diff --git a/src/lerobot/policies/utils.py b/src/lerobot/policies/utils.py
index c4ca35b72..baecd3395 100644
--- a/src/lerobot/policies/utils.py
+++ b/src/lerobot/policies/utils.py
@@ -230,6 +230,10 @@ def validate_visual_features_consistency(
 ) -> None:
     """
     Validates visual feature consistency between a policy config and provided dataset/environment features.
+    
+    Validation passes if EITHER:
+    - Policy's expected visuals are a subset of dataset (policy uses some cameras, dataset has more)
+    - Dataset's provided visuals are a subset of policy (policy declares extras for flexibility)
 
     Args:
         cfg (PreTrainedConfig): The model or policy configuration containing input_features and type.
@@ -237,5 +241,11 @@ def validate_visual_features_consistency(
     """
     expected_visuals = {k for k, v in cfg.input_features.items() if v.type == FeatureType.VISUAL}
     provided_visuals = {k for k, v in features.items() if v.type == FeatureType.VISUAL}
-    if not provided_visuals.issubset(expected_visuals):
+    
+    # Accept if either direction is a subset 
+    policy_subset_of_dataset = expected_visuals.issubset(provided_visuals)
+    dataset_subset_of_policy = provided_visuals.issubset(expected_visuals)
+    
+    if not (policy_subset_of_dataset or dataset_subset_of_policy):
         raise_feature_mismatch_error(provided_visuals, expected_visuals)
+