diff --git a/docs/source/groot.mdx b/docs/source/groot.mdx
index 729a6465643..84d2702bd01 100644
--- a/docs/source/groot.mdx
+++ b/docs/source/groot.mdx
@@ -103,7 +103,7 @@ Once you have trained your model using your parameters you can run inference in
 
 ```bash
 lerobot-record \
-  --robot.type=bi_so100_follower \
+  --robot.type=bi_so_follower \
   --robot.left_arm_port=/dev/ttyACM1 \
   --robot.right_arm_port=/dev/ttyACM0 \
   --robot.id=bimanual_follower \
diff --git a/examples/so100_to_so100_EE/record.py b/examples/so100_to_so100_EE/record.py
index db24f4b93ab..eead7a9a828 100644
--- a/examples/so100_to_so100_EE/record.py
+++ b/examples/so100_to_so100_EE/record.py
@@ -34,8 +34,7 @@
     InverseKinematicsEEToJoints,
 )
 from lerobot.scripts.lerobot_record import record_loop
-from lerobot.teleoperators.so_leader import SO100LeaderConfig
-from lerobot.teleoperators.so_leader.so100_leader import SO100Leader
+from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
 from lerobot.utils.control_utils import init_keyboard_listener
 from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
diff --git a/examples/so100_to_so100_EE/teleoperate.py b/examples/so100_to_so100_EE/teleoperate.py
index d520a6eaf6e..71d2899de9d 100644
--- a/examples/so100_to_so100_EE/teleoperate.py
+++ b/examples/so100_to_so100_EE/teleoperate.py
@@ -29,8 +29,7 @@
     ForwardKinematicsJointsToEE,
     InverseKinematicsEEToJoints,
 )
-from lerobot.teleoperators.so_leader import SO100LeaderConfig
-from lerobot.teleoperators.so_leader.so100_leader import SO100Leader
+from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
 from lerobot.utils.robot_utils import precise_sleep
 from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
 
diff --git a/src/lerobot/async_inference/constants.py b/src/lerobot/async_inference/constants.py
index f8b6d7bb303..081db050428 100644
--- a/src/lerobot/async_inference/constants.py
+++ b/src/lerobot/async_inference/constants.py
@@ -26,4 +26,4 @@
 SUPPORTED_POLICIES = ["act", "smolvla", "diffusion", "tdmpc", "vqbet", "pi0", "pi05"]
 
 # TODO: Add all other robots
-SUPPORTED_ROBOTS = ["so100_follower", "so101_follower", "bi_so100_follower", "omx_follower"]
+SUPPORTED_ROBOTS = ["so100_follower", "so101_follower", "bi_so_follower", "omx_follower"]
diff --git a/src/lerobot/async_inference/robot_client.py b/src/lerobot/async_inference/robot_client.py
index c3668d40bd4..e4e3e0abc84 100644
--- a/src/lerobot/async_inference/robot_client.py
+++ b/src/lerobot/async_inference/robot_client.py
@@ -51,7 +51,6 @@
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
-    bi_so100_follower,
     koch_follower,
     make_robot_from_config,
     omx_follower,
diff --git a/src/lerobot/robots/bi_so100_follower/config_bi_so100_follower.py b/src/lerobot/robots/bi_so100_follower/config_bi_so100_follower.py
deleted file mode 100644
index 5806d74159f..00000000000
--- a/src/lerobot/robots/bi_so100_follower/config_bi_so100_follower.py
+++ /dev/null
@@ -1,39 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from dataclasses import dataclass, field
-
-from lerobot.cameras import CameraConfig
-
-from ..config import RobotConfig
-
-
-@RobotConfig.register_subclass("bi_so100_follower")
-@dataclass
-class BiSO100FollowerConfig(RobotConfig):
-    left_arm_port: str
-    right_arm_port: str
-
-    # Optional
-    left_arm_disable_torque_on_disconnect: bool = True
-    left_arm_max_relative_target: float | dict[str, float] | None = None
-    left_arm_use_degrees: bool = False
-    right_arm_disable_torque_on_disconnect: bool = True
-    right_arm_max_relative_target: float | dict[str, float] | None = None
-    right_arm_use_degrees: bool = False
-
-    # cameras (shared between both arms)
-    cameras: dict[str, CameraConfig] = field(default_factory=dict)
diff --git a/src/lerobot/robots/so_follower/__init__.py b/src/lerobot/robots/so_follower/__init__.py
index 82755250cd7..999e7cacc37 100644
--- a/src/lerobot/robots/so_follower/__init__.py
