diff --git a/lerobot/common/envs/configs.py b/lerobot/common/envs/configs.py
index 6de3cf03..c99fba81 100644
--- a/lerobot/common/envs/configs.py
+++ b/lerobot/common/envs/configs.py
@@ -32,7 +32,8 @@ class EnvConfig(draccus.ChoiceRegistry, abc.ABC):
     def type(self) -> str:
         return self.get_choice_name(self.__class__)
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def gym_kwargs(self) -> dict:
         raise NotImplementedError()
 
diff --git a/lerobot/common/robots/robot.py b/lerobot/common/robots/robot.py
index 7368863e..e5af9e79 100644
--- a/lerobot/common/robots/robot.py
+++ b/lerobot/common/robots/robot.py
@@ -49,15 +49,18 @@ class Robot(abc.ABC):
         return f"{self.id} {self.__class__.__name__}"
 
     # TODO(aliberts): create a proper Feature class for this that links with datasets
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def observation_features(self) -> dict:
         pass
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def action_features(self) -> dict:
         pass
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def is_connected(self) -> bool:
         pass
 
@@ -66,7 +69,8 @@ class Robot(abc.ABC):
         """Connects to the robot."""
         pass
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def is_calibrated(self) -> bool:
         pass
 
diff --git a/lerobot/common/teleoperators/teleoperator.py b/lerobot/common/teleoperators/teleoperator.py
index 5a1ed184..d8715a55 100644
--- a/lerobot/common/teleoperators/teleoperator.py
+++ b/lerobot/common/teleoperators/teleoperator.py
@@ -47,15 +47,18 @@ class Teleoperator(abc.ABC):
     def __str__(self) -> str:
         return f"{self.id} {self.__class__.__name__}"
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def action_features(self) -> dict:
         pass
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def feedback_features(self) -> dict:
         pass
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def is_connected(self) -> bool:
         pass
 
@@ -64,7 +67,8 @@ class Teleoperator(abc.ABC):
         """Connects to the teleoperator."""
         pass
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def is_calibrated(self) -> bool:
         pass
 
diff --git a/lerobot/configs/policies.py b/lerobot/configs/policies.py
index 22eae05f..1302db1f 100644
--- a/lerobot/configs/policies.py
+++ b/lerobot/configs/policies.py
@@ -78,15 +78,18 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
     def type(self) -> str:
         return self.get_choice_name(self.__class__)
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def observation_delta_indices(self) -> list | None:
         raise NotImplementedError
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def action_delta_indices(self) -> list | None:
         raise NotImplementedError
 
-    @abc.abstractproperty
+    @property
+    @abc.abstractmethod
     def reward_delta_indices(self) -> list | None:
         raise NotImplementedError