diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 00000000..c23a42bc
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,33 @@
+exclude: ^(data/|tests/|diffusion_policy/)
+default_language_version:
+    python: python3.10
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-added-large-files
+      - id: debug-statements
+      - id: check-merge-conflict
+      - id: check-case-conflict
+      - id: check-yaml
+      - id: check-toml
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.15.1
+    hooks:
+    -   id: pyupgrade
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.2.2
+    hooks:
+      - id: ruff
+        args: [--fix]
+      - id: ruff-format
+  - repo: https://github.com/python-poetry/poetry
+    rev: 1.8.0
+    hooks:
+      - id: poetry-check
+      - id: poetry-lock
+        args:
+          - "--check"
+          - "--no-update"
diff --git a/README.md b/README.md
index b3bd2d0e..2afc9842 100644
--- a/README.md
+++ b/README.md
@@ -10,7 +10,7 @@ conda activate lerobot
 
 [Install `poetry`](https://python-poetry.org/docs/#installation) (if you don't have it already)
 ```
-curl -sSL https://install.python-poetry.org | python3 -
+curl -sSL https://install.python-poetry.org | python -
 ```
 
 Install dependencies
@@ -26,6 +26,7 @@ export TMPDIR='~/tmp'
 
 Install `diffusion_policy` #HACK
 ```
+# from this directory
 git clone https://github.com/real-stanford/diffusion_policy
 cp -r diffusion_policy/diffusion_policy $(poetry env info -p)/lib/python3.10/site-packages/
 ```
@@ -107,11 +108,10 @@ eval_episodes=7
 
 **Style**
 ```
-isort lerobot && isort tests && black lerobot && black tests
-pylint lerobot && pylint tests  # not enforce for now
+pre-commit install
 ```
 
