eval()
 
         batch = self.normalize_inputs(batch)
-        batch["observation.images"] = torch.stack([batch[k] for k in self.expected_image_keys], dim=-4)
+        if len(self.expected_image_keys) > 0:
+            batch["observation.images"] = torch.stack([batch[k] for k in self.expected_image_keys], dim=-4)
 
         # If we are doing temporal ensembling, keep track of the exponential moving average (EMA), and return
         # the first action.
@@ -135,7 +136,8 @@ class ACTPolicy(nn.Module, PyTorchModelHubMixin):
     def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor]:
         """Run the batch through the model and compute the loss for training or validation."""
         batch = self.normalize_inputs(batch)
-        batch["observation.images"] = torch.stack([batch[k] for k in self.expected_image_keys], dim=-4)
+        if len(self.expected_image_keys) > 0:
+            batch["observation.images"] = torch.stack([batch[k] for k in self.expected_image_keys], dim=-4)
         batch = self.normalize_targets(batch)
         actions_hat, (mu_hat, log_sigma_x2_hat) = self.model(batch)
 
@@ -200,12 +202,14 @@ class ACT(nn.Module):
         self.config = config
         # BERT style VAE encoder with input tokens [cls, robot_state, *action_sequence].
         # The cls token forms parameters of the latent's distribution (like this [*means, *log_variances]).
-        self.use_input_state = "observation.state" in config.input_shapes
+        self.use_robot_state = "observation.state" in config.input_shapes
+        self.use_images = any(k.startswith("observation.image") for k in config.input_shapes)
+        self.use_env_state = "observation.environment_state" in config.input_shapes
         if self.config.use_vae:
             self.vae_encoder = ACTEncoder(config)
             self.vae_encoder_cls_embed = nn.Embedding(1, config.dim_model)
             # Projection layer for joint-space configuration to hidden dimension.
-            if self.use_input_state:
+            if self.use_robot_state:
                 self.vae_encoder_robot_state_input_proj = nn.Linear(
                     config.input_shapes["observation.state"][0], config.dim_model
                 )
@@ -218,7 +222,7 @@ class ACT(nn.Module):
             # Fixed sinusoidal positional embedding for the input to the VAE encoder. Unsqueeze for batch
             # dimension.
             num_input_token_encoder = 1 + config.chunk_size
-            if self.use_input_state:
+            if self.use_robot_state:
                 num_input_token_encoder += 1
             self.register_buffer(
                 "vae_encoder_pos_enc",
@@ -226,34 +230,45 @@ class ACT(nn.Module):
             )
 
         # Backbone for image feature extraction.
-        backbone_model = getattr(torchvision.models, config.vision_backbone)(
-            replace_stride_with_dilation=[False, False, config.replace_final_stride_with_dilation],
-            weights=config.pretrained_backbone_weights,
-            norm_layer=FrozenBatchNorm2d,
-        )
-        # Note: The assumption here is that we are using a ResNet model (and hence layer4 is the final feature
-        # map).
-        # Note: The forward method of this returns a dict: {"feature_map": output}.
-        self.backbone = IntermediateLayerGetter(backbone_model, return_layers={"layer4": "feature_map"})
+        if self.use_images:
+            backbone_model = getattr(torchvision.models, config.vision_backbone)(
+                replace_stride_with_dilation=[False, False, config.replace_final_stride_with_dilation],
+                weights=config.pretrained_backbone_weights,
+                norm_layer=FrozenBatchNorm2d,
+            )
+            # Note: The assumption here is that we are using a ResNet model (and hence layer4 is the final
+            # feature map).
+            # Note: The forward method of this returns a dict: {"feature_map": output}.
+            self.backbone = IntermediateLayerGetter(backbone_model, return_layers={"layer4": "feature_map"})
 
         # Transformer (acts as VAE decoder when training with the variational objective).
         self.encoder = ACTEncoder(config)
         self.decoder = ACTDecoder(config)
 
