diff --git a/lerobot/common/utils/buffer.py b/lerobot/common/utils/buffer.py
index fa6779ba..82946ede 100644
--- a/lerobot/common/utils/buffer.py
+++ b/lerobot/common/utils/buffer.py
@@ -547,7 +547,6 @@ class ReplayBuffer:
             repo_id=repo_id,
             fps=fps,
             root=root,
-            robot=None,  # TODO: (azouitine) Handle robot
             robot_type=None,
             features=features,
             use_videos=True,
@@ -588,11 +587,8 @@ class ReplayBuffer:
                     else:
                         frame_dict[f"complementary_info.{key}"] = val
 
-            # Add task field which is required by LeRobotDataset
-            frame_dict["task"] = task_name
-
             # Add to the dataset's buffer
-            lerobot_dataset.add_frame(frame_dict)
+            lerobot_dataset.add_frame(frame_dict, task=task_name)
 
             # Move to next frame
             frame_idx_in_episode += 1
diff --git a/lerobot/scripts/rl/gym_manipulator.py b/lerobot/scripts/rl/gym_manipulator.py
index cbb13149..b7b9780b 100644
--- a/lerobot/scripts/rl/gym_manipulator.py
+++ b/lerobot/scripts/rl/gym_manipulator.py
@@ -14,6 +14,28 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+
+"""
+Robot Environment for LeRobot Manipulation Tasks
+
+This module provides a comprehensive gym-compatible environment for robot manipulation
+with support for:
+- Multiple robot types (SO100, SO101, Koch and Moss)
+- Human intervention via leader-follower control or gamepad
+
+- End-effector and joint space control
+- Image processing (cropping and resizing)
+
+The environment is built using a composable wrapper pattern where each wrapper
+adds specific functionality to the base RobotEnv.
+
+Example:
+    env = make_robot_env(cfg)
+    obs, info = env.reset()
+    action = policy.select_action(obs)
+    obs, reward, terminated, truncated, info = env.step(action)
+"""
+
 import logging
 import time
 from collections import deque