diff --git a/src/lerobot/datasets/factory.py b/src/lerobot/datasets/factory.py
index 9f1fe6530..0dd59748d 100644
--- a/src/lerobot/datasets/factory.py
+++ b/src/lerobot/datasets/factory.py
@@ -127,6 +127,8 @@ def make_dataset(cfg: TrainPipelineConfig) -> LeRobotDataset | MultiLeRobotDatas
 
     if cfg.dataset.use_imagenet_stats:
         for key in dataset.meta.camera_keys:
+            if key in dataset.