diff --git a/src/lerobot/scripts/lerobot_record.py b/src/lerobot/scripts/lerobot_record.py
index fa92a296d..50b41c69d 100644
--- a/src/lerobot/scripts/lerobot_record.py
+++ b/src/lerobot/scripts/lerobot_record.py
@@ -559,7 +559,11 @@ def record(cfg: RecordConfig) -> LeRobotDataset:
             )
 
         # Load pretrained policy
-        policy = None if cfg.policy is None else make_policy(cfg.policy, ds_meta=dataset.meta)
+        policy = (
+            None
+            if cfg.policy is None
+            else make_policy(cfg.policy, ds_meta=dataset.meta, rename_map=cfg.dataset.rename_map)
+        )
         preprocessor = None
         postprocessor = None
         interpolator = None