diff --git a/docs/source/video_encoding_parameters.mdx b/docs/source/video_encoding_parameters.mdx
index c2564955f..859de0a51 100644
--- a/docs/source/video_encoding_parameters.mdx
+++ b/docs/source/video_encoding_parameters.mdx
@@ -79,14 +79,14 @@ All flags below are prefixed with `--dataset.camera_encoder.` on the CLI.
 
 How each field is forwarded to FFmpeg after `vcodec` resolution, via `get_codec_options()`. Only fields on `camera_encoder` are listed here (no global thread / queue flags).
 
-| Resolved `vcodec`                        | Quality from `crf`          | `preset` | `fast_decode`                              |
-| ---------------------------------------- | --------------------------- | -------- | ------------------------------------------ |
-| `libsvtav1`                              | `crf`                       | `preset` | `svtav1-params` includes `fast-decode=0…2` |
-| `h264`, `hevc` (software)                | `crf`                       | `preset` | `tune=fastdecode` if `fast_decode > 0`     |
-| `h264_videotoolbox`, `hevc_videotoolbox` | `q:v` (derived from `crf`)  | —        | —                                          |
-| `h264_nvenc`, `hevc_nvenc`               | `rc=constqp` + `qp` ← `crf` | `preset` | —                                          |
-| `h264_vaapi`                             | `qp` ← `crf`                | —        | —                                          |
-| `h264_qsv`                               | `global_quality` ← `crf`    | `preset` | —                                          |
+| Resolved `vcodec`                        | Quality from `crf`         | `preset` | `fast_decode`                              |
+| ---------------------------------------- | -------------------------- | -------- | ------------------------------------------ |
+| `libsvtav1`                              | `crf`                      | `preset` | `svtav1-params` includes `fast-decode=0…2` |
+| `h264`, `hevc` (software)                | `crf`                      | `preset` | `tune=fastdecode` if `fast_decode > 0`     |
+| `h264_videotoolbox`, `hevc_videotoolbox` | `q:v` (derived from `crf`) | —        | —                                          |
+| `h264_nvenc`, `hevc_nvenc`               | `rc` = `0`, `qp` ← `crf`   | `preset` | —                                          |
+| `h264_vaapi`                             | `qp` ← `crf`               | —        | —                                          |
+| `h264_qsv`                               | `global_quality` ← `crf`   | `preset` | —                                          |
 
 ---
 
diff --git a/src/lerobot/configs/video.py b/src/lerobot/configs/video.py
index 803397c9d..91e42350d 100644
--- a/src/lerobot/configs/video.py
+++ b/src/lerobot/configs/video.py
@@ -210,7 +210,7 @@ class VideoEncoderConfig:
             if self.crf is not None:
                 opts["q:v"] = max(1, min(100, 100 - self.crf * 2))
         elif self.vcodec in ("h264_nvenc", "hevc_nvenc"):
-            opts["rc"] = "constqp"
+            opts["rc"] = 0
             set_if("qp", self.crf)
             set_if("preset", self.preset)
         elif self.vcodec == "h264_vaapi":
diff --git a/tests/datasets/test_video_encoding.py b/tests/datasets/test_video_encoding.py
index 9c2fbf87f..ee423a022 100644
--- a/tests/datasets/test_video_encoding.py
+++ b/tests/datasets/test_video_encoding.py
@@ -90,10 +90,10 @@ class TestCodecOptions:
     def test_nvenc_options(self):
         cfg = VideoEncoderConfig(vcodec="h264_nvenc", g=2, crf=25, preset=None)
         opts = cfg.get_codec_options()
-        assert opts["rc"] == "constqp"
+        assert opts["rc"] == 0
         assert opts["qp"] == 25
         assert "crf" not in opts
-        assert "g" not in opts
+        assert opts["g"] == 2
 
     @_require_encoder("h264_vaapi")
     def test_vaapi_options(self):