diff --git a/src/lerobot/datasets/video_utils.py b/src/lerobot/datasets/video_utils.py
index e9792b891..67749c3d9 100644
--- a/src/lerobot/datasets/video_utils.py
+++ b/src/lerobot/datasets/video_utils.py
@@ -80,7 +80,7 @@ def decode_video_frames(
     Currently supports torchcodec on cpu and pyav.
     """
     if backend != "pyav" and is_depth:
-        logger.warning("Decoding depth maps is only supported with the 'pyav' backend.")
+        logger.debug("Decoding depth maps is only supported with the 'pyav' backend, falling back to pyav.")
         # We do not actually return uint8 here, but we avoid the 255 normalization step.
         return decode_video_frames_pyav(
             video_path, timestamps, tolerance_s, return_uint8=False, is_depth=True