         # Transformer encoder input projections. The tokens will be structured like
-        # [latent, robot_state, image_feature_map_pixels].
-        if self.use_input_state:
+        # [latent, (robot_state), (env_state), (image_feature_map_pixels)].
+        if self.use_robot_state:
             self.encoder_robot_state_input_proj = nn.Linear(
                 config.input_shapes["observation.state"][0], config.dim_model
             )
+        if self.use_env_state:
+            self.encoder_env_state_input_proj = nn.Linear(
+                config.input_shapes["observation.environment_state"][0], config.dim_model
+            )
         self.encoder_latent_input_proj = nn.Linear(config.latent_dim, config.dim_model)
-        self.encoder_img_feat_input_proj = nn.Conv2d(
-            backbone_model.fc.in_features, config.dim_model, kernel_size=1
-        )
+        if self.use_images:
+            self.encoder_img_feat_input_proj = nn.Conv2d(
+                backbone_model.fc.in_features, config.dim_model, kernel_size=1
+            )
         # Transformer encoder positional embeddings.
-        num_input_token_decoder = 2 if self.use_input_state else 1
-        self.encoder_robot_and_latent_pos_embed = nn.Embedding(num_input_token_decoder, config.dim_model)
-        self.encoder_cam_feat_pos_embed = ACTSinusoidalPositionEmbedding2d(config.dim_model // 2)
+        n_1d_tokens = 1  # for the latent
+        if self.use_robot_state:
+            n_1d_tokens += 1
+        if self.use_env_state:
+            n_1d_tokens += 1
+        self.encoder_1d_feature_pos_embed = nn.Embedding(n_1d_tokens, config.dim_model)
+        if self.use_images:
+            self.encoder_cam_feat_pos_embed = ACTSinusoidalPositionEmbedding2d(config.dim_model // 2)
 
         # Transformer decoder.
         # Learnable positional embedding for the transformer's decoder (in the style of DETR object queries).
@@ -274,10 +289,13 @@ class ACT(nn.Module):
         """A forward pass through the Action Chunking Transformer (with optional VAE encoder).
 
         `batch` should have the following structure:
-
         {
-            "observation.state": (B, state_dim) batch of robot states.
+            "observation.state" (optional): (B, state_dim) batch of robot states.
+
             "observation.images": (B, n_cameras, C, H, W) batch of images.
+                AND/OR
+            "observation.environment_state": (B, env_dim) batch of environment states.
+
             "action" (optional, only if training with VAE): (B, chunk_size, action dim) batch of actions.
         }
 
@@ -291,7 +309,11 @@ class ACT(nn.Module):
                 "action" in batch
             ), "actions must be provided when using the variational objective in training mode."
 
-        batch_size = batch["observation.images"].shape[0]
+        batch_size = (
+            batch["observation.images"]
+            if "observation.images" in batch
+            else batch["observation.environment_state"]
+        ).shape[0]
 
         # Prepare the latent for input to the transformer encoder.
         if self.config.use_vae and "action" in batch:
@@ -299,12 +321,12 @@ class ACT(nn.Module):
             cls_embed = einops.repeat(
                 self.vae_encoder_cls_embed.weight, "1 d -> b 1 d", b=batch_size
             )  # (B, 1, D)
-            if self.use_input_state:
+            if self.use_robot_state:
                 robot_state_embed = self.vae_encoder_robot_state_input_proj(batch["observation.state"])
                 robot_state_embed = robot_state_embed.unsqueeze(1)  # (B, 1, D)
             action_embed = self.vae_encoder_action_input_proj(batch["action"])  # (B, S, D)
 
-            if self.use_input_state:
+            if self.use_robot_state:
                 vae_encoder_input = [cls_embed, robot_state_embed, action_embed]  # (B, S+2, D)
             else:
                 vae_encoder_input = [cls_embed, action_embed]
@@ -318,7 +340,7 @@ class ACT(nn.Module):
             # sequence depending whether we use the input states or not (cls and robot state)
             # False means not a padding token.
             cls_joint_is_pad = torch.full(
-                (batch_size, 2 if self.use_input_state else 1),
+                (batch_size, 2 if self.use_robot_state else 1),
                 False,
                 device=batch["observation.state"].device,
             )
@@ -347,56 +369,55 @@ class ACT(nn.Module):
                 batch["observation.state"].device
             )
 
