diff --git a/docs/source/cheat-sheet.mdx b/docs/source/cheat-sheet.mdx
index a6afa14c2..45952c5b3 100644
--- a/docs/source/cheat-sheet.mdx
+++ b/docs/source/cheat-sheet.mdx
@@ -89,6 +89,36 @@ Control the data recording flow using keyboard shortcuts:
 - Press **Left Arrow (`←`)**: Delete current episode and retry.
 - Press **Escape (`ESC`)**: Stop, encode videos, and upload.
 
+### Recording depth
+
+Intel RealSense cameras (`type: intelrealsense`) record a depth stream when you set `use_depth: true`. Depth is quantized to 12-bit codes and stored as its own video.
+
+```bash
+lerobot-record \
+    ... \
+    --robot.cameras="{ head: {type: intelrealsense, serial_number_or_name: \"0123456789\", width: 640, height: 480, fps: 30, use_depth: true} }" \
+    --dataset.repo_id=${HF_USER}/so101_depth_test \
+    --dataset.single_task="put the red brick in a bowl" \
+    --dataset.depth_encoder.depth_min=0.01 \
+    --dataset.depth_encoder.depth_max=10.0 \
+    --dataset.depth_encoder.shift=0.0 \
+    --dataset.depth_encoder.use_log=true
+```
+
+### Video encoding parameters
+
+RGB and depth streams are encoded independently via the `--dataset.rgb_encoder.*` and `--dataset.depth_encoder.*` keys.
+
+```bash
+lerobot-record \
+    ... \
+    --dataset.rgb_encoder.vcodec=h264 \
+    --dataset.rgb_encoder.pix_fmt=yuv420p \
+    --dataset.rgb_encoder.crf=23 \
+    --dataset.depth_encoder.vcodec=hevc \
+    --dataset.depth_encoder.extra_options='{"x265-params": "lossless=1"}'
+```
+
 ### Training
 
 Depending on your hardware training the policy might take a few hours. That's how you train simple `ACT` policy: