diff --git a/lerobot/configs/policies.py b/lerobot/configs/policies.py
index 022d1fb5..7caac957 100644
--- a/lerobot/configs/policies.py
+++ b/lerobot/configs/policies.py
@@ -34,7 +34,9 @@ T = TypeVar("T", bound="PreTrainedConfig")
 
 
 @dataclass
-class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
+class PreTrainedConfig(
+    draccus.PluginRegistry, HubMixin, abc.ABC, discover_packages_path="lerobot.common.policies"
+):
     """
     Base configuration class for policy models.
 
@@ -174,3 +176,13 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
         # something like --policy.path (in addition to --policy.type)
         cli_overrides = policy_kwargs.pop("cli_overrides", [])
         return draccus.parse(cls, config_file, args=cli_overrides)
+
+    @classmethod
+    def register(cls, config_type: str, config: "PreTrainedConfig", exist_ok: bool = False):
+        """Register a new configuration for this class."""
+        if config_type in cls._choice_registry and not exist_ok:
+            raise ValueError(
+                f"'{config_type}' is already used by a {cls.__name__}, please pick another name."
+            )
+
+        cls._choice_registry[config_type] = config