diff --git a/lerobot/common/policies/factory.py b/lerobot/common/policies/factory.py
index 82e54476..79ef2720 100644
--- a/lerobot/common/policies/factory.py
+++ b/lerobot/common/policies/factory.py
@@ -2,20 +2,20 @@ from lerobot.common.policies.tdmpc import TDMPC
 
 
 def make_policy(cfg):
-    if cfg.policy == "tdmpc":
-        policy = TDMPC(cfg)
+    if cfg.policy.name == "tdmpc":
+        policy = TDMPC(cfg.policy)
     else:
-        raise ValueError(cfg.policy)
+        raise ValueError(cfg.policy.name)
 
-    if cfg.pretrained_model_path:
+    if cfg.policy.pretrained_model_path:
         # TODO(rcadene): hack for old pretrained models from fowm
-        if cfg.policy == "tdmpc" and "fowm" in cfg.pretrained_model_path:
+        if cfg.policy.name == "tdmpc" and "fowm" in cfg.policy.pretrained_model_path:
             if "offline" in cfg.pretrained_model_path:
                 policy.step[0] = 25000
             elif "final" in cfg.pretrained_model_path:
                 policy.step[0] = 100000
             else:
                 raise NotImplementedError()
-        policy.load(cfg.pretrained_model_path)
+        policy.load(cfg.policy.pretrained_model_path)
 
     return policy
diff --git a/lerobot/configs/default.yaml b/lerobot/configs/default.yaml
index f0339e5e..922efac8 100644
--- a/lerobot/configs/default.yaml
+++ b/lerobot/configs/default.yaml
@@ -22,84 +22,90 @@ pixels_only: False
 image_size: 84
 fps: 15
 
-reward_scale: 1.0
 
 
 # xarm_lift
+action_repeat: 2
 episode_length: 25
-modality: 'all'
-action_repeat: 2 # TODO(rcadene): verify we use this
-discount: 0.9
 train_steps: 50000
 
-# pixels
-frame_stack: 1
-num_channels: 32
-img_size: ${image_size}
-state_dim: 4
-action_dim: 4
 
-# TDMPC
-policy: tdmpc
+policy:
+  name: tdmpc
 
-# planning
-mpc: true
-iterations: 6
-num_samples: 512
-num_elites: 50
-mixture_coef: 0.1
-min_std: 0.05
-max_std: 2.0
-temperature: 0.5
-momentum: 0.1
-uncertainty_cost: 1
+  reward_scale: 1.0
 
-# actor
-log_std_min: -10
-log_std_max: 2
+  # xarm_lift
+  train_steps: ${train_steps}
+  episode_length: ${episode_length}
+  discount: 0.9
+  modality: 'all'
 
-# learning
-batch_size: 256
-max_buffer_size: 10000
-horizon: 5
-reward_coef: 0.5
-value_coef: 0.1
-consistency_coef: 20
-rho: 0.5
-kappa: 0.1
-lr: 3e-4
-std_schedule: ${min_std}
-horizon_schedule: ${horizon}
-per: true
-per_alpha: 0.6
-per_beta: 0.4
-grad_clip_norm: 10
-seed_steps: 0
-update_freq: 2
-tau: 0.01
-utd: 1
+  # pixels
+  frame_stack: 1
+  num_channels: 32
+  img_size: ${image_size}
+  state_dim: 4
+  action_dim: 4
 
-# offline rl
-# dataset_dir: ???
-data_first_percent: 1.0
-is_data_clip: true
-data_clip_eps: 1e-5
-expectile: 0.9
-A_scaling: 3.0
+  # planning
+  mpc: true
+  iterations: 6
+  num_samples: 512
+  num_elites: 50
+  mixture_coef: 0.1
+  min_std: 0.05
+  max_std: 2.0
+  temperature: 0.5
+  momentum: 0.1
+  uncertainty_cost: 1
 
-# offline->online
-offline_steps: 25000 # ${train_steps}/2
-pretrained_model_path: ""
-# pretrained_model_path: "/home/rcadene/code/fowm/logs/xarm_lift/all/default/2/models/offline.pt"
-# pretrained_model_path: "/home/rcadene/code/fowm/logs/xarm_lift/all/default/2/models/final.pt"
-balanced_sampling: true
-demo_schedule: 0.5
+  # actor
+  log_std_min: -10
+  log_std_max: 2
 
-# architecture
-enc_dim: 256
-num_q: 5
-mlp_dim: 512
-latent_dim: 50
+  # learning
+  batch_size: 256
+  max_buffer_size: 10000
+  horizon: 5
+  reward_coef: 0.5
+  value_coef: 0.1
+  consistency_coef: 20
+  rho: 0.5
+  kappa: 0.1
+  lr: 3e-4
+  std_schedule: ${policy.min_std}
+  horizon_schedule: ${policy.horizon}
+  per: true
+  per_alpha: 0.6
+  per_beta: 0.4
+  grad_clip_norm: 10
+  seed_steps: 0
+  update_freq: 2
+  tau: 0.01
+  utd: 1
+
+  # offline rl
+  # dataset_dir: ???
+  data_first_percent: 1.0
+  is_data_clip: true
+  data_clip_eps: 1e-5
+  expectile: 0.9
+  A_scaling: 3.0
+
+  # offline->online
+  offline_steps: 25000 # ${train_steps}/2
+  pretrained_model_path: ""
+  # pretrained_model_path: "/home/rcadene/code/fowm/logs/xarm_lift/all/default/2/models/offline.pt"
+  # pretrained_model_path: "/home/rcadene/code/fowm/logs/xarm_lift/all/default/2/models/final.pt"
+  balanced_sampling: true
+  demo_schedule: 0.5
+
+  # architecture
+  enc_dim: 256
+  num_q: 5
+  mlp_dim: 512
+  latent_dim: 50
 
 # wandb
 use_wandb: true
diff --git a/lerobot/configs/pusht.yaml b/lerobot/configs/pusht.yaml
index d7166309..b2f7b766 100644
--- a/lerobot/configs/pusht.yaml
+++ b/lerobot/configs/pusht.yaml
@@ -10,7 +10,7 @@ hydra:
 env: pusht
 task: pusht
 image_size: 96
-frame_skip: 1
+action_repeat: 1
 state_dim: 2
 action_dim: 2
 fps: 10