diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index f86e4f8e8..45feabdc8 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -57,6 +57,38 @@ jobs:
             && rm -rf tests/outputs outputs
 
 
+  pytest-minimal:
+    name: Pytest (minimal install)
+    runs-on: ubuntu-latest
+    env:
+      DATA_DIR: tests/data
+      MUJOCO_GL: egl
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install poetry
+        run: |
+          pipx install poetry && poetry config virtualenvs.in-project true
+          echo "${{ github.workspace }}/.venv/bin" >> $GITHUB_PATH
+
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+
+      - name: Install poetry dependencies
+        run: |
+          poetry install --extras "test"
+
+      - name: Test with pytest
+        run: |
+          pytest tests -v --cov=./lerobot --durations=0 \
+            -W ignore::DeprecationWarning:imageio_ffmpeg._utils:7 \
+            -W ignore::UserWarning:torch.utils.data.dataloader:558 \
+            -W ignore::UserWarning:gymnasium.utils.env_checker:247 \
+            && rm -rf tests/outputs outputs
+
+
   end-to-end:
     name: End-to-end
     runs-on: ubuntu-latest
diff --git a/tests/test_examples.py b/tests/test_examples.py
index c1f3c1dcd..543eb022f 100644
--- a/tests/test_examples.py
+++ b/tests/test_examples.py
@@ -3,6 +3,8 @@ import subprocess
 import sys
 from pathlib import Path
 
+from tests.utils import require_package
+
 
 def _find_and_replace(text: str, finds_and_replaces: list[tuple[str, str]]) -> str:
     for f, r in finds_and_replaces:
@@ -21,6 +23,7 @@ def test_example_1():
     assert Path("outputs/examples/1_load_lerobot_dataset/episode_0.mp4").exists()
 
 
+@require_package("gym_pusht")
 def test_examples_3_and_2():
     """
     Train a model with example 3, check the outputs.
diff --git a/tests/utils.py b/tests/utils.py
index 6a7066942..74e3ba8f5 100644
--- a/tests/utils.py
+++ b/tests/utils.py
@@ -1,4 +1,5 @@
 import platform
+from functools import wraps
 
 import pytest
 import torch
@@ -61,7 +62,6 @@ def require_env(func):
     Decorator that skips the test if the required environment package is not installed.
     As it need 'env_name' in args, it also checks whether it is provided as an argument.
     """
-    from functools import wraps
 
     @wraps(func)
     def wrapper(*args, **kwargs):
@@ -82,3 +82,20 @@ def require_env(func):
         return func(*args, **kwargs)
 
     return wrapper
+
+
+def require_package(package_name):
+    """
+    Decorator that skips the test if the specified package is not installed.
+    """
+
+    def decorator(func):
+        @wraps(func)
+        def wrapper(*args, **kwargs):
+            if not is_package_available(package_name):
+                pytest.skip(f"{package_name} not installed")
+            return func(*args, **kwargs)
+
+        return wrapper
+
+    return decorator