diff --git a/lerobot/common/robot_devices/robots/factory.py b/lerobot/common/robot_devices/robots/factory.py
index fd6051a3..749a1d85 100644
--- a/lerobot/common/robot_devices/robots/factory.py
+++ b/lerobot/common/robot_devices/robots/factory.py
@@ -36,8 +36,8 @@ def make_robot(name):
                 ),
             },
             cameras={
-                "laptop": OpenCVCamera(1, fps=30, width=640, height=480),
-                "phone": OpenCVCamera(2, fps=30, width=640, height=480),
+                "laptop": OpenCVCamera(0, fps=30, width=640, height=480),
+                "phone": OpenCVCamera(1, fps=30, width=640, height=480),
             },
         )
     else:
diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py
index 031fb7d7..b4b66b3c 100644
--- a/lerobot/scripts/control_robot.py
+++ b/lerobot/scripts/control_robot.py
@@ -91,13 +91,14 @@ from pathlib import Path
 
 import torch
 import tqdm
+from huggingface_hub import create_branch
 from omegaconf import DictConfig
 from PIL import Image
 from pynput import keyboard
 
 # from safetensors.torch import load_file, save_file
 from lerobot.common.datasets.compute_stats import compute_stats
-from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.common.datasets.lerobot_dataset import CODEBASE_VERSION, LeRobotDataset
 from lerobot.common.datasets.push_dataset_to_hub.aloha_hdf5_format import to_hf_dataset
 from lerobot.common.datasets.push_dataset_to_hub.utils import concatenate_episodes
 from lerobot.common.datasets.utils import calculate_episode_data_index
@@ -107,7 +108,7 @@ from lerobot.common.robot_devices.robots.factory import make_robot
 from lerobot.common.robot_devices.robots.utils import Robot
 from lerobot.common.utils.utils import get_safe_torch_device, init_hydra_config, init_logging, set_global_seed
 from lerobot.scripts.eval import get_pretrained_policy_path
-from lerobot.scripts.push_dataset_to_hub import save_meta_data
+from lerobot.scripts.push_dataset_to_hub import push_meta_data_to_hub, push_videos_to_hub, save_meta_data
 
 ########################################################################################
 # Utilities
@@ -209,6 +210,7 @@ def record_dataset(
     num_episodes=50,
     video=True,
     run_compute_stats=True,
+    push_to_hub=True,
     num_image_writers=8,
     force_override=False,
 ):
@@ -469,7 +471,12 @@ def record_dataset(
     meta_data_dir = local_dir / "meta_data"
     save_meta_data(info, stats, episode_data_index, meta_data_dir)
 
-    # TODO(rcadene): push to hub
+    if push_to_hub:
+        hf_dataset.push_to_hub(repo_id, revision="main")
+        push_meta_data_to_hub(repo_id, meta_data_dir, revision="main")
+        if video:
+            push_videos_to_hub(repo_id, videos_dir, revision="main")
+        create_branch(repo_id, repo_type="dataset", branch=CODEBASE_VERSION)
 
