diff --git a/lerobot/scripts/push_dataset_to_hub.py b/lerobot/scripts/push_dataset_to_hub.py
index c6eac5e9..a5552f97 100644
--- a/lerobot/scripts/push_dataset_to_hub.py
+++ b/lerobot/scripts/push_dataset_to_hub.py
@@ -144,7 +144,8 @@ def push_videos_to_hub(repo_id, videos_dir, revision):
 
 
 def push_dataset_to_hub(
-    data_dir: Path,
+    input_data_dir: Path,
+    output_data_dir: Path,
     dataset_id: str,
     raw_format: str | None,
     community_id: str,
@@ -161,34 +162,33 @@ def push_dataset_to_hub(
 ):
     repo_id = f"{community_id}/{dataset_id}"
 
-    raw_dir = data_dir / f"{dataset_id}_raw"
-
-    out_dir = data_dir / repo_id
-    meta_data_dir = out_dir / "meta_data"
-    videos_dir = out_dir / "videos"
+    meta_data_dir = output_data_dir / "meta_data"
+    videos_dir = output_data_dir / "videos"
 
     tests_out_dir = tests_data_dir / repo_id
     tests_meta_data_dir = tests_out_dir / "meta_data"
     tests_videos_dir = tests_out_dir / "videos"
 
-    if out_dir.exists():
-        shutil.rmtree(out_dir)
+    if output_data_dir.exists():
+        shutil.rmtree(output_data_dir)
 
     if tests_out_dir.exists() and save_tests_to_disk:
         shutil.rmtree(tests_out_dir)
 
-    if not raw_dir.exists():
-        download_raw(raw_dir, dataset_id)
+    if not input_data_dir.exists():
+        download_raw(input_data_dir, dataset_id)
 
     if raw_format is None:
         # TODO(rcadene, adilzouitine): implement auto_find_raw_format
         raise NotImplementedError()
-        # raw_format = auto_find_raw_format(raw_dir)
+        # raw_format = auto_find_raw_format(input_data_dir)
 
     from_raw_to_lerobot_format = get_from_raw_to_lerobot_format_fn(raw_format)
 
     # convert dataset from original raw format to LeRobot format
-    hf_dataset, episode_data_index, info = from_raw_to_lerobot_format(raw_dir, out_dir, fps, video, debug)
+    hf_dataset, episode_data_index, info = from_raw_to_lerobot_format(
+        input_data_dir, output_data_dir, fps, video, debug
+    )
 
     lerobot_dataset = LeRobotDataset.from_preloaded(
         repo_id=repo_id,
@@ -202,7 +202,7 @@ def push_dataset_to_hub(
 
     if save_to_disk:
         hf_dataset = hf_dataset.with_format(None)  # to remove transforms that cant be saved
-        hf_dataset.save_to_disk(str(out_dir / "train"))
+        hf_dataset.save_to_disk(str(output_data_dir / "train"))
 
     if not dry_run or save_to_disk:
         # mandatory for upload
@@ -236,19 +236,25 @@ def push_dataset_to_hub(
             fname = f"{key}_episode_{episode_index:06d}.mp4"
             shutil.copy(videos_dir / fname, tests_videos_dir / fname)
 
-    if not save_to_disk and out_dir.exists():
+    if not save_to_disk and output_data_dir.exists():
         # remove possible temporary files remaining in the output directory
-        shutil.rmtree(out_dir)
+        shutil.rmtree(output_data_dir)
 
 
 def main():
     parser = argparse.ArgumentParser()
 
     parser.add_argument(
-        "--data-dir",
+        "--input-data-dir",
         type=Path,
         required=True,
-        help="Root directory containing datasets (e.g. `data` or `tmp/data` or `/tmp/lerobot/data`).",
+        help="Root directory containing input raw datasets (e.g. `data` or `tmp/data` or `/tmp/lerobot/data`).",
+    )
+    parser.add_argument(
+        "--output-data-dir",
+        type=Path,
+        required=True,
+        help="Root directory containing output dataset (e.g. `data` or `tmp/data` or `/tmp/lerobot/data`).",
     )
     parser.add_argument(
         "--dataset-id",