-        # Prepare all other transformer encoder inputs.
+        # Prepare transformer encoder inputs.
+        encoder_in_tokens = [self.encoder_latent_input_proj(latent_sample)]
+        encoder_in_pos_embed = list(self.encoder_1d_feature_pos_embed.weight.unsqueeze(1))
+        # Robot state token.
+        if self.use_robot_state:
+            encoder_in_tokens.append(self.encoder_robot_state_input_proj(batch["observation.state"]))
+        # Environment state token.
+        if self.use_env_state:
+            encoder_in_tokens.append(
+                self.encoder_env_state_input_proj(batch["observation.environment_state"])
+            )
+
         # Camera observation features and positional embeddings.
-        all_cam_features = []
-        all_cam_pos_embeds = []
-        images = batch["observation.images"]
+        if self.use_images:
+            all_cam_features = []
+            all_cam_pos_embeds = []
+            images = batch["observation.images"]
 
-        for cam_index in range(images.shape[-4]):
-            cam_features = self.backbone(images[:, cam_index])["feature_map"]
-            # TODO(rcadene, alexander-soare): remove call to `.to` to speedup forward ; precompute and use buffer
-            cam_pos_embed = self.encoder_cam_feat_pos_embed(cam_features).to(dtype=cam_features.dtype)
-            cam_features = self.encoder_img_feat_input_proj(cam_features)  # (B, C, h, w)
-            all_cam_features.append(cam_features)
-            all_cam_pos_embeds.append(cam_pos_embed)
-        # Concatenate camera observation feature maps and positional embeddings along the width dimension.
-        encoder_in = torch.cat(all_cam_features, axis=-1)
-        cam_pos_embed = torch.cat(all_cam_pos_embeds, axis=-1)
+            for cam_index in range(images.shape[-4]):
+                cam_features = self.backbone(images[:, cam_index])["feature_map"]
+                # TODO(rcadene, alexander-soare): remove call to `.to` to speedup forward ; precompute and use
+                # buffer
+                cam_pos_embed = self.encoder_cam_feat_pos_embed(cam_features).to(dtype=cam_features.dtype)
+                cam_features = self.encoder_img_feat_input_proj(cam_features)  # (B, C, h, w)
+                all_cam_features.append(cam_features)
+                all_cam_pos_embeds.append(cam_pos_embed)
+            # Concatenate camera observation feature maps and positional embeddings along the width dimension,
+            # and move to (sequence, batch, dim).
+            all_cam_features = torch.cat(all_cam_features, axis=-1)
+            encoder_in_tokens.extend(einops.rearrange(all_cam_features, "b c h w -> (h w) b c"))
+            all_cam_pos_embeds = torch.cat(all_cam_pos_embeds, axis=-1)
+            encoder_in_pos_embed.extend(einops.rearrange(all_cam_pos_embeds, "b c h w -> (h w) b c"))
 
-        # Get positional embeddings for robot state and latent.
-        if self.use_input_state:
-            robot_state_embed = self.encoder_robot_state_input_proj(batch["observation.state"])  # (B, C)
-        latent_embed = self.encoder_latent_input_proj(latent_sample)  # (B, C)
-
-        # Stack encoder input and positional embeddings moving to (S, B, C).
-        encoder_in_feats = [latent_embed, robot_state_embed] if self.use_input_state else [latent_embed]
-        encoder_in = torch.cat(
-            [
-                torch.stack(encoder_in_feats, axis=0),
-                einops.rearrange(encoder_in, "b c h w -> (h w) b c"),
-            ]
-        )
-        pos_embed = torch.cat(
-            [
-                self.encoder_robot_and_latent_pos_embed.weight.unsqueeze(1),
-                cam_pos_embed.flatten(2).permute(2, 0, 1),
-            ],
-            axis=0,
-        )
+        # Stack all tokens along the sequence dimension.
+        encoder_in_tokens = torch.stack(encoder_in_tokens, axis=0)
+        encoder_in_pos_embed = torch.stack(encoder_in_pos_embed, axis=0)
 
