diff --git a/lerobot/common/policies/__init__.py b/lerobot/common/policies/__init__.py
index b73ba5f4e..8b3c25194 100644
--- a/lerobot/common/policies/__init__.py
+++ b/lerobot/common/policies/__init__.py
@@ -12,8 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .act.configuration_act import ACTConfig as ACTConfig
-from .diffusion.configuration_diffusion import DiffusionConfig as DiffusionConfig
-from .pi0.configuration_pi0 import PI0Config as PI0Config
-from .tdmpc.configuration_tdmpc import TDMPCConfig as TDMPCConfig
-from .vqbet.configuration_vqbet import VQBeTConfig as VQBeTConfig
+from . import act, diffusion, pi0, tdmpc, vqbet
+from .factory import make_policy
+
+__all__ = ["act", "diffusion", "pi0", "tdmpc", "vqbet", "make_policy"]
diff --git a/lerobot/common/policies/act/__init__.py b/lerobot/common/policies/act/__init__.py
new file mode 100644
index 000000000..8b3b2ba2d
--- /dev/null
+++ b/lerobot/common/policies/act/__init__.py
@@ -0,0 +1,4 @@
+from .configuration_act import ACTConfig
+from .modeling_act import ACT
+
+__all__ = ["ACTConfig", "ACT"]
diff --git a/lerobot/common/policies/diffusion/__init__.py b/lerobot/common/policies/diffusion/__init__.py
new file mode 100644
index 000000000..092ea4636
--- /dev/null
+++ b/lerobot/common/policies/diffusion/__init__.py
@@ -0,0 +1,4 @@
+from .configuration_diffusion import DiffusionConfig
+from .modeling_diffusion import DiffusionPolicy
+
+__all__ = ["DiffusionConfig", "DiffusionPolicy"]
diff --git a/lerobot/common/policies/pi0/__init__.py b/lerobot/common/policies/pi0/__init__.py
new file mode 100644
index 000000000..077dee700
--- /dev/null
+++ b/lerobot/common/policies/pi0/__init__.py
@@ -0,0 +1,4 @@
+from .configuration_pi0 import PI0Config
+from .modeling_pi0 import PI0Policy
+
+__all__ = ["PI0Config", "PI0Policy"]
diff --git a/lerobot/common/policies/tdmpc/__init__.py b/lerobot/common/policies/tdmpc/__init__.py
new file mode 100644
index 000000000..83b7b14a4
--- /dev/null
+++ b/lerobot/common/policies/tdmpc/__init__.py
@@ -0,0 +1,4 @@
+from .configuration_tdmpc import TDMPCConfig
+from .modeling_tdmpc import TDMPCPolicy
+
+__all__ = ["TDMPCConfig", "TDMPCPolicy"]
diff --git a/lerobot/common/policies/vqbet/__init__.py b/lerobot/common/policies/vqbet/__init__.py
new file mode 100644
index 000000000..600b604f2
--- /dev/null
+++ b/lerobot/common/policies/vqbet/__init__.py
@@ -0,0 +1,4 @@
+from .configuration_vqbet import VQBeTConfig
+from .modeling_vqbet import VQBeTPolicy
+
+__all__ = ["VQBeTConfig", "VQBeTPolicy"]