+++ b/src/lerobot/robots/so_follower/__init__.py
@@ -14,10 +14,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-
+from .bi_so_follower.bi_so_follower import BiSOFollower
+from .bi_so_follower.config_bi_so_follower import BiSOFollowerConfig
 from .so100_follower.config_so100_follower import SO100FollowerConfig
 from .so100_follower.so100_follower import SO100Follower
 from .so101_follower.config_so101_follower import SO101FollowerConfig
 from .so101_follower.so101_follower import SO101Follower
-from .so_follower_base import SOFollowerBase
-from .so_follower_config_base import SOFollowerConfigBase
diff --git a/src/lerobot/robots/bi_so100_follower/bi_so100_follower.py b/src/lerobot/robots/so_follower/bi_so_follower/bi_so_follower.py
similarity index 52%
rename from src/lerobot/robots/bi_so100_follower/bi_so100_follower.py
rename to src/lerobot/robots/so_follower/bi_so_follower/bi_so_follower.py
index 87a7edcc5de..6d2cbd76357 100644
--- a/src/lerobot/robots/bi_so100_follower/bi_so100_follower.py
+++ b/src/lerobot/robots/so_follower/bi_so_follower/bi_so_follower.py
@@ -15,66 +15,73 @@
 # limitations under the License.
 
 import logging
-import time
 from functools import cached_property
 from typing import Any
 
-from lerobot.cameras.utils import make_cameras_from_configs
-from lerobot.robots.so_follower import SO100Follower, SO100FollowerConfig
-
-from ..robot import Robot
-from .config_bi_so100_follower import BiSO100FollowerConfig
+from ...robot import Robot
+from ..so_follower_base import SOFollowerBase
+from ..so_follower_config_base import SOFollowerRobotConfigBase
+from .config_bi_so_follower import BiSOFollowerConfig
 
 logger = logging.getLogger(__name__)
 
 
-class BiSO100Follower(Robot):
+class BiSOFollower(Robot):
     """
-    [Bimanual SO-100 Follower Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
-    This bimanual robot can also be easily adapted to use SO-101 follower arms, just replace the SO100Follower class with SO101Follower and SO100FollowerConfig with SO101FollowerConfig.
+    [Bimanual SO Follower Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
     """
 
-    config_class = BiSO100FollowerConfig
-    name = "bi_so100_follower"
+    config_class = BiSOFollowerConfig
+    name = "bi_so_follower"
 
-    def __init__(self, config: BiSO100FollowerConfig):
+    def __init__(self, config: BiSOFollowerConfig):
         super().__init__(config)
         self.config = config
 
-        left_arm_config = SO100FollowerConfig(
+        left_arm_config = SOFollowerRobotConfigBase(
             id=f"{config.id}_left" if config.id else None,
             calibration_dir=config.calibration_dir,
-            port=config.left_arm_port,
-            disable_torque_on_disconnect=config.left_arm_disable_torque_on_disconnect,
-            max_relative_target=config.left_arm_max_relative_target,
-            use_degrees=config.left_arm_use_degrees,
-            cameras={},
+            port=config.left_arm_config.port,
+            disable_torque_on_disconnect=config.left_arm_config.disable_torque_on_disconnect,
+            max_relative_target=config.left_arm_config.max_relative_target,
+            use_degrees=config.left_arm_config.use_degrees,
+            cameras=config.left_arm_config.cameras,
         )
 
-        right_arm_config = SO100FollowerConfig(
+        right_arm_config = SOFollowerRobotConfigBase(
             id=f"{config.id}_right" if config.id else None,
             calibration_dir=config.calibration_dir,
-            port=config.right_arm_port,
-            disable_torque_on_disconnect=config.right_arm_disable_torque_on_disconnect,
-            max_relative_target=config.right_arm_max_relative_target,
-            use_degrees=config.right_arm_use_degrees,
-            cameras={},
+            port=config.right_arm_config.port,
+            disable_torque_on_disconnect=config.right_arm_config.disable_torque_on_disconnect,
+            max_relative_target=config.right_arm_config.max_relative_target,
