diff --git a/lerobot/__init__.py b/lerobot/__init__.py
index 495a0235..f5134a59 100644
--- a/lerobot/__init__.py
+++ b/lerobot/__init__.py
@@ -45,6 +45,9 @@ import itertools
 
 from lerobot.__version__ import __version__  # noqa: F401
 
+# TODO(rcadene): Improve policies and envs. As of now, an item in `available_policies`
+# refers to a yaml file AND a modeling name. Same for `available_envs` which refers to
+# a yaml file AND a environment name. The difference should be more obvious.
 available_tasks_per_env = {
     "aloha": [
         "AlohaInsertion-v0",
@@ -52,7 +55,7 @@ available_tasks_per_env = {
     ],
     "pusht": ["PushT-v0"],
     "xarm": ["XarmLift-v0"],
-    "dora": ["DoraAloha-v0", "DoraKoch-v0", "DoraReachy2-v0"],
+    "dora_aloha_real": ["DoraAloha-v0", "DoraKoch-v0", "DoraReachy2-v0"],
 }
 available_envs = list(available_tasks_per_env.keys())
 
@@ -78,7 +81,7 @@ available_datasets_per_env = {
         "lerobot/xarm_push_medium_image",
         "lerobot/xarm_push_medium_replay_image",
     ],
-    "dora": [
+    "dora_aloha_real": [
         "lerobot/aloha_static_battery",
         "lerobot/aloha_static_candy",
         "lerobot/aloha_static_coffee",
@@ -126,17 +129,19 @@ available_datasets = list(
     itertools.chain(*available_datasets_per_env.values(), available_real_world_datasets)
 )
 
+# refers to attribute "name" of policy instance
 available_policies = [
     "act",
     "diffusion",
     "tdmpc",
 ]
 
+# keys and values refer to yaml files
 available_policies_per_env = {
     "aloha": ["act"],
-    "dora": ["act"],
     "pusht": ["diffusion"],
     "xarm": ["tdmpc"],
+    "dora_aloha_real": ["act_real"],
 }
 
 env_task_pairs = [(env, task) for env, tasks in available_tasks_per_env.items() for task in tasks]
diff --git a/lerobot/configs/policy/act_real.yaml b/lerobot/configs/policy/act_real.yaml
index f39a03e9..b4942615 100644
--- a/lerobot/configs/policy/act_real.yaml
+++ b/lerobot/configs/policy/act_real.yaml
@@ -11,7 +11,7 @@
 # ```bash
 # python lerobot/scripts/train.py \
 #   policy=act_real \
-#   env=aloha_real
+#   env=dora_aloha_real
 # ```
 
 seed: 1000
diff --git a/lerobot/configs/policy/act_real_no_state.yaml b/lerobot/configs/policy/act_real_no_state.yaml
index a6a6f494..a8b1c9b6 100644
--- a/lerobot/configs/policy/act_real_no_state.yaml
+++ b/lerobot/configs/policy/act_real_no_state.yaml
@@ -9,7 +9,7 @@
 # ```bash
 # python lerobot/scripts/train.py \
 #   policy=act_real_no_state \
-#   env=aloha_real
+#   env=dora_aloha_real
 # ```
 
 seed: 1000