diff --git a/src/lerobot/processor/normalize_processor.py b/src/lerobot/processor/normalize_processor.py
index 0a2381cc2..c0877250f 100644
--- a/src/lerobot/processor/normalize_processor.py
+++ b/src/lerobot/processor/normalize_processor.py
@@ -375,8 +375,11 @@ class _NormalizationMixin:
                 denom == 0, torch.tensor(self.eps, device=tensor.device, dtype=tensor.dtype), denom
             )
             if inverse:
+                tensor = torch.clamp(tensor, -1.0, 1.0)
                 return tensor * denom + q01
-            return 2.0 * (tensor - q01) / denom - 1.0
+            result = 2.0 * (tensor - q01) / denom - 1.0
+            result = torch.clamp(result, -1.0, 1.0)
+            return result
 
         if norm_mode == NormalizationMode.QUANTILE10:
             q10 = stats.get("q10", None)
@@ -392,8 +395,11 @@ class _NormalizationMixin:
                 denom == 0, torch.tensor(self.eps, device=tensor.device, dtype=tensor.dtype), denom
             )
             if inverse:
+                tensor = torch.clamp(tensor, -1.0, 1.0)
                 return tensor * denom + q10
-            return 2.0 * (tensor - q10) / denom - 1.0
+            result = 2.0 * (tensor - q10) / denom - 1.0
+            result = torch.clamp(result, -1.0, 1.0)
+            return result
 
         # If necessary stats are missing, return input unchanged.
         return tensor