+            use_degrees=config.right_arm_config.use_degrees,
+            cameras=config.right_arm_config.cameras,
         )
 
-        self.left_arm = SO100Follower(left_arm_config)
-        self.right_arm = SO100Follower(right_arm_config)
-        self.cameras = make_cameras_from_configs(config.cameras)
+        self.left_arm = SOFollowerBase(left_arm_config)
+        self.right_arm = SOFollowerBase(right_arm_config)
+
+        # Only for compatibility with other parts of the codebase that expect a `robot.cameras` attribute
+        self.cameras = {**self.left_arm.cameras, **self.right_arm.cameras}
 
     @property
     def _motors_ft(self) -> dict[str, type]:
-        return {f"left_{motor}.pos": float for motor in self.left_arm.bus.motors} | {
-            f"right_{motor}.pos": float for motor in self.right_arm.bus.motors
+        left_arm_motors_ft = self.left_arm._motors_ft
+        right_arm_motors_ft = self.right_arm._motors_ft
+
+        return {
+            **{f"left_{k}": v for k, v in left_arm_motors_ft.items()},
+            **{f"right_{k}": v for k, v in right_arm_motors_ft.items()},
         }
 
     @property
     def _cameras_ft(self) -> dict[str, tuple]:
+        left_arm_cameras_ft = self.left_arm._cameras_ft
+        right_arm_cameras_ft = self.right_arm._cameras_ft
+
         return {
-            cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
+            **{f"left_{k}": v for k, v in left_arm_cameras_ft.items()},
+            **{f"right_{k}": v for k, v in right_arm_cameras_ft.items()},
         }
 
     @cached_property
@@ -87,19 +94,12 @@ def action_features(self) -> dict[str, type]:
 
     @property
     def is_connected(self) -> bool:
-        return (
-            self.left_arm.bus.is_connected
-            and self.right_arm.bus.is_connected
-            and all(cam.is_connected for cam in self.cameras.values())
-        )
+        return self.left_arm.is_connected and self.right_arm.is_connected
 
     def connect(self, calibrate: bool = True) -> None:
         self.left_arm.connect(calibrate)
         self.right_arm.connect(calibrate)
 
-        for cam in self.cameras.values():
-            cam.connect()
-
     @property
     def is_calibrated(self) -> bool:
         return self.left_arm.is_calibrated and self.right_arm.is_calibrated
@@ -127,12 +127,6 @@ def get_observation(self) -> dict[str, Any]:
         right_obs = self.right_arm.get_observation()
         obs_dict.update({f"right_{key}": value for key, value in right_obs.items()})
 
-        for cam_key, cam in self.cameras.items():
-            start = time.perf_counter()
-            obs_dict[cam_key] = cam.async_read()
-            dt_ms = (time.perf_counter() - start) * 1e3
-            logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
-
         return obs_dict
 
     def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
@@ -145,18 +139,15 @@ def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
             key.removeprefix("right_"): value for key, value in action.items() if key.startswith("right_")
         }
 
-        send_action_left = self.left_arm.send_action(left_action)
-        send_action_right = self.right_arm.send_action(right_action)
+        sent_action_left = self.left_arm.send_action(left_action)
+        sent_action_right = self.right_arm.send_action(right_action)
 
         # Add prefixes back
-        prefixed_send_action_left = {f"left_{key}": value for key, value in send_action_left.items()}
-        prefixed_send_action_right = {f"right_{key}": value for key, value in send_action_right.items()}
+        prefixed_sent_action_left = {f"left_{key}": value for key, value in sent_action_left.items()}
+        prefixed_sent_action_right = {f"right_{key}": value for key, value in sent_action_right.items()}
 
-        return {**prefixed_send_action_left, **prefixed_send_action_right}
+        return {**prefixed_sent_action_left, **prefixed_sent_action_right}
 
