diff --git a/docs/source/_toctree.yaml.old b/docs/source/_toctree.yaml.old
new file mode 100644
index 000000000..412386e2d
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+++ b/docs/source/_toctree.yaml.old
@@ -0,0 +1,172 @@
+- sections:
+  - local: index
+    title: LeRobot
+  - local: installation
+    title: Installation
+  - local: cheat-sheet
+    title: Cheat sheet
+  title: Get started
+- sections:
+  - local: il_robots
+    title: Imitation Learning for Robots
+  - local: bring_your_own_policies
+    title: Adding a Policy
+  - local: integrate_hardware
+    title: Bring Your Own Hardware
+  - local: hilserl
+    title: Train a Robot with RL
+  - local: hilserl_sim
+    title: Train RL in Simulation
+  - local: multi_gpu_training
+    title: Multi GPU training
+  - local: hil_data_collection
+    title: Human In the Loop Data Collection
+  - local: peft_training
+    title: Training with PEFT (e.g., LoRA)
+  - local: rename_map
+    title: Using Rename Map and Empty Cameras
+  title: "Tutorials"
+- sections:
+  - local: hardware_guide
+    title: Compute Hardware Guide
+  - local: torch_accelerators
+    title: PyTorch accelerators
+  title: "Compute & Hardware"
+- sections:
+  - local: lerobot-dataset-v3
+    title: Using LeRobotDataset
+  - local: porting_datasets_v3
+    title: Porting Large Datasets
+  - local: using_dataset_tools
+    title: Using the Dataset Tools
+  - local: language_and_recipes
+    title: Language Columns and Recipes
+  - local: tools
+    title: Tools
+  - local: video_encoding_parameters
+    title: Video encoding parameters
+  - local: streaming_video_encoding
+    title: Streaming Video Encoding
+  title: "Datasets"
+- sections:
+  - local: act
+    title: ACT
+  - local: smolvla
+    title: SmolVLA
+  - local: pi0
+    title: π₀ (Pi0)
+  - local: pi0fast
+    title: π₀-FAST (Pi0Fast)
+  - local: pi05
+    title: π₀.₅ (Pi05)
+  - local: eo1
+    title: EO-1
+  - local: groot
+    title: NVIDIA GR00T N1.5
+  - local: xvla
+    title: X-VLA
+  - local: multi_task_dit
+    title: Multitask DiT Policy
+  - local: walloss
+    title: WALL-OSS
+  title: "Policies"
+- sections:
+  - local: sarm
+    title: SARM
+  title: "Reward Models"
+- sections:
+  - local: inference
+    title: Policy Deployment (lerobot-rollout)
+  - local: async
+    title: Use Async Inference
+  - local: rtc
+    title: Real-Time Chunking (RTC)
+  title: "Inference"
+- sections:
+  - local: envhub
+    title: Environments from the Hub
+  - local: envhub_leisaac
+    title: Control & Train Robots in Sim (LeIsaac)
+  title: "Simulation"
+- sections:
+  - local: adding_benchmarks
+    title: Adding a New Benchmark
+  - local: libero
+    title: LIBERO
+  - local: libero_plus
+    title: LIBERO-plus
+  - local: metaworld
+    title: Meta-World
+  - local: robotwin
+    title: RoboTwin 2.0
+  - local: robocasa
+    title: RoboCasa365
+  - local: robocerebra
+    title: RoboCerebra
+  - local: robomme
+    title: RoboMME
+  - local: envhub_isaaclab_arena
+    title: NVIDIA IsaacLab Arena Environments
+  - local: vlabench
+    title: VLABench
+  title: "Benchmarks"
+- sections:
+  - local: introduction_processors
+    title: Introduction to Robot Processors
+  - local: debug_processor_pipeline
+    title: Debug your processor pipeline
+  - local: implement_your_own_processor
+    title: Implement your own processor
+  - local: processors_robots_teleop
+    title: Processors for Robots and Teleoperators
+  - local: env_processor
