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We study the hole-spin relaxation in p-doped InAs quantum dots. Two relaxation mechanisms are evidenced, at low magnetic field (0 < or = B < or = 2T) and low temperature (2 < or = T < or = 50K), by using a pump-probe configuration and a recent experimental technique working in the frequency domain. At T = 2K, the coupling to nuclear spins and the hole wave-function inhomogeneity fix the hole-spin relaxation rate value, (ProQuest: Formulae and/or non-USASCII text omitted) [approximate] 1 mu s super(-1). It decreases with increasing magnetic field and reaches a plateau at 0.4 mu s super(-1). At T >or = 7K, two-phonon spin-orbit process dominates and leads to a quadratic temperature dependence of (ProQuest: Formulae and/or non-USASCII text omitted) in good agreement with theory.