 **Tests**
 ```
 pytest -sx tests
-```
\ No newline at end of file
+```
diff --git a/poetry.lock b/poetry.lock
index 2f33580d..14b69206 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -192,6 +192,17 @@ files = [
 [package.dependencies]
 pycparser = "*"
 
+[[package]]
+name = "cfgv"
+version = "3.4.0"
+description = "Validate configuration and produce human readable error messages."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "cfgv-3.4.0-py2.py3-none-any.whl", hash = "sha256:b7265b1f29fd3316bfcd2b330d63d024f2bfd8bcb8b0272f8e19a504856c48f9"},
+    {file = "cfgv-3.4.0.tar.gz", hash = "sha256:e52591d4c5f5dead8e0f673fb16db7949d2cfb3f7da4582893288f0ded8fe560"},
+]
+
 [[package]]
 name = "charset-normalizer"
 version = "3.3.2"
@@ -420,6 +431,17 @@ url = "https://github.com/real-stanford/diffusion_policy"
 reference = "HEAD"
 resolved_reference = "548a52bbb105518058e27bf34dcf90bf6f73681a"
 
+[[package]]
+name = "distlib"
+version = "0.3.8"
+description = "Distribution utilities"
+optional = false
+python-versions = "*"
+files = [
+    {file = "distlib-0.3.8-py2.py3-none-any.whl", hash = "sha256:034db59a0b96f8ca18035f36290806a9a6e6bd9d1ff91e45a7f172eb17e51784"},
+    {file = "distlib-0.3.8.tar.gz", hash = "sha256:1530ea13e350031b6312d8580ddb6b27a104275a31106523b8f123787f494f64"},
+]
+
 [[package]]
 name = "dm-env"
 version = "1.6"
@@ -741,6 +763,20 @@ antlr4-python3-runtime = "==4.9.*"
 omegaconf = ">=2.2,<2.4"
 packaging = "*"
 
+[[package]]
+name = "identify"
+version = "2.5.35"
+description = "File identification library for Python"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "identify-2.5.35-py2.py3-none-any.whl", hash = "sha256:c4de0081837b211594f8e877a6b4fad7ca32bbfc1a9307fdd61c28bfe923f13e"},
+    {file = "identify-2.5.35.tar.gz", hash = "sha256:10a7ca245cfcd756a554a7288159f72ff105ad233c7c4b9c6f0f4d108f5f6791"},
+]
+
+[package.extras]
+license = ["ukkonen"]
+
 [[package]]
 name = "idna"
 version = "3.6"
@@ -1069,6 +1105,20 @@ doc = ["nb2plots (>=0.7)", "nbconvert (<7.9)", "numpydoc (>=1.6)", "pillow (>=9.
 extra = ["lxml (>=4.6)", "pydot (>=1.4.2)", "pygraphviz (>=1.11)", "sympy (>=1.10)"]
 test = ["pytest (>=7.2)", "pytest-cov (>=4.0)"]
 
+[[package]]
+name = "nodeenv"
+version = "1.8.0"
+description = "Node.js virtual environment builder"
+optional = false
+python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*"
+files = [
+    {file = "nodeenv-1.8.0-py2.py3-none-any.whl", hash = "sha256:df865724bb3c3adc86b3876fa209771517b0cfe596beff01a92700e0e8be4cec"},
+    {file = "nodeenv-1.8.0.tar.gz", hash = "sha256:d51e0c37e64fbf47d017feac3145cdbb58836d7eee8c6f6d3b6880c5456227d2"},
+]
+
+[package.dependencies]
+setuptools = "*"
+
 [[package]]
 name = "numba"
 version = "0.59.0"
@@ -1537,6 +1587,39 @@ tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "pa
 typing = ["typing-extensions"]
 xmp = ["defusedxml"]
 
+[[package]]
+name = "platformdirs"
+version = "4.2.0"
+description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "platformdirs-4.2.0-py3-none-any.whl", hash = "sha256:0614df2a2f37e1a662acbd8e2b25b92ccf8632929bc6d43467e17fe89c75e068"},
+    {file = "platformdirs-4.2.0.tar.gz", hash = "sha256:ef0cc731df711022c174543cb70a9b5bd22e5a9337c8624ef2c2ceb8ddad8768"},
+]
+
+[package.extras]
+docs = ["furo (>=2023.9.10)", "proselint (>=0.13)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1.25.2)"]
+test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4.3)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)"]
+
+[[package]]
+name = "pre-commit"
+version = "3.6.2"
+description = "A framework for managing and maintaining multi-language pre-commit hooks."
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "pre_commit-3.6.2-py2.py3-none-any.whl", hash = "sha256:ba637c2d7a670c10daedc059f5c49b5bd0aadbccfcd7ec15592cf9665117532c"},
+    {file = "pre_commit-3.6.2.tar.gz", hash = "sha256:c3ef34f463045c88658c5b99f38c1e297abdcc0ff13f98d3370055fbbfabc67e"},
+]
+
+[package.dependencies]
+cfgv = ">=2.0.0"
+identify = ">=1.0.0"
+nodeenv = ">=0.11.1"
+pyyaml = ">=5.1"
+virtualenv = ">=20.10.0"
+
 [[package]]
 name = "proglog"
 version = "0.1.10"
@@ -2462,6 +2545,26 @@ h2 = ["h2 (>=4,<5)"]
 socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"]
 zstd = ["zstandard (>=0.18.0)"]
 
+[[package]]
+name = "virtualenv"
+version = "20.25.1"
+description = "Virtual Python Environment builder"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "virtualenv-20.25.1-py3-none-any.whl", hash = "sha256:961c026ac520bac5f69acb8ea063e8a4f071bcc9457b9c1f28f6b085c511583a"},
+    {file = "virtualenv-20.25.1.tar.gz", hash = "sha256:e08e13ecdca7a0bd53798f356d5831434afa5b07b93f0abdf0797b7a06ffe197"},
+]
+
+[package.dependencies]
+distlib = ">=0.3.7,<1"
+filelock = ">=3.12.2,<4"
+platformdirs = ">=3.9.1,<5"
+
+[package.extras]
+docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
+test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8)", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10)"]
+
 [[package]]
 name = "wandb"
 version = "0.16.3"
@@ -2538,4 +2641,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.10"
-content-hash = "4c34065f18b708f6663ce5740011d2062b2995d1eaefbcb664572870827efd7c"
+content-hash = "7878b7e80b73355d98402655a8bf51bab122444555cbe8ae5d0f9f1e2effe4b2"
diff --git a/pyproject.toml b/pyproject.toml
index 7f072148..19276912 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -48,8 +48,39 @@ opencv-python = "^4.9.0.80"
 diffusion-policy = {git = "https://github.com/real-stanford/diffusion_policy"}
 
 
-
+[tool.poetry.group.dev.dependencies]
+pre-commit = "^3.6.2"
 
 [build-system]
 requires = ["poetry-core"]
 build-backend = "poetry.core.masonry.api"
+
+[tool.ruff]
+line-length = 110
+target-version = "py310"
+exclude = [
+    ".bzr",
+    ".direnv",
+    ".eggs",
+    ".git",
+    ".git-rewrite",
+    ".hg",
+    ".mypy_cache",
+    ".nox",
+    ".pants.d",
+    ".pytype",
+    ".ruff_cache",
+    ".svn",
+    ".tox",
+    ".venv",
+    "__pypackages__",
+    "_build",
+    "buck-out",
+    "build",
+    "dist",
+    "node_modules",
+    "venv",
+]
+
+[tool.ruff.lint]
+select = ["E4", "E7", "E9", "F", "I", "N", "B", "C4", "SIM"]