diff --git a/poetry.lock b/poetry.lock
index 3a04e3d1..7c2d3b0f 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.1 and should not be changed by hand.
 
 [[package]]
 name = "absl-py"
@@ -785,6 +785,26 @@ files = [
 [package.dependencies]
 six = ">=1.4.0"
 
+[[package]]
+name = "dora-rs"
+version = "0.3.4"
+description = "`dora` goal is to be a low latency, composable, and distributed data flow."
+optional = true
+python-versions = "*"
+files = [
+    {file = "dora_rs-0.3.4-cp37-abi3-macosx_10_12_x86_64.whl", hash = "sha256:d1b738eea5a4966d731c26c6b6a0a50a491a24f7e9e335475f983cfc6f0da19e"},
+    {file = "dora_rs-0.3.4-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:80b724871618c78a4e5863938fa66724176cc40352771087aebe1e62a8141157"},
+    {file = "dora_rs-0.3.4-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3a3919e157b47dc1dbc74c040a73087a4485f0d1bee99b6adcdbc36559400fe2"},
+    {file = "dora_rs-0.3.4-cp37-abi3-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f7c95f6e5858fd651d6cd220e4f052e99db2944b9c37fb0b5402d60ac4b41a63"},
+    {file = "dora_rs-0.3.4-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:37d915fbbca282446235c98a9ca08389aa3ef3155d4e88c6c136326e9a830042"},
+    {file = "dora_rs-0.3.4-cp37-abi3-win32.whl", hash = "sha256:c9f7f22f65c884ec9bee0245ce98d0c7fad25dec0f982e566f844b5e8e58818f"},
+    {file = "dora_rs-0.3.4-cp37-abi3-win_amd64.whl", hash = "sha256:0a6a37f96a9f6e13b58b02a6ea75af192af5fbe4f456f6a67b1f239c3cee3276"},
+    {file = "dora_rs-0.3.4.tar.gz", hash = "sha256:05c5d0db0d23d7c4669995ae34db11cd636dbf91f5705d832669bd04e7452903"},
+]
+
+[package.dependencies]
+pyarrow = "*"
+
 [[package]]
 name = "einops"
 version = "0.8.0"
@@ -1066,6 +1086,27 @@ mujoco = ">=2.3.7,<3.0.0"
 dev = ["debugpy (>=1.8.1)", "pre-commit (>=3.7.0)"]
 test = ["pytest (>=8.1.0)", "pytest-cov (>=5.0.0)"]
 
+[[package]]
+name = "gym-dora"
+version = "0.1.0"
+description = ""
+optional = true
+python-versions = "^3.10"
+files = []
+develop = false
+
+[package.dependencies]
+dora-rs = ">=0.3.4"
+gymnasium = ">=0.29.1"
+pyarrow = ">=12.0.0"
+
+[package.source]
+type = "git"
+url = "https://github.com/dora-rs/dora-lerobot.git"
+reference = "HEAD"
+resolved_reference = "1c6c2a401c3a2967d41444be6286ca9a28893abf"
+subdirectory = "gym_dora"
+
 [[package]]
 name = "gym-pusht"
 version = "0.1.4"
@@ -2406,6 +2447,7 @@ optional = false
 python-versions = ">=3.9"
 files = [
     {file = "pandas-2.2.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:90c6fca2acf139569e74e8781709dccb6fe25940488755716d1d354d6bc58bce"},
+    {file = "pandas-2.2.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:c7adfc142dac335d8c1e0dcbd37eb8617eac386596eb9e1a1b77791cf2498238"},
     {file = "pandas-2.2.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4abfe0be0d7221be4f12552995e58723c7422c80a659da13ca382697de830c08"},
     {file = "pandas-2.2.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8635c16bf3d99040fdf3ca3db669a7250ddf49c55dc4aa8fe0ae0fa8d6dcc1f0"},
     {file = "pandas-2.2.2-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:40ae1dffb3967a52203105a077415a86044a2bea011b5f321c6aa64b379a3f51"},
@@ -2426,6 +2468,7 @@ files = [
     {file = "pandas-2.2.2-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:43498c0bdb43d55cb162cdc8c06fac328ccb5d2eabe3cadeb3529ae6f0517c32"},
     {file = "pandas-2.2.2-cp312-cp312-win_amd64.whl", hash = "sha256:d187d355ecec3629624fccb01d104da7d7f391db0311145817525281e2804d23"},
     {file = "pandas-2.2.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:0ca6377b8fca51815f382bd0b697a0814c8bda55115678cbc94c30aacbb6eff2"},
+    {file = "pandas-2.2.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:9057e6aa78a584bc93a13f0a9bf7e753a5e9770a30b4d758b8d5f2a62a9433cd"},
     {file = "pandas-2.2.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:001910ad31abc7bf06f49dcc903755d2f7f3a9186c0c040b827e522e9cef0863"},
     {file = "pandas-2.2.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:66b479b0bd07204e37583c191535505410daa8df638fd8e75ae1b383851fe921"},
     {file = "pandas-2.2.2-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:a77e9d1c386196879aa5eb712e77461aaee433e54c68cf253053a73b7e49c33a"},
@@ -4257,6 +4300,7 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more
 [extras]
 aloha = ["gym-aloha"]
 dev = ["debugpy", "pre-commit"]
+dora = ["gym-dora"]
 pusht = ["gym-pusht"]
 test = ["pytest", "pytest-cov"]
 umi = ["imagecodecs"]
@@ -4265,4 +4309,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "1ad6ef0f88f0056ab639e60e033e586f7460a9c5fc3676a477bbd47923f41cb6"
+content-hash = "23ddb8dd774a4faf85d08a07dfdf19badb7c370120834b71df4afca254520771"
diff --git a/pyproject.toml b/pyproject.toml
index 1dd8b1d6..0c305218 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -46,6 +46,7 @@ h5py = ">=3.10.0"
 huggingface-hub = {extras = ["hf-transfer"], version = "^0.23.0"}
 gymnasium = ">=0.29.1"
 cmake = ">=3.29.0.1"
+gym-dora = { git = "https://github.com/dora-rs/dora-lerobot.git", subdirectory = "gym_dora", optional = true }
 gym-pusht = { version = ">=0.1.3", optional = true}
 gym-xarm = { version = ">=0.1.1", optional = true}
 gym-aloha = { version = ">=0.1.1", optional = true}
@@ -62,6 +63,7 @@ deepdiff = ">=7.0.1"
 
 
 [tool.poetry.extras]
+dora = ["gym-dora"]
 pusht = ["gym-pusht"]
 xarm = ["gym-xarm"]
 aloha = ["gym-aloha"]