     logging.info("Exiting")
     os.system('say "Exiting" &')
@@ -613,7 +620,12 @@ if __name__ == "__main__":
         default=1,
         help="By default, run the computation of the data statistics at the end of data collection. Compute intensive and not required to just replay an episode.",
     )
-
+    parser.add_argument(
+        "--push-to-hub",
+        type=int,
+        default=1,
+        help="Upload dataset to Hugging Face hub.",
+    )
     parser_record.add_argument(
         "--num-image-writers",
         type=int,
diff --git a/poetry.lock b/poetry.lock
index 4afc150e..abbed81f 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -835,7 +835,7 @@ files = [
 name = "evdev"
 version = "1.7.1"
 description = "Bindings to the Linux input handling subsystem"
-optional = false
+optional = true
 python-versions = ">=3.6"
 files = [
     {file = "evdev-1.7.1.tar.gz", hash = "sha256:0c72c370bda29d857e188d931019c32651a9c1ea977c08c8d939b1ced1637fde"},
@@ -3014,7 +3014,7 @@ dev = ["aafigure", "matplotlib", "numpy", "pygame", "pyglet (<2.0.0)", "sphinx",
 name = "pynput"
 version = "1.7.7"
 description = "Monitor and control user input devices"
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "pynput-1.7.7-py2.py3-none-any.whl", hash = "sha256:afc43f651684c98818de048abc76adf9f2d3d797083cb07c1f82be764a2d44cb"},
@@ -3031,7 +3031,7 @@ six = "*"
 name = "pyobjc-core"
 version = "10.3.1"
 description = "Python<->ObjC Interoperability Module"
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "pyobjc_core-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:ea46d2cda17921e417085ac6286d43ae448113158afcf39e0abe484c58fb3d78"},
@@ -3048,7 +3048,7 @@ files = [
 name = "pyobjc-framework-applicationservices"
 version = "10.3.1"
 description = "Wrappers for the framework ApplicationServices on macOS"
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "pyobjc_framework_ApplicationServices-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:b694260d423c470cb90c3a7009cfde93e332ea6fb4b9b9526ad3acbd33460e3d"},
@@ -3071,7 +3071,7 @@ pyobjc-framework-Quartz = ">=10.3.1"
 name = "pyobjc-framework-cocoa"
 version = "10.3.1"
 description = "Wrappers for the Cocoa frameworks on macOS"
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "pyobjc_framework_Cocoa-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:4cb4f8491ab4d9b59f5187e42383f819f7a46306a4fa25b84f126776305291d1"},
@@ -3091,7 +3091,7 @@ pyobjc-core = ">=10.3.1"
 name = "pyobjc-framework-coretext"
 version = "10.3.1"
 description = "Wrappers for the framework CoreText on macOS"
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "pyobjc_framework_CoreText-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:dd6123cfccc38e32be884d1a13fb62bd636ecb192b9e8ae2b8011c977dec229e"},
@@ -3113,7 +3113,7 @@ pyobjc-framework-Quartz = ">=10.3.1"
 name = "pyobjc-framework-quartz"
 version = "10.3.1"
 description = "Wrappers for the Quartz frameworks on macOS"
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "pyobjc_framework_Quartz-10.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:5ef4fd315ed2bc42ef77fdeb2bae28a88ec986bd7b8079a87ba3b3475348f96e"},
@@ -3256,7 +3256,7 @@ six = ">=1.5"
 name = "python-xlib"
 version = "0.33"
 description = "Python X Library"
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "python-xlib-0.33.tar.gz", hash = "sha256:55af7906a2c75ce6cb280a584776080602444f75815a7aff4d287bb2d7018b32"},
@@ -4497,7 +4497,7 @@ test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools",
 aloha = ["gym-aloha"]
 dev = ["debugpy", "pre-commit"]
 dora = ["gym-dora"]
-koch = ["dynamixel-sdk"]
+koch = ["dynamixel-sdk", "pynput"]
 pusht = ["gym-pusht"]
 test = ["pytest", "pytest-cov", "pytest-mock"]
 umi = ["imagecodecs"]
@@ -4507,4 +4507,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "6d82706d5216ce065ba5912ea9f802846dfdf7e7b1665f8560cc782fb0dfa354"
+content-hash = "2c59d869c6b1f2132070387f3d371b5b004765ae853501bbd522eb400738f2d0"
diff --git a/pyproject.toml b/pyproject.toml
index 8ea2431c..3d3b375e 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -64,7 +64,7 @@ scikit-image = {version = "^0.23.2", optional = true}
 pandas = {version = "^2.2.2", optional = true}
 pytest-mock = {version = "^3.14.0", optional = true}
 dynamixel-sdk = {version = "^3.7.31", optional = true}
-pynput = "^1.7.7"
+pynput = {version = "^1.7.7", optional = true}
 
 
 
@@ -77,7 +77,7 @@ dev = ["pre-commit", "debugpy"]
 test = ["pytest", "pytest-cov", "pytest-mock"]
 umi = ["imagecodecs"]
 video_benchmark = ["scikit-image", "pandas"]
-koch = ["dynamixel-sdk"]
+koch = ["dynamixel-sdk", "pynput"]
 
 [tool.ruff]
 line-length = 110