diff --git a/examples/10_use_so100.md b/examples/10_use_so100.md
index 32d7f22dd..2309b7bb7 100644
--- a/examples/10_use_so100.md
+++ b/examples/10_use_so100.md
@@ -192,7 +192,6 @@ Record 2 episodes and upload your dataset to the hub:
 python lerobot/scripts/control_robot.py record \
     --robot-path lerobot/configs/robot/so100.yaml \
     --fps 30 \
-    --root data \
     --repo-id ${HF_USER}/so100_test \
     --tags so100 tutorial \
     --warmup-time-s 5 \
@@ -212,7 +211,6 @@ echo ${HF_USER}/so100_test
 If you didn't upload with `--push-to-hub 0`, you can also visualize it locally with:
 ```bash
 python lerobot/scripts/visualize_dataset_html.py \
-  --root data \
   --repo-id ${HF_USER}/so100_test
 ```
 
@@ -223,7 +221,6 @@ Now try to replay the first episode on your robot:
 DATA_DIR=data python lerobot/scripts/control_robot.py replay \
     --robot-path lerobot/configs/robot/so100.yaml \
     --fps 30 \
-    --root data \
     --repo-id ${HF_USER}/so100_test \
     --episode 0
 ```
@@ -259,7 +256,6 @@ You can use the `record` function from [`lerobot/scripts/control_robot.py`](../l
 python lerobot/scripts/control_robot.py record \
   --robot-path lerobot/configs/robot/so100.yaml \
   --fps 30 \
-  --root data \
   --repo-id ${HF_USER}/eval_act_so100_test \
   --tags so100 tutorial eval \
   --warmup-time-s 5 \
diff --git a/examples/11_use_moss.md b/examples/11_use_moss.md
index 4ccbb93db..39a56e933 100644
--- a/examples/11_use_moss.md
+++ b/examples/11_use_moss.md
@@ -192,7 +192,6 @@ Record 2 episodes and upload your dataset to the hub:
 python lerobot/scripts/control_robot.py record \
     --robot-path lerobot/configs/robot/moss.yaml \
     --fps 30 \
-    --root data \
     --repo-id ${HF_USER}/moss_test \
     --tags moss tutorial \
     --warmup-time-s 5 \
@@ -212,7 +211,6 @@ echo ${HF_USER}/moss_test
 If you didn't upload with `--push-to-hub 0`, you can also visualize it locally with:
 ```bash
 python lerobot/scripts/visualize_dataset_html.py \
-  --root data \
   --repo-id ${HF_USER}/moss_test
 ```
 
@@ -223,7 +221,6 @@ Now try to replay the first episode on your robot:
 DATA_DIR=data python lerobot/scripts/control_robot.py replay \
     --robot-path lerobot/configs/robot/moss.yaml \
     --fps 30 \
-    --root data \
     --repo-id ${HF_USER}/moss_test \
     --episode 0
 ```
@@ -259,7 +256,6 @@ You can use the `record` function from [`lerobot/scripts/control_robot.py`](../l
 python lerobot/scripts/control_robot.py record \
   --robot-path lerobot/configs/robot/moss.yaml \
   --fps 30 \
-  --root data \
   --repo-id ${HF_USER}/eval_act_moss_test \
   --tags moss tutorial eval \
   --warmup-time-s 5 \
diff --git a/examples/7_get_started_with_real_robot.md b/examples/7_get_started_with_real_robot.md
index 9db7e2521..a6bfe65a4 100644
--- a/examples/7_get_started_with_real_robot.md
+++ b/examples/7_get_started_with_real_robot.md
@@ -778,7 +778,6 @@ Now run this to record 2 episodes:
 python lerobot/scripts/control_robot.py record \
   --robot-path lerobot/configs/robot/koch.yaml \
   --fps 30 \
-  --root data \
   --repo-id ${HF_USER}/koch_test \
   --tags tutorial \
   --warmup-time-s 5 \
@@ -787,7 +786,7 @@ python lerobot/scripts/control_robot.py record \
   --num-episodes 2
 ```
 
-This will write your dataset locally to `{root}/{repo-id}` (e.g. `data/cadene/koch_test`) and push it on the hub at `https://huggingface.co/datasets/{HF_USER}/{repo-id}`. Your dataset will be automatically tagged with `LeRobot` for the community to find it easily, and you can also add custom tags (in this case `tutorial` for example).