+    title: Environment Processors
+  - local: action_representations
+    title: Action Representations
+  title: "Robot Processors"
+- sections:
+  - local: so101
+    title: SO-101
+  - local: so100
+    title: SO-100
+  - local: koch
+    title: Koch v1.1
+  - local: lekiwi
+    title: LeKiwi
+  - local: hope_jr
+    title: Hope Jr
+  - local: reachy2
+    title: Reachy 2
+  - local: unitree_g1
+    title: Unitree G1
+  - local: earthrover_mini_plus
+    title: Earth Rover Mini
+  - local: omx
+    title: OMX
+  - local: openarm
+    title: OpenArm
+  - local: rebot_b601
+    title: reBot B601-DM
+  title: "Robots"
+- sections:
+  - local: phone_teleop
+    title: Phone
+  title: "Teleoperators"
+- sections:
+  - local: cameras
+    title: Cameras
+  title: "Sensors"
+- sections:
+  - local: notebooks
+    title: Notebooks
+  - local: feetech
+    title: Updating Feetech Firmware
+  - local: damiao
+    title: Damiao Motors and CAN Bus
+  title: "Resources"
+- sections:
+  - local: contributing
+    title: Contribute to LeRobot
+  - local: backwardcomp
+    title: Backward compatibility
+  title: "About"
diff --git a/docs/source/_toctree.yml b/docs/source/_toctree.yml
index 412386e2d..f13998200 100644
--- a/docs/source/_toctree.yml
+++ b/docs/source/_toctree.yml
@@ -1,172 +1,214 @@
+# LeRobot documentation table of contents
+#
+# Ordering principle: gentle onboarding first, advanced/custom work last.
+# Within each top-level section the same rule applies — concept/overview pages
+# before reference/per-item pages.
+#
+# Pages marked "NEW (to create)" do not yet exist as .mdx files; they are
+# placeholders for the redesign and must be authored before the docs build.
+
 - sections:
   - local: index
-    title: LeRobot
+    title: 🤗 LeRobot
+  - local: quickstart           # NEW (to create) — 15-min zero-to-trained-ACT path
+    title: Quickstart
   - local: installation
     title: Installation
+  - local: core_concepts        # NEW (to create) — datasets, policies, processors, robots, envs in one mental model
+    title: Core concepts
   - local: cheat-sheet
-    title: Cheat sheet
+    title: Command cheat sheet
   title: Get started
+
 - sections:
   - local: il_robots
-    title: Imitation Learning for Robots
-  - local: bring_your_own_policies
-    title: Adding a Policy
-  - local: integrate_hardware
-    title: Bring Your Own Hardware
-  - local: hilserl
-    title: Train a Robot with RL
-  - local: hilserl_sim
-    title: Train RL in Simulation
-  - local: multi_gpu_training
-    title: Multi GPU training
+    title: Imitation learning end-to-end
   - local: hil_data_collection
-    title: Human In the Loop Data Collection
-  - local: peft_training
-    title: Training with PEFT (e.g., LoRA)
+    title: Human-in-the-loop data collection
+  - local: inference
+    title: Deploying a trained policy
   - local: rename_map
-    title: Using Rename Map and Empty Cameras
-  title: "Tutorials"
+    title: Matching dataset keys to a policy (rename map)
+  title: Your first project
+
 - sections:
   - local: hardware_guide
-    title: Compute Hardware Guide
+    title: Compute hardware guide
   - local: torch_accelerators
     title: PyTorch accelerators
-  title: "Compute & Hardware"
+  - local: multi_gpu_training
+    title: Multi-GPU training
+  - local: peft_training
+    title: Parameter-efficient fine-tuning (LoRA)
+  title: Training
+
 - sections:
   - local: lerobot-dataset-v3
     title: Using LeRobotDataset
