diff --git a/docs/source/integrate_hardware.mdx b/docs/source/integrate_hardware.mdx
index 0c29121d..83db273d 100644
--- a/docs/source/integrate_hardware.mdx
+++ b/docs/source/integrate_hardware.mdx
@@ -300,10 +300,6 @@ def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
     return action
 ```
 
-<!-- ## Putting it all together (TODO)
-```python
-``` -->
-
 ## Adding a Teleoperator
 
 For implementing teleoperation devices, we also provide a [`Teleoperator`](https://github.com/huggingface/lerobot/blob/main/lerobot/common/teleoperators/teleoperator.py) base class. This class is very similar to the `Robot` base class and also doesn't assume anything on form factor.
diff --git a/lerobot/common/teleoperators/teleoperator.py b/lerobot/common/teleoperators/teleoperator.py
index 1fef8132..a3851731 100644
--- a/lerobot/common/teleoperators/teleoperator.py
+++ b/lerobot/common/teleoperators/teleoperator.py
@@ -165,8 +165,8 @@ class Teleoperator(abc.ABC):
         Send a feedback action command to the teleoperator.
 
         Args:
-            action (dict[str, Any]): Dictionary representing the desired action. Its structure should match
-                :pymeth:`action_features`.
+            feedback (dict[str, Any]): Dictionary representing the desired feedback. Its structure should match
+                :pymeth:`feedback_features`.
 
         Returns:
             dict[str, Any]: The action actually sent to the motors potentially clipped or modified, e.g. by