     def disconnect(self):
         self.left_arm.disconnect()
         self.right_arm.disconnect()
-
-        for cam in self.cameras.values():
-            cam.disconnect()
diff --git a/src/lerobot/teleoperators/bi_so100_leader/config_bi_so100_leader.py b/src/lerobot/robots/so_follower/bi_so_follower/config_bi_so_follower.py
similarity index 67%
rename from src/lerobot/teleoperators/bi_so100_leader/config_bi_so100_leader.py
rename to src/lerobot/robots/so_follower/bi_so_follower/config_bi_so_follower.py
index 117e099131e..4b2ecc293fb 100644
--- a/src/lerobot/teleoperators/bi_so100_leader/config_bi_so100_leader.py
+++ b/src/lerobot/robots/so_follower/bi_so_follower/config_bi_so_follower.py
@@ -16,11 +16,14 @@
 
 from dataclasses import dataclass
 
-from ..config import TeleoperatorConfig
+from ...config import RobotConfig
+from ..so_follower_config_base import SOFollowerConfigBase
 
 
-@TeleoperatorConfig.register_subclass("bi_so100_leader")
+@RobotConfig.register_subclass("bi_so_follower")
 @dataclass
-class BiSO100LeaderConfig(TeleoperatorConfig):
-    left_arm_port: str
-    right_arm_port: str
+class BiSOFollowerConfig(RobotConfig):
+    """Configuration class for Bi SO Follower robots."""
+
+    left_arm_config: SOFollowerConfigBase
+    right_arm_config: SOFollowerConfigBase
diff --git a/src/lerobot/robots/so_follower/so100_follower/config_so100_follower.py b/src/lerobot/robots/so_follower/so100_follower/config_so100_follower.py
index 3e8dd7e9ff9..f0ffc634ffc 100644
--- a/src/lerobot/robots/so_follower/so100_follower/config_so100_follower.py
+++ b/src/lerobot/robots/so_follower/so100_follower/config_so100_follower.py
@@ -17,10 +17,10 @@
 from dataclasses import dataclass
 
 from ...config import RobotConfig
-from ..so_follower_config_base import SOFollowerConfigBase
+from ..so_follower_config_base import SOFollowerRobotConfigBase
 
 
 @RobotConfig.register_subclass("so100_follower")
 @dataclass
-class SO100FollowerConfig(SOFollowerConfigBase):
+class SO100FollowerConfig(SOFollowerRobotConfigBase):
     pass
diff --git a/src/lerobot/robots/so_follower/so101_follower/config_so101_follower.py b/src/lerobot/robots/so_follower/so101_follower/config_so101_follower.py
index 950e8c839cb..b2b9d64835d 100644
--- a/src/lerobot/robots/so_follower/so101_follower/config_so101_follower.py
+++ b/src/lerobot/robots/so_follower/so101_follower/config_so101_follower.py
@@ -17,10 +17,10 @@
 from dataclasses import dataclass
 
 from ...config import RobotConfig
-from ..so_follower_config_base import SOFollowerConfigBase
+from ..so_follower_config_base import SOFollowerRobotConfigBase
 
 
 @RobotConfig.register_subclass("so101_follower")
 @dataclass
-class SO101FollowerConfig(SOFollowerConfigBase):
+class SO101FollowerConfig(SOFollowerRobotConfigBase):
     pass
diff --git a/src/lerobot/robots/so_follower/so_follower_base.py b/src/lerobot/robots/so_follower/so_follower_base.py
index 5e6e3288821..3caaf8c0138 100644
--- a/src/lerobot/robots/so_follower/so_follower_base.py
+++ b/src/lerobot/robots/so_follower/so_follower_base.py
@@ -29,7 +29,7 @@
 
 from ..robot import Robot
 from ..utils import ensure_safe_goal_position
-from .so_follower_config_base import SOFollowerConfigBase
+from .so_follower_config_base import SOFollowerRobotConfigBase
 
 logger = logging.getLogger(__name__)
 
@@ -40,9 +40,10 @@ class SOFollowerBase(Robot):
     Designed to be subclassed with a per-hardware-model `config_class` and `name`.
     """
 
-    # `config_class` and `name` should be set by subclasses
+    config_class = SOFollowerRobotConfigBase
+    name = "so_follower"
 
-    def __init__(self, config: SOFollowerConfigBase):
+    def __init__(self, config: SOFollowerRobotConfigBase):
         super().__init__(config)
         self.config = config
         # choose normalization mode depending on config if available
diff --git a/src/lerobot/robots/so_follower/so_follower_config_base.py b/src/lerobot/robots/so_follower/so_follower_config_base.py
