diff --git a/lerobot/calibrate.py b/lerobot/calibrate.py
index b21ee89d8..c58a2a395 100644
--- a/lerobot/calibrate.py
+++ b/lerobot/calibrate.py
@@ -12,6 +12,19 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+"""
+Helper to recalibrate your device (robot or teleoperator).
+
+Example:
+
+```shell
+python -m lerobot.calibrate \
+    --device.type=so100_leader \
+    --device.port=/dev/tty.usbmodem58760431551 \
+    --device.id=blue
+```
+"""
+
 import logging
 from dataclasses import asdict, dataclass
 from pprint import pformat
diff --git a/lerobot/find_port.py b/lerobot/find_port.py
index 47c2dfea9..05d0eb8fd 100644
--- a/lerobot/find_port.py
+++ b/lerobot/find_port.py
@@ -11,6 +11,17 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+
+"""
+Helper to find the USB port associated with your MotorsBus.
+
+Example:
+
+```shell
+python -m lerobot.find_port
+```
+"""
+
 import os
 import time
 from pathlib import Path
@@ -51,5 +62,4 @@ def find_port():
 
 
 if __name__ == "__main__":
-    # Helper to find the USB port associated with your MotorsBus.
     find_port()
diff --git a/lerobot/record.py b/lerobot/record.py
index e8f81286e..0059752b8 100644
--- a/lerobot/record.py
+++ b/lerobot/record.py
@@ -12,6 +12,26 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+"""
+Records a dataset. Actions for the robot can be either generated by teleoperation or by a policy.
+
+Example:
+
+```shell
+python -m lerobot.record \
+    --robot.type=so100_follower \
+    --robot.port=/dev/tty.usbmodem58760431541 \
+    --robot.cameras="{laptop: {type: opencv, camera_index: 0, width: 640, height: 480}}" \
+    --robot.id=black \
+    --teleop.type=so100_leader \
+    --teleop.port=/dev/tty.usbmodem58760431551 \
+    --teleop.id=blue \
+    --dataset.repo_id=aliberts/record-test \
+    --dataset.num_episodes=2 \
+    --dataset.single_task="Grab the cube"
+```
+"""
+
 import logging
 import time
 from dataclasses import asdict, dataclass
diff --git a/lerobot/replay.py b/lerobot/replay.py
index 0de0d4539..5b8f86190 100644
--- a/lerobot/replay.py
+++ b/lerobot/replay.py
@@ -12,6 +12,21 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+"""
+Replays the actions of an episode from a dataset on a robot.
+
+Example:
+
+```shell
+python -m lerobot.replay \
+    --robot.type=so100_follower \
+    --robot.port=/dev/tty.usbmodem58760431541 \
+    --robot.id=black \
+    --dataset.repo_id=aliberts/record-test \
+    --dataset.episode=2
+```
+"""
+
 import logging
 import time
 from dataclasses import asdict, dataclass
diff --git a/lerobot/setup_motors.py b/lerobot/setup_motors.py
index 7e004c324..d85e2810a 100644
--- a/lerobot/setup_motors.py
+++ b/lerobot/setup_motors.py
@@ -1,3 +1,29 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+Helper to set motor ids and baudrate.
+
+Example:
+
+```shell
+python -m lerobot.setup_motors \
+    --device.type=so100_leader \
+    --device.port=/dev/tty.usbmodem575E0031751
+```
+"""
+
 from dataclasses import dataclass
 
 import draccus
diff --git a/lerobot/teleoperate.py b/lerobot/teleoperate.py
index 0c421e2b5..f14f9a796 100644
--- a/lerobot/teleoperate.py
+++ b/lerobot/teleoperate.py
@@ -12,6 +12,23 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+"""
+Simple script to control a robot from teleoperation.
+
+Example:
+
+```shell
+python -m lerobot.teleoperate \
+    --robot.type=so100_follower \
+    --robot.port=/dev/tty.usbmodem58760431541 \
+    --robot.cameras="{laptop: {type: opencv, camera_index: 0}}" \
+    --robot.id=black \
+    --teleop.type=so100_leader \
+    --teleop.port=/dev/tty.usbmodem58760431551 \
+    --teleop.id=blue
+```
+"""
+
 import logging
 import time
 from dataclasses import asdict, dataclass