diff --git a/lerobot/common/envs/aloha/__init__.py b/lerobot/common/envs/aloha/__init__.py
new file mode 100644
index 00000000..16fe3c43
--- /dev/null
+++ b/lerobot/common/envs/aloha/__init__.py
@@ -0,0 +1,15 @@
+from gymnasium.envs.registration import register
+
+register(
+    id="gym_aloha/AlohaInsertion-v0",
+    entry_point="lerobot.common.envs.aloha.env:AlohaEnv",
+    max_episode_steps=300,
+    kwargs={"obs_type": "state", "task": "insertion"},
+)
+
+register(
+    id="gym_aloha/AlohaTransferCube-v0",
+    entry_point="lerobot.common.envs.aloha.env:AlohaEnv",
+    max_episode_steps=300,
+    kwargs={"obs_type": "state", "task": "transfer_cube"},
+)