We study, at low temperature and zero magnetic field, the hole-spin dynamics in InAs/GaAs quantum dots. We measure the hole-spin relaxation time at a time scale longer than the dephasing time (about ten nanoseconds), imposed by the hole-nuclear hyperfine coupling. We use a pump-probe configuration and compare two experimental techniques based on differential absorption. The first one works in the time domain, and the second one is a new experimental method, the dark-bright time-scanning spectroscopy (DTS), working in the frequency domain. The measured hole-spin relaxation times, using these two techniques, are very similar, in the order of T h N ≈1 μs. It is mainly imposed by the inhomogeneous hole hyperfine coupling in the hole localization volume. The DTS technique allows us also to measure the hole-spin initialization time τ i . The hole spin is initialized by a periodic train of circularly polarized pulses at 76 MHz; we have observed that τ i decreases as the power density increases, and we have measured a minimum value of τ i ≈100 ns in good agreement with a simple model [seeB. Eble, P. Desfonds, F. Fras, F. Bernardot, C. Testelin, M. Chamarro, A. Miard, and A. Lemaître, Phys. Rev. B 81, 045322 (2010)].