diff --git a/lerobot/record.py b/lerobot/record.py
index 004e6502..e8f81286 100644
--- a/lerobot/record.py
+++ b/lerobot/record.py
@@ -195,7 +195,7 @@ def record_loop(
 
 
 @draccus.wrap()
-def record(cfg: RecordConfig):
+def record(cfg: RecordConfig) -> LeRobotDataset:
     init_logging()
     logging.info(pformat(asdict(cfg)))
     if cfg.display_data:
diff --git a/lerobot/teleoperate.py b/lerobot/teleoperate.py
index b9614a9b..0c421e2b 100644
--- a/lerobot/teleoperate.py
+++ b/lerobot/teleoperate.py
@@ -51,10 +51,13 @@ class TeleoperateConfig:
     display_data: bool = False
 
 
-def teleop_loop(teleop: Teleoperator, robot: Robot, display_data: bool = False):
+def teleop_loop(
+    teleop: Teleoperator, robot: Robot, display_data: bool = False, duration: float | None = None
+):
     display_len = max(len(key) for key in robot.action_features)
+    start = time.perf_counter()
     while True:
-        start = time.perf_counter()
+        loop_start = time.perf_counter()
         action = teleop.get_action()
         if display_data:
             observation = robot.get_observation()
@@ -68,18 +71,22 @@ def teleop_loop(teleop: Teleoperator, robot: Robot, display_data: bool = False):
                     rr.log(f"action_{act}", rr.Scalar(val))
 
         robot.send_action(action)
-        loop_s = time.perf_counter() - start
+        loop_s = time.perf_counter() - loop_start
 
         print("\n" + "-" * (display_len + 10))
         print(f"{'NAME':<{display_len}} | {'NORM':>7}")
         for motor, value in action.items():
             print(f"{motor:<{display_len}} | {value:>7.2f}")
         print(f"\ntime: {loop_s * 1e3:.2f}ms ({1 / loop_s:.0f} Hz)")
+
+        if duration is not None and time.perf_counter() - start >= duration:
+            return
+
         move_cursor_up(len(action) + 5)
 
 
 @draccus.wrap()
-def control_robot(cfg: TeleoperateConfig):
+def teleoperate(cfg: TeleoperateConfig):
     init_logging()
     logging.info(pformat(asdict(cfg)))
     if cfg.display_data:
@@ -92,7 +99,7 @@ def control_robot(cfg: TeleoperateConfig):
     robot.connect()
 
     try:
-        teleop_loop(teleop, robot, display_data=cfg.display_data)
+        teleop_loop(teleop, robot, display_data=cfg.display_data, duration=cfg.teleop_time_s)
     except KeyboardInterrupt:
         pass
     finally:
@@ -103,4 +110,4 @@ def control_robot(cfg: TeleoperateConfig):
 
 
 if __name__ == "__main__":
-    control_robot()
+    teleoperate()
diff --git a/tests/test_control_robot.py b/tests/test_control_robot.py
new file mode 100644
index 00000000..6cd80c35
--- /dev/null
+++ b/tests/test_control_robot.py
@@ -0,0 +1,82 @@
+import time
+
+from lerobot.record import DatasetRecordConfig, RecordConfig, record
+from lerobot.replay import DatasetReplayConfig, ReplayConfig, replay
+from lerobot.teleoperate import TeleoperateConfig, teleoperate
+from tests.fixtures.constants import DUMMY_REPO_ID
+from tests.mocks.mock_robot import MockRobotConfig
+from tests.mocks.mock_teleop import MockTeleopConfig
+
+
+def test_teleoperate():
+    robot_cfg = MockRobotConfig()
+    teleop_cfg = MockTeleopConfig()
+    expected_duration = 0.1
+    cfg = TeleoperateConfig(
+        robot=robot_cfg,
+        teleop=teleop_cfg,
+        teleop_time_s=expected_duration,
+    )
+    start = time.perf_counter()
+    teleoperate(cfg)
+    actual_duration = time.perf_counter() - start
+
+    assert actual_duration <= expected_duration * 1.1
+
+
+def test_record(tmp_path):
+    robot_cfg = MockRobotConfig()
+    teleop_cfg = MockTeleopConfig()
+    dataset_cfg = DatasetRecordConfig(
+        repo_id=DUMMY_REPO_ID,
+        single_task="Dummy task",
+        root=tmp_path / "record",
+        num_episodes=1,
+        episode_time_s=0.1,
+        push_to_hub=False,
+    )
+    cfg = RecordConfig(
+        robot=robot_cfg,
+        dataset=dataset_cfg,
+        teleop=teleop_cfg,
+        play_sounds=False,
+    )
+
+    dataset = record(cfg)
+
+    assert dataset.fps == 30
+    assert dataset.meta.total_episodes == dataset.num_episodes == 1
+    assert dataset.meta.total_frames == dataset.num_frames == 3
+    assert dataset.meta.total_tasks == 1
+
+
+def test_record_and_replay(tmp_path):
+    robot_cfg = MockRobotConfig()
+    teleop_cfg = MockTeleopConfig()
+    record_dataset_cfg = DatasetRecordConfig(
+        repo_id=DUMMY_REPO_ID,
+        single_task="Dummy task",
+        root=tmp_path / "record_and_replay",
+        num_episodes=1,
+        episode_time_s=0.1,
+        push_to_hub=False,
+    )
+    record_cfg = RecordConfig(
+        robot=robot_cfg,
+        dataset=record_dataset_cfg,
+        teleop=teleop_cfg,
+        play_sounds=False,
+    )
+    replay_dataset_cfg = DatasetReplayConfig(
+        repo_id=DUMMY_REPO_ID,
+        episode=0,
+        root=tmp_path / "record_and_replay",
+    )
+    replay_cfg = ReplayConfig(
+        robot=robot_cfg,
+        dataset=replay_dataset_cfg,
+        play_sounds=False,
+    )
+
+    record(record_cfg)
+    replay(replay_cfg)