diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py
index 3daea98d..a1988638 100644
--- a/lerobot/scripts/control_robot.py
+++ b/lerobot/scripts/control_robot.py
@@ -134,6 +134,13 @@ python lerobot/scripts/control_robot.py \
 ```
 """
 
+import cv2
+
+# Make sure that the UI gets initialized before PyAV (av) gets imported by torchvision
+# This solves the hanging issue with cv2.imshow on Ubuntu
+cv2.namedWindow("i")
+cv2.destroyAllWindows()
+
 import logging
 import os
 import time
diff --git a/lerobot/scripts/control_sim_robot.py b/lerobot/scripts/control_sim_robot.py
index 5347822c..245bd7b7 100644
--- a/lerobot/scripts/control_sim_robot.py
+++ b/lerobot/scripts/control_sim_robot.py
@@ -88,6 +88,12 @@ import time
 from pathlib import Path
 
 import cv2
+
+# Make sure that the UI gets initialized before PyAV (av) gets imported by torchvision
+# This solves the hanging issue with cv2.imshow on Ubuntu
+cv2.namedWindow("i")
+cv2.destroyAllWindows()
+
 import gymnasium as gym
 import numpy as np
 import torch