index 6e42df2787f..a57a703a381 100644
--- a/src/lerobot/robots/so_follower/so_follower_config_base.py
+++ b/src/lerobot/robots/so_follower/so_follower_config_base.py
@@ -22,7 +22,7 @@
 
 
 @dataclass
-class SOFollowerConfigBase(RobotConfig):
+class SOFollowerConfigBase:
     """Base configuration class for SO Follower robots."""
 
     # Port to connect to the arm
@@ -40,3 +40,8 @@ class SOFollowerConfigBase(RobotConfig):
 
     # Set to `True` for backward compatibility with previous policies/dataset
     use_degrees: bool = False
+
+
+@dataclass
+class SOFollowerRobotConfigBase(RobotConfig, SOFollowerConfigBase):
+    pass
diff --git a/src/lerobot/robots/utils.py b/src/lerobot/robots/utils.py
index ad6cc3da1e3..9fa4b6f8517 100644
--- a/src/lerobot/robots/utils.py
+++ b/src/lerobot/robots/utils.py
@@ -52,10 +52,10 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
         from .hope_jr import HopeJrArm
 
         return HopeJrArm(config)
-    elif config.type == "bi_so100_follower":
-        from .bi_so100_follower import BiSO100Follower
+    elif config.type == "bi_so_follower":
+        from .so_follower import BiSOFollower
 
-        return BiSO100Follower(config)
+        return BiSOFollower(config)
     elif config.type == "reachy2":
         from .reachy2 import Reachy2Robot
 
diff --git a/src/lerobot/scripts/lerobot_record.py b/src/lerobot/scripts/lerobot_record.py
index a81a5d54edd..213acb48deb 100644
--- a/src/lerobot/scripts/lerobot_record.py
+++ b/src/lerobot/scripts/lerobot_record.py
@@ -40,21 +40,23 @@
 Example recording with bimanual so100:
 ```shell
 lerobot-record \
-  --robot.type=bi_so100_follower \
-  --robot.left_arm_port=/dev/tty.usbmodem5A460851411 \
-  --robot.right_arm_port=/dev/tty.usbmodem5A460812391 \
+  --robot.type=bi_so_follower \
+  --robot.left_arm_config.port=/dev/tty.usbmodem5A460822851 \
+  --robot.right_arm_config.port=/dev/tty.usbmodem5A460814411 \
   --robot.id=bimanual_follower \
-  --robot.cameras='{
-    left: {"type": "opencv", "index_or_path": 0, "width": 640, "height": 480, "fps": 30},
-    top: {"type": "opencv", "index_or_path": 1, "width": 640, "height": 480, "fps": 30},
-    right: {"type": "opencv", "index_or_path": 2, "width": 640, "height": 480, "fps": 30}
+  --robot.left_arm_config.cameras='{
+    wrist: {"type": "opencv", "index_or_path": 1, "width": 640, "height": 480, "fps": 30},
+    top: {"type": "opencv", "index_or_path": 3, "width": 640, "height": 480, "fps": 30},
+  }' --robot.right_arm_config.cameras='{
+    wrist: {"type": "opencv", "index_or_path": 2, "width": 640, "height": 480, "fps": 30},
+    front: {"type": "opencv", "index_or_path": 4, "width": 640, "height": 480, "fps": 30},
   }' \
-  --teleop.type=bi_so100_leader \
-  --teleop.left_arm_port=/dev/tty.usbmodem5A460828611 \
-  --teleop.right_arm_port=/dev/tty.usbmodem5A460826981 \
+  --teleop.type=bi_so_leader \
+  --teleop.left_arm_config.port=/dev/tty.usbmodem5A460852721 \
+  --teleop.right_arm_config.port=/dev/tty.usbmodem5A460819811 \
   --teleop.id=bimanual_leader \
   --display_data=true \
-  --dataset.repo_id=${HF_USER}/bimanual-so100-handover-cube \
+  --dataset.repo_id=${HF_USER}/bimanual-so-handover-cube \
   --dataset.num_episodes=25 \
   --dataset.single_task="Grab and handover the red cube to the other arm"
 ```
@@ -94,7 +96,6 @@
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
-    bi_so100_follower,
     earthrover_mini_plus,
     hope_jr,
     koch_follower,
@@ -105,7 +106,6 @@
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
-    bi_so100_leader,
     homunculus,
     koch_leader,
     make_teleoperator_from_config,
diff --git a/src/lerobot/scripts/lerobot_replay.py b/src/lerobot/scripts/lerobot_replay.py
index af7c6336513..7808e2b88fb 100644
--- a/src/lerobot/scripts/lerobot_replay.py
+++ b/src/lerobot/scripts/lerobot_replay.py
@@ -29,7 +29,7 @@
 Example replay with bimanual so100:
 ```shell
 lerobot-replay \