-  - local: porting_datasets_v3
-    title: Porting Large Datasets
   - local: using_dataset_tools
-    title: Using the Dataset Tools
+    title: Dataset tools
   - local: language_and_recipes
-    title: Language Columns and Recipes
+    title: Language columns & recipes
   - local: tools
-    title: Tools
+    title: Tool calls in datasets
   - local: video_encoding_parameters
     title: Video encoding parameters
   - local: streaming_video_encoding
-    title: Streaming Video Encoding
-  title: "Datasets"
+    title: Streaming video encoding
+  - local: porting_datasets_v3
+    title: Porting datasets to v3
+  title: Datasets
+
 - sections:
-  - local: act
-    title: ACT
-  - local: smolvla
-    title: SmolVLA
-  - local: pi0
-    title: π₀ (Pi0)
-  - local: pi0fast
-    title: π₀-FAST (Pi0Fast)
-  - local: pi05
-    title: π₀.₅ (Pi05)
-  - local: eo1
-    title: EO-1
-  - local: groot
-    title: NVIDIA GR00T N1.5
-  - local: xvla
-    title: X-VLA
-  - local: multi_task_dit
-    title: Multitask DiT Policy
-  - local: walloss
-    title: WALL-OSS
-  title: "Policies"
+  - local: policies_overview    # NEW (to create) — concept hub + "choose a policy" decision guide
+    title: Choosing a policy
+  - sections:
+    - local: act
+      title: ACT
+    - local: smolvla
+      title: SmolVLA
+    - local: pi0
+      title: π₀ (Pi0)
+    - local: pi0fast
+      title: π₀-FAST
+    - local: pi05
+      title: π₀.₅ (Pi05)
+    - local: eo1
+      title: EO-1
+    - local: groot
+      title: NVIDIA GR00T N1.5
+    - local: xvla
+      title: X-VLA
+    - local: walloss
+      title: WALL-OSS
+    - local: multi_task_dit
+      title: Multitask DiT
+    title: Policy reference
+  title: Policies
+
 - sections:
-  - local: sarm
-    title: SARM
-  title: "Reward Models"
-- sections:
-  - local: inference
-    title: Policy Deployment (lerobot-rollout)
   - local: async
-    title: Use Async Inference
+    title: Async inference
   - local: rtc
-    title: Real-Time Chunking (RTC)
-  title: "Inference"
+    title: Real-time chunking (RTC)
+  title: Real-time deployment
+
+- sections:
+  - local: hilserl
+    title: Train a robot with RL (HIL-SERL)
+  - local: hilserl_sim
+    title: Train RL in simulation
+  - local: sarm
+    title: SARM reward model
+  title: Reinforcement learning
+
 - sections:
   - local: envhub
     title: Environments from the Hub
   - local: envhub_leisaac
-    title: Control & Train Robots in Sim (LeIsaac)
-  title: "Simulation"
-- sections:
-  - local: adding_benchmarks
-    title: Adding a New Benchmark
-  - local: libero
-    title: LIBERO
-  - local: libero_plus
-    title: LIBERO-plus
-  - local: metaworld
-    title: Meta-World
-  - local: robotwin
-    title: RoboTwin 2.0
-  - local: robocasa
-    title: RoboCasa365
-  - local: robocerebra
-    title: RoboCerebra
-  - local: robomme
-    title: RoboMME
+    title: LeIsaac — control & train in sim
   - local: envhub_isaaclab_arena
-    title: NVIDIA IsaacLab Arena Environments
-  - local: vlabench
-    title: VLABench
-  title: "Benchmarks"
+    title: NVIDIA IsaacLab Arena environments
+  - sections:
+    - local: libero
+      title: LIBERO
+    - local: libero_plus
+      title: LIBERO-plus
+    - local: metaworld
+      title: Meta-World
+    - local: robotwin
+      title: RoboTwin 2.0
+    - local: robocasa
+      title: RoboCasa365
+    - local: robocerebra
+      title: RoboCerebra
+    - local: robomme
+      title: RoboMME
+    - local: vlabench
