diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index b42b92f6b..03f26a792 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -29,8 +29,8 @@ on:
 env:
   UV_VERSION: "0.8.0"
   PYTHON_VERSION: "3.10"
-  DOCKER_IMAGE_NAME_CPU: huggingface/lerobot-gpu:latest
-  DOCKER_IMAGE_NAME_GPU: huggingface/lerobot-cpu:latest
+  DOCKER_IMAGE_NAME_CPU: huggingface/lerobot-cpu:latest
+  DOCKER_IMAGE_NAME_GPU: huggingface/lerobot-gpu:latest
 
 # Ensures that only the latest commit is built, canceling older runs.
 concurrency:
diff --git a/docker/Dockerfile.user b/docker/Dockerfile.user
index 4cfbb437a..bcd067637 100644
--- a/docker/Dockerfile.user
+++ b/docker/Dockerfile.user
@@ -29,7 +29,7 @@ ENV DEBIAN_FRONTEND=noninteractive \
 
 # Install system dependencies and uv (as root)
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    build-essential git curl libglib2.0-0 libegl1-mesa ffmpeg \
+    build-essential git curl libglib2.0-0 libegl1-mesa-dev ffmpeg \
     libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
     && curl -LsSf https://astral.sh/uv/install.sh | sh \
     && mv /root/.local/bin/uv /usr/local/bin/uv \
diff --git a/src/lerobot/datasets/lerobot_dataset.py b/src/lerobot/datasets/lerobot_dataset.py
index 617ac297f..a869cb920 100644
--- a/src/lerobot/datasets/lerobot_dataset.py
+++ b/src/lerobot/datasets/lerobot_dataset.py
@@ -825,6 +825,8 @@ class LeRobotDataset(torch.utils.data.Dataset):
         """
         if not episode_data:
             episode_buffer = self.episode_buffer
+        else:
+            episode_buffer = episode_data
 
         validate_episode_buffer(episode_buffer, self.meta.total_episodes, self.features)
 
diff --git a/src/lerobot/motors/dynamixel/tables.py b/src/lerobot/motors/dynamixel/tables.py
index 8b67bbf38..5417d8cee 100644
--- a/src/lerobot/motors/dynamixel/tables.py
+++ b/src/lerobot/motors/dynamixel/tables.py
@@ -107,6 +107,8 @@ X_SERIES_ENCODINGS_TABLE = {
     "Goal_PWM": X_SERIES_CONTROL_TABLE["Goal_PWM"][1],
     "Goal_Current": X_SERIES_CONTROL_TABLE["Goal_Current"][1],
     "Goal_Velocity": X_SERIES_CONTROL_TABLE["Goal_Velocity"][1],
+    "Goal_Position": X_SERIES_CONTROL_TABLE["Goal_Position"][1],
+    "Present_Position": X_SERIES_CONTROL_TABLE["Present_Position"][1],
     "Present_PWM": X_SERIES_CONTROL_TABLE["Present_PWM"][1],
     "Present_Current": X_SERIES_CONTROL_TABLE["Present_Current"][1],
     "Present_Velocity": X_SERIES_CONTROL_TABLE["Present_Velocity"][1],