+This will write your dataset locally to `~/.cache/huggingface/lerobot/{repo-id}` (e.g. `data/cadene/koch_test`) and push it on the hub at `https://huggingface.co/datasets/{HF_USER}/{repo-id}`. Your dataset will be automatically tagged with `LeRobot` for the community to find it easily, and you can also add custom tags (in this case `tutorial` for example).
 
 You can look for other LeRobot datasets on the hub by searching for `LeRobot` tags: https://huggingface.co/datasets?other=LeRobot
 
@@ -840,7 +839,6 @@ In the coming months, we plan to release a foundational model for robotics. We a
 You can visualize your dataset by running:
 ```bash
 python lerobot/scripts/visualize_dataset_html.py \
-  --root data \
   --repo-id ${HF_USER}/koch_test
 ```
 
@@ -858,7 +856,6 @@ To replay the first episode of the dataset you just recorded, run the following
 python lerobot/scripts/control_robot.py replay \
   --robot-path lerobot/configs/robot/koch.yaml \
   --fps 30 \
-  --root data \
   --repo-id ${HF_USER}/koch_test \
   --episode 0
 ```
@@ -991,7 +988,6 @@ To this end, you can use the `record` function from [`lerobot/scripts/control_ro
 python lerobot/scripts/control_robot.py record \
   --robot-path lerobot/configs/robot/koch.yaml \
   --fps 30 \
-  --root data \
   --repo-id ${HF_USER}/eval_koch_test \
   --tags tutorial eval \
   --warmup-time-s 5 \
@@ -1010,7 +1006,6 @@ As you can see, it's almost the same command as previously used to record your t
 You can then visualize your evaluation dataset by running the same command as before but with the new inference dataset as argument:
 ```bash
 python lerobot/scripts/visualize_dataset.py \
-  --root data \
   --repo-id ${HF_USER}/eval_koch_test
 ```
 
diff --git a/examples/8_use_stretch.md b/examples/8_use_stretch.md
index 97caf2ba8..c2c306f07 100644
--- a/examples/8_use_stretch.md
+++ b/examples/8_use_stretch.md
@@ -128,7 +128,6 @@ Record one episode:
 python lerobot/scripts/control_robot.py record \
     --robot-path lerobot/configs/robot/stretch.yaml \
     --fps 20 \
-    --root data \
     --repo-id ${HF_USER}/stretch_test \
     --tags stretch tutorial \
     --warmup-time-s 3 \
@@ -146,7 +145,6 @@ Now try to replay this episode (make sure the robot's initial position is the sa
 python lerobot/scripts/control_robot.py replay \
     --robot-path lerobot/configs/robot/stretch.yaml \
     --fps 20 \
-    --root data \
     --repo-id ${HF_USER}/stretch_test \
     --episode 0
 ```
diff --git a/examples/9_use_aloha.md b/examples/9_use_aloha.md
index cf5e1ceca..866120b5f 100644
--- a/examples/9_use_aloha.md
+++ b/examples/9_use_aloha.md
@@ -84,7 +84,6 @@ python lerobot/scripts/control_robot.py record \
     --robot-path lerobot/configs/robot/aloha.yaml \
     --robot-overrides max_relative_target=null \
     --fps 30 \
-    --root data \
     --repo-id ${HF_USER}/aloha_test \
     --tags aloha tutorial \
     --warmup-time-s 5 \
@@ -104,7 +103,6 @@ echo ${HF_USER}/aloha_test
 If you didn't upload with `--push-to-hub 0`, you can also visualize it locally with:
 ```bash
 python lerobot/scripts/visualize_dataset_html.py \
-  --root data \
   --repo-id ${HF_USER}/aloha_test
 ```
 
@@ -119,7 +117,6 @@ python lerobot/scripts/control_robot.py replay \
     --robot-path lerobot/configs/robot/aloha.yaml \
     --robot-overrides max_relative_target=null \
     --fps 30 \
-    --root data \
     --repo-id ${HF_USER}/aloha_test \
     --episode 0
 ```
@@ -156,7 +153,6 @@ python lerobot/scripts/control_robot.py record \
   --robot-path lerobot/configs/robot/aloha.yaml \
   --robot-overrides max_relative_target=null \
   --fps 30 \
-  --root data \
   --repo-id ${HF_USER}/eval_act_aloha_test \
   --tags aloha tutorial eval \
   --warmup-time-s 5 \
diff --git a/lerobot/common/datasets/lerobot_dataset.py b/lerobot/common/datasets/lerobot_dataset.py
index 78a3aeaa0..b32cf7095 100644
--- a/lerobot/common/datasets/lerobot_dataset.py
+++ b/lerobot/common/datasets/lerobot_dataset.py
@@ -298,7 +298,7 @@ def create(
                     f"Some cameras in your {robot.robot_type} robot don't have an fps matching the fps of your dataset."