-  --robot.type=bi_so100_follower \
+  --robot.type=bi_so_follower \
   --robot.left_arm_port=/dev/tty.usbmodem5A460851411 \
   --robot.right_arm_port=/dev/tty.usbmodem5A460812391 \
   --robot.id=bimanual_follower \
@@ -53,7 +53,6 @@
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
-    bi_so100_follower,
     earthrover_mini_plus,
     hope_jr,
     koch_follower,
diff --git a/src/lerobot/scripts/lerobot_teleoperate.py b/src/lerobot/scripts/lerobot_teleoperate.py
index 2e0724574bf..835f1c69285 100644
--- a/src/lerobot/scripts/lerobot_teleoperate.py
+++ b/src/lerobot/scripts/lerobot_teleoperate.py
@@ -33,18 +33,18 @@
 
 ```shell
 lerobot-teleoperate \
-  --robot.type=bi_so100_follower \
-  --robot.left_arm_port=/dev/tty.usbmodem5A460851411 \
-  --robot.right_arm_port=/dev/tty.usbmodem5A460812391 \
+  --robot.type=bi_so_follower \
+  --robot.left_arm_config.port=/dev/tty.usbmodem5A460822851 \
+  --robot.right_arm_config.port=/dev/tty.usbmodem5A460814411 \
   --robot.id=bimanual_follower \
-  --robot.cameras='{
-    left: {"type": "opencv", "index_or_path": 0, "width": 1920, "height": 1080, "fps": 30},
-    top: {"type": "opencv", "index_or_path": 1, "width": 1920, "height": 1080, "fps": 30},
-    right: {"type": "opencv", "index_or_path": 2, "width": 1920, "height": 1080, "fps": 30}
+  --robot.left_arm_config.cameras='{
+    wrist: {"type": "opencv", "index_or_path": 1, "width": 640, "height": 480, "fps": 30},
+  }' --robot.right_arm_config.cameras='{
+    wrist: {"type": "opencv", "index_or_path": 2, "width": 640, "height": 480, "fps": 30},
   }' \
-  --teleop.type=bi_so100_leader \
-  --teleop.left_arm_port=/dev/tty.usbmodem5A460828611 \
-  --teleop.right_arm_port=/dev/tty.usbmodem5A460826981 \
+  --teleop.type=bi_so_leader \
+  --teleop.left_arm_config.port=/dev/tty.usbmodem5A460852721 \
+  --teleop.right_arm_config.port=/dev/tty.usbmodem5A460819811 \
   --teleop.id=bimanual_leader \
   --display_data=true
 ```
@@ -70,7 +70,6 @@
 from lerobot.robots import (  # noqa: F401
     Robot,
     RobotConfig,
-    bi_so100_follower,
     earthrover_mini_plus,
     hope_jr,
     koch_follower,
@@ -81,7 +80,6 @@
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
-    bi_so100_leader,
     gamepad,
     homunculus,
     keyboard,
diff --git a/src/lerobot/teleoperators/bi_so100_leader/__init__.py b/src/lerobot/teleoperators/bi_so100_leader/__init__.py
deleted file mode 100644
index 34313a61e6b..00000000000
--- a/src/lerobot/teleoperators/bi_so100_leader/__init__.py
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from .bi_so100_leader import BiSO100Leader
-from .config_bi_so100_leader import BiSO100LeaderConfig
diff --git a/src/lerobot/teleoperators/so_leader/__init__.py b/src/lerobot/teleoperators/so_leader/__init__.py
index a1017f3b9aa..80ac2236da6 100644
--- a/src/lerobot/teleoperators/so_leader/__init__.py
+++ b/src/lerobot/teleoperators/so_leader/__init__.py
@@ -14,9 +14,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from .bi_so_leader.bi_so_leader import BiSOLeader
+from .bi_so_leader.config_bi_so_leader import BiSOLeaderConfig
 from .so100_leader.config_so100_leader import SO100LeaderConfig
 from .so100_leader.so100_leader import SO100Leader
 from .so101_leader.config_so101_leader import SO101LeaderConfig
 from .so101_leader.so101_leader import SO101Leader
-from .so_leader_base import SOLeaderBase
-from .so_leader_config_base import SOLeaderConfigBase
diff --git a/src/lerobot/teleoperators/bi_so100_leader/bi_so100_leader.py b/src/lerobot/teleoperators/so_leader/bi_so_leader/bi_so_leader.py
similarity index 61%
rename from src/lerobot/teleoperators/bi_so100_leader/bi_so100_leader.py
rename to src/lerobot/teleoperators/so_leader/bi_so_leader/bi_so_leader.py
index 93f66eb2e91..992dfb67e11 100644
--- a/src/lerobot/teleoperators/bi_so100_leader/bi_so100_leader.py
+++ b/src/lerobot/teleoperators/so_leader/bi_so_leader/bi_so_leader.py
@@ -17,46 +17,49 @@
 import logging
 from functools import cached_property
 