+      title: VLABench
+    title: Benchmark suites
+  title: Simulation & benchmarks
+
 - sections:
   - local: introduction_processors
-    title: Introduction to Robot Processors
-  - local: debug_processor_pipeline
-    title: Debug your processor pipeline
-  - local: implement_your_own_processor
-    title: Implement your own processor
+    title: Introduction to processors
   - local: processors_robots_teleop
-    title: Processors for Robots and Teleoperators
+    title: Processors for robots & teleoperators
   - local: env_processor
-    title: Environment Processors
+    title: Environment processors
   - local: action_representations
-    title: Action Representations
-  title: "Robot Processors"
+    title: Action representations
+  - local: debug_processor_pipeline
+    title: Debugging a pipeline
+  - local: implement_your_own_processor
+    title: Implementing your own processor
+  title: Processors
+
 - sections:
-  - local: so101
-    title: SO-101
-  - local: so100
-    title: SO-100
-  - local: koch
-    title: Koch v1.1
-  - local: lekiwi
-    title: LeKiwi
-  - local: hope_jr
-    title: Hope Jr
-  - local: reachy2
-    title: Reachy 2
-  - local: unitree_g1
-    title: Unitree G1
-  - local: earthrover_mini_plus
-    title: Earth Rover Mini
-  - local: omx
-    title: OMX
-  - local: openarm
-    title: OpenArm
-  - local: rebot_b601
-    title: reBot B601-DM
-  title: "Robots"
-- sections:
-  - local: phone_teleop
-    title: Phone
-  title: "Teleoperators"
+  - sections:
+    - local: so101
+      title: SO-101
+    - local: so100
+      title: SO-100
+    - local: koch
+      title: Koch v1.1
+    - local: omx
+      title: OMX
+    - local: openarm
+      title: OpenArm
+    title: Low-cost arms
+  - sections:
+    - local: lekiwi
+      title: LeKiwi
+    - local: earthrover_mini_plus
+      title: Earth Rover Mini
+    title: Mobile platforms
+  - sections:
+    - local: hope_jr
+      title: Hope Jr
+    - local: reachy2
+      title: Reachy 2
+    - local: unitree_g1
+      title: Unitree G1
+    title: Bimanual & humanoid
+  - sections:
+    - local: rebot_b601
+      title: reBot B601-DM
+    title: Research & industrial
+  title: Supported robots
+
 - sections:
   - local: cameras
     title: Cameras
-  title: "Sensors"
-- sections:
-  - local: notebooks
-    title: Notebooks
+  - local: phone_teleop
+    title: Phone teleoperation
   - local: feetech
-    title: Updating Feetech Firmware
+    title: Feetech firmware update
   - local: damiao
-    title: Damiao Motors and CAN Bus
-  title: "Resources"
+    title: Damiao motors & CAN bus
+  title: Sensors, teleop & motors
+
 - sections:
-  - local: contributing
-    title: Contribute to LeRobot
+  - local: integrate_hardware
+    title: Bring your own hardware
+  - local: bring_your_own_policies
+    title: Add a new policy
+  - local: adding_benchmarks
+    title: Add a new benchmark
+  title: Extend LeRobot
+
+- sections:
+  - local: troubleshooting       # NEW (to create) — common errors: USB, calibration drift, CUDA OOM, video decoding…
+    title: Troubleshooting & FAQ
+  - local: glossary              # NEW (to create) — episode, action chunk, leader/follower, teleop, processor…
+    title: Glossary
+  - local: notebooks
+    title: Example notebooks
   - local: backwardcomp
     title: Backward compatibility
-  title: "About"
+  title: Reference
+
+- sections:
+  - local: contributing
+    title: Contributing to LeRobot
+  title: About