diff --git a/src/lerobot/envs/factory.py b/src/lerobot/envs/factory.py
index 1c59ccb7dd..cf48fb9a88 100644
--- a/src/lerobot/envs/factory.py
+++ b/src/lerobot/envs/factory.py
@@ -14,6 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 import importlib
+from functools import partial
 from typing import Any
 
 import gymnasium as gym
@@ -163,7 +164,9 @@ def make_env(
     if n_envs < 1:
         raise ValueError("`n_envs` must be at least 1")
 
-    env_cls = gym.vector.AsyncVectorEnv if use_async_envs else gym.vector.SyncVectorEnv
+    env_cls = (
+        partial(gym.vector.AsyncVectorEnv, context="spawn") if use_async_envs else gym.vector.SyncVectorEnv
+    )
 
     if "libero" in cfg.type:
         from lerobot.envs.libero import create_libero_envs
diff --git a/src/lerobot/envs/utils.py b/src/lerobot/envs/utils.py
index fd17a67621..c53e1a0844 100644
--- a/src/lerobot/envs/utils.py
+++ b/src/lerobot/envs/utils.py
@@ -130,7 +130,21 @@ def env_to_policy_features(env_cfg: EnvConfig) -> dict[str, PolicyFeature]:
     return policy_features
 
 
+def _has_env_attr(env: gym.vector.VectorEnv, attr: str) -> bool:
+    """Check if sub-environments have an attribute, compatible with sync and async vector envs."""
+    if hasattr(env, "envs"):
+        return hasattr(env.envs[0], attr)
+    try:
+        env.call(attr)
+        return True
+    except Exception:
+        return False
+
+
 def are_all_envs_same_type(env: gym.vector.VectorEnv) -> bool:
+    if not hasattr(env, "envs"):
+        # AsyncVectorEnv: cannot inspect subprocess env types directly
+        return True
     first_type = type(env.envs[0])  # Get type of first env
     return all(type(e) is first_type for e in env.envs)  # Fast type check
 
@@ -139,7 +153,7 @@ def check_env_attributes_and_types(env: gym.vector.VectorEnv) -> None:
     with warnings.catch_warnings():
         warnings.simplefilter("once", UserWarning)  # Apply filter only in this function
 
-        if not (hasattr(env.envs[0], "task_description") and hasattr(env.envs[0], "task")):
+        if not (_has_env_attr(env, "task_description") or _has_env_attr(env, "task")):
             warnings.warn(
                 "The environment does not have 'task_description' and 'task'. Some policies require these features.",
                 UserWarning,
@@ -155,7 +169,7 @@ def check_env_attributes_and_types(env: gym.vector.VectorEnv) -> None:
 
 def add_envs_task(env: gym.vector.VectorEnv, observation: RobotObservation) -> RobotObservation:
     """Adds task feature to the observation dict with respect to the first environment attribute."""
-    if hasattr(env.envs[0], "task_description"):
+    if _has_env_attr(env, "task_description"):
         task_result = env.call("task_description")
 
         if isinstance(task_result, tuple):
@@ -167,7 +181,7 @@ def add_envs_task(env: gym.vector.VectorEnv, observation: RobotObservation) -> R
             raise TypeError("All items in task_description result must be strings")
 
         observation["task"] = task_result
-    elif hasattr(env.envs[0], "task"):
+    elif _has_env_attr(env, "task"):
         task_result = env.call("task")
 
         if isinstance(task_result, tuple):