                     "In this case, frames from lower fps cameras will be repeated to fill in the blanks."
                 )
-        elif robot_type is None or features is None:
+        elif features is None:
             raise ValueError(
                 "Dataset features must either come from a Robot or explicitly passed upon creation."
             )
diff --git a/lerobot/common/robot_devices/control_utils.py b/lerobot/common/robot_devices/control_utils.py
index d5df031c3..9b9649dde 100644
--- a/lerobot/common/robot_devices/control_utils.py
+++ b/lerobot/common/robot_devices/control_utils.py
@@ -353,7 +353,7 @@ def sanity_check_dataset_robot_compatibility(
 
     mismatches = []
     for field, dataset_value, present_value in fields:
-        diff = DeepDiff(dataset_value, present_value)
+        diff = DeepDiff(dataset_value, present_value, exclude_regex_paths=[r".*\['info'\]$"])
         if diff:
             mismatches.append(f"{field}: expected {present_value}, got {dataset_value}")
 
diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py
index ad73eef49..3e7235639 100644
--- a/lerobot/scripts/control_robot.py
+++ b/lerobot/scripts/control_robot.py
@@ -29,7 +29,6 @@
 ```bash
 python lerobot/scripts/control_robot.py record \
     --fps 30 \
-    --root tmp/data \
     --repo-id $USER/koch_test \
     --num-episodes 1 \
     --run-compute-stats 0
@@ -38,7 +37,6 @@
 - Visualize dataset:
 ```bash
 python lerobot/scripts/visualize_dataset.py \
-    --root tmp/data \
     --repo-id $USER/koch_test \
     --episode-index 0
 ```
@@ -47,7 +45,6 @@
 ```bash
 python lerobot/scripts/control_robot.py replay \
     --fps 30 \
-    --root tmp/data \
     --repo-id $USER/koch_test \
     --episode 0
 ```
@@ -57,7 +54,6 @@
 ```bash
 python lerobot/scripts/control_robot.py record \
     --fps 30 \
-    --root data \
     --repo-id $USER/koch_pick_place_lego \
     --num-episodes 50 \
     --warmup-time-s 2 \
@@ -88,7 +84,6 @@
 ```bash
 python lerobot/scripts/control_robot.py record \
     --fps 30 \
-    --root data \
     --repo-id $USER/eval_act_koch_real \
     --num-episodes 10 \
     --warmup-time-s 2 \
@@ -191,7 +186,7 @@ def teleoperate(
 @safe_disconnect
 def record(
     robot: Robot,
-    root: str,
+    root: Path,
     repo_id: str,
     single_task: str,
     pretrained_policy_name_or_path: str | None = None,
@@ -204,6 +199,7 @@ def record(
     video: bool = True,
     run_compute_stats: bool = True,
     push_to_hub: bool = True,
+    tags: list[str] | None = None,
     num_image_writer_processes: int = 0,
     num_image_writer_threads_per_camera: int = 4,
     display_cameras: bool = True,
@@ -331,7 +327,7 @@ def record(
     dataset.consolidate(run_compute_stats)
 
     if push_to_hub:
-        dataset.push_to_hub()
+        dataset.push_to_hub(tags=tags)
 
     log_say("Exiting", play_sounds)
     return dataset
@@ -427,7 +423,7 @@ def replay(
     parser_record.add_argument(
         "--root",
         type=Path,
-        default="data",
+        default=None,
         help="Root directory where the dataset will be stored locally at '{root}/{repo_id}' (e.g. 'data/hf_username/dataset_name').",
     )
     parser_record.add_argument(
@@ -495,10 +491,10 @@ def replay(
         ),
     )
     parser_record.add_argument(
-        "--force-override",
+        "--resume",
         type=int,
         default=0,
-        help="By default, data recording is resumed. When set to 1, delete the local directory and start data recording from scratch.",
+        help="Resume recording on an existing dataset.",
     )
     parser_record.add_argument(
         "-p",
@@ -523,7 +519,7 @@ def replay(
     parser_replay.add_argument(
         "--root",
         type=Path,
-        default="data",
+        default=None,
         help="Root directory where the dataset will be stored locally at '{root}/{repo_id}' (e.g. 'data/hf_username/dataset_name').",
     )
     parser_replay.add_argument(