-from lerobot.teleoperators.so_leader import SO100Leader, SO100LeaderConfig
-
-from ..teleoperator import Teleoperator
-from .config_bi_so100_leader import BiSO100LeaderConfig
+from ...teleoperator import Teleoperator
+from ..so_leader_base import SOLeaderBase
+from ..so_leader_config_base import SOLeaderTeleopConfigBase
+from .config_bi_so_leader import BiSOLeaderConfig
 
 logger = logging.getLogger(__name__)
 
 
-class BiSO100Leader(Teleoperator):
+class BiSOLeader(Teleoperator):
     """
-    [Bimanual SO-100 Leader Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
-    This bimanual leader arm can also be easily adapted to use SO-101 leader arms, just replace the SO100Leader class with SO101Leader and SO100LeaderConfig with SO101LeaderConfig.
+    [Bimanual SO Leader Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
     """
 
-    config_class = BiSO100LeaderConfig
-    name = "bi_so100_leader"
+    config_class = BiSOLeaderConfig
+    name = "bi_so_leader"
 
-    def __init__(self, config: BiSO100LeaderConfig):
+    def __init__(self, config: BiSOLeaderConfig):
         super().__init__(config)
         self.config = config
 
-        left_arm_config = SO100LeaderConfig(
+        left_arm_config = SOLeaderTeleopConfigBase(
             id=f"{config.id}_left" if config.id else None,
             calibration_dir=config.calibration_dir,
-            port=config.left_arm_port,
+            port=config.left_arm_config.port,
         )
 
-        right_arm_config = SO100LeaderConfig(
+        right_arm_config = SOLeaderTeleopConfigBase(
             id=f"{config.id}_right" if config.id else None,
             calibration_dir=config.calibration_dir,
-            port=config.right_arm_port,
+            port=config.right_arm_config.port,
         )
 
-        self.left_arm = SO100Leader(left_arm_config)
-        self.right_arm = SO100Leader(right_arm_config)
+        self.left_arm = SOLeaderBase(left_arm_config)
+        self.right_arm = SOLeaderBase(right_arm_config)
 
     @cached_property
     def action_features(self) -> dict[str, type]:
-        return {f"left_{motor}.pos": float for motor in self.left_arm.bus.motors} | {
-            f"right_{motor}.pos": float for motor in self.right_arm.bus.motors
+        left_arm_features = self.left_arm.action_features
+        right_arm_features = self.right_arm.action_features
+
+        return {
+            **{f"left_{k}": v for k, v in left_arm_features.items()},
+            **{f"right_{k}": v for k, v in right_arm_features.items()},
         }
 
     @cached_property
@@ -101,19 +104,8 @@ def get_action(self) -> dict[str, float]:
         return action_dict
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        # Remove "left_" prefix
-        left_feedback = {
-            key.removeprefix("left_"): value for key, value in feedback.items() if key.startswith("left_")
-        }
-        # Remove "right_" prefix
-        right_feedback = {
-            key.removeprefix("right_"): value for key, value in feedback.items() if key.startswith("right_")
-        }
-
-        if left_feedback:
-            self.left_arm.send_feedback(left_feedback)
-        if right_feedback:
-            self.right_arm.send_feedback(right_feedback)
+        # TODO: Implement force feedback
+        raise NotImplementedError
 
     def disconnect(self) -> None:
         self.left_arm.disconnect()
diff --git a/src/lerobot/robots/bi_so100_follower/__init__.py b/src/lerobot/teleoperators/so_leader/bi_so_leader/config_bi_so_leader.py
similarity index 62%
rename from src/lerobot/robots/bi_so100_follower/__init__.py
rename to src/lerobot/teleoperators/so_leader/bi_so_leader/config_bi_so_leader.py
index 90f56516b69..c2e84a4fb8b 100644
--- a/src/lerobot/robots/bi_so100_follower/__init__.py
+++ b/src/lerobot/teleoperators/so_leader/bi_so_leader/config_bi_so_leader.py
@@ -14,5 +14,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .bi_so100_follower import BiSO100Follower
-from .config_bi_so100_follower import BiSO100FollowerConfig
+from dataclasses import dataclass
+
+from ...config import TeleoperatorConfig
+from ..so_leader_config_base import SOLeaderConfigBase
+
+
+@TeleoperatorConfig.register_subclass("bi_so_leader")
+@dataclass
+class BiSOLeaderConfig(TeleoperatorConfig):
+    """Configuration class for Bi SO Leader teleoperators."""
+
+    left_arm_config: SOLeaderConfigBase
+    right_arm_config: SOLeaderConfigBase
diff --git a/src/lerobot/teleoperators/so_leader/so100_leader/config_so100_leader.py b/src/lerobot/teleoperators/so_leader/so100_leader/config_so100_leader.py
index 092eb0cfc03..4503bc6a79e 100644
--- a/src/lerobot/teleoperators/so_leader/so100_leader/config_so100_leader.py
+++ b/src/lerobot/teleoperators/so_leader/so100_leader/config_so100_leader.py
@@ -17,10 +17,10 @@
 from dataclasses import dataclass
 
 from ...config import TeleoperatorConfig
-from ..so_leader_config_base import SOLeaderConfigBase
+from ..so_leader_config_base import SOLeaderTeleopConfigBase
 