         # Forward pass through the transformer modules.
-        encoder_out = self.encoder(encoder_in, pos_embed=pos_embed)
+        encoder_out = self.encoder(encoder_in_tokens, pos_embed=encoder_in_pos_embed)
         # TODO(rcadene, alexander-soare): remove call to `device` ; precompute and use buffer
         decoder_in = torch.zeros(
             (self.config.chunk_size, batch_size, self.config.dim_model),
-            dtype=pos_embed.dtype,
-            device=pos_embed.device,
+            dtype=encoder_in_pos_embed.dtype,
+            device=encoder_in_pos_embed.device,
         )
         decoder_out = self.decoder(
             decoder_in,
             encoder_out,
-            encoder_pos_embed=pos_embed,
+            encoder_pos_embed=encoder_in_pos_embed,
             decoder_pos_embed=self.decoder_pos_embed.weight.unsqueeze(1),
         )
 
diff --git a/tests/data/save_policy_to_safetensors/aloha_act/actions.safetensors b/tests/data/save_policy_to_safetensors/aloha_act/actions.safetensors
index c5176423..583ab588 100644
--- a/tests/data/save_policy_to_safetensors/aloha_act/actions.safetensors
+++ b/tests/data/save_policy_to_safetensors/aloha_act/actions.safetensors
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diff --git a/tests/data/save_policy_to_safetensors/aloha_act/grad_stats.safetensors b/tests/data/save_policy_to_safetensors/aloha_act/grad_stats.safetensors
index bdecb18b..1e5a8475 100644
--- a/tests/data/save_policy_to_safetensors/aloha_act/grad_stats.safetensors
+++ b/tests/data/save_policy_to_safetensors/aloha_act/grad_stats.safetensors
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diff --git a/tests/data/save_policy_to_safetensors/aloha_act/param_stats.safetensors b/tests/data/save_policy_to_safetensors/aloha_act/param_stats.safetensors
index 26d91924..d7e14d50 100644
--- a/tests/data/save_policy_to_safetensors/aloha_act/param_stats.safetensors
+++ b/tests/data/save_policy_to_safetensors/aloha_act/param_stats.safetensors
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diff --git a/tests/data/save_policy_to_safetensors/aloha_act_1000_steps/actions.safetensors b/tests/data/save_policy_to_safetensors/aloha_act_1000_steps/actions.safetensors
index 1529153d..eae674a2 100644
--- a/tests/data/save_policy_to_safetensors/aloha_act_1000_steps/actions.safetensors
+++ b/tests/data/save_policy_to_safetensors/aloha_act_1000_steps/actions.safetensors
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diff --git a/tests/data/save_policy_to_safetensors/aloha_act_1000_steps/grad_stats.safetensors b/tests/data/save_policy_to_safetensors/aloha_act_1000_steps/grad_stats.safetensors
index 6a359f4e..fedfc7bc 100644
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+++ b/tests/data/save_policy_to_safetensors/aloha_act_1000_steps/grad_stats.safetensors
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diff --git a/tests/data/save_policy_to_safetensors/aloha_act_1000_steps/param_stats.safetensors b/tests/data/save_policy_to_safetensors/aloha_act_1000_steps/param_stats.safetensors
index 157c382c..87deccc9 100644
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+++ b/tests/data/save_policy_to_safetensors/aloha_act_1000_steps/param_stats.safetensors
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diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/actions.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/actions.safetensors
index 2373f1ee..2dd4a9b8 100644
--- a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/actions.safetensors
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index de40a20e..9b4dbdcc 100644
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diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/output_dict.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/output_dict.safetensors
index 8602cc56..f0b5cccc 100644
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+++ b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/output_dict.safetensors
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index a6612b7f..cf09e1dc 100644
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+++ b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real/param_stats.safetensors
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diff --git a/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/actions.safetensors b/tests/data/save_policy_to_safetensors/dora_aloha_real_act_real_no_state/actions.safetensors
index 9f0ba883..11fa4eb8 100644
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