 
 @TeleoperatorConfig.register_subclass("so100_leader")
 @dataclass
-class SO100LeaderConfig(SOLeaderConfigBase):
+class SO100LeaderConfig(SOLeaderTeleopConfigBase):
     pass
diff --git a/src/lerobot/teleoperators/so_leader/so101_leader/config_so101_leader.py b/src/lerobot/teleoperators/so_leader/so101_leader/config_so101_leader.py
index 1a6bb0df475..1e110d73e85 100644
--- a/src/lerobot/teleoperators/so_leader/so101_leader/config_so101_leader.py
+++ b/src/lerobot/teleoperators/so_leader/so101_leader/config_so101_leader.py
@@ -17,10 +17,10 @@
 from dataclasses import dataclass
 
 from ...config import TeleoperatorConfig
-from ..so_leader_config_base import SOLeaderConfigBase
+from ..so_leader_config_base import SOLeaderTeleopConfigBase
 
 
 @TeleoperatorConfig.register_subclass("so101_leader")
 @dataclass
-class SO101LeaderConfig(SOLeaderConfigBase):
+class SO101LeaderConfig(SOLeaderTeleopConfigBase):
     pass
diff --git a/src/lerobot/teleoperators/so_leader/so_leader_base.py b/src/lerobot/teleoperators/so_leader/so_leader_base.py
index 6cdaca2e760..01936d8ac05 100644
--- a/src/lerobot/teleoperators/so_leader/so_leader_base.py
+++ b/src/lerobot/teleoperators/so_leader/so_leader_base.py
@@ -25,7 +25,7 @@
 from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 from ..teleoperator import Teleoperator
-from .so_leader_config_base import SOLeaderConfigBase
+from .so_leader_config_base import SOLeaderTeleopConfigBase
 
 logger = logging.getLogger(__name__)
 
@@ -33,7 +33,10 @@
 class SOLeaderBase(Teleoperator):
     """Generic SO leader base for SO-100/101/10X teleoperators."""
 
-    def __init__(self, config: SOLeaderConfigBase):
+    config_class = SOLeaderTeleopConfigBase
+    name = "so_leader"
+
+    def __init__(self, config: SOLeaderTeleopConfigBase):
         super().__init__(config)
         self.config = config
         norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
diff --git a/src/lerobot/teleoperators/so_leader/so_leader_config_base.py b/src/lerobot/teleoperators/so_leader/so_leader_config_base.py
index b2f2dfcfa77..db58c18d5f5 100644
--- a/src/lerobot/teleoperators/so_leader/so_leader_config_base.py
+++ b/src/lerobot/teleoperators/so_leader/so_leader_config_base.py
@@ -20,7 +20,7 @@
 
 
 @dataclass
-class SOLeaderConfigBase(TeleoperatorConfig):
+class SOLeaderConfigBase:
     """Base configuration class for SO Leader teleoperators."""
 
     # Port to connect to the arm
@@ -28,3 +28,8 @@ class SOLeaderConfigBase(TeleoperatorConfig):
 
     # Whether to use degrees for angles
     use_degrees: bool = False
+
+
+@dataclass
+class SOLeaderTeleopConfigBase(TeleoperatorConfig, SOLeaderConfigBase):
+    pass
diff --git a/src/lerobot/teleoperators/utils.py b/src/lerobot/teleoperators/utils.py
index 74e43ec9509..5baae36e2f2 100644
--- a/src/lerobot/teleoperators/utils.py
+++ b/src/lerobot/teleoperators/utils.py
@@ -73,10 +73,10 @@ def make_teleoperator_from_config(config: TeleoperatorConfig) -> Teleoperator:
         from .homunculus import HomunculusArm
 
         return HomunculusArm(config)
-    elif config.type == "bi_so100_leader":
-        from .bi_so100_leader import BiSO100Leader
+    elif config.type == "bi_so_leader":
+        from .so_leader import BiSOLeader
 
-        return BiSO100Leader(config)
+        return BiSOLeader(config)
     elif config.type == "reachy2_teleoperator":
         from .reachy2_teleoperator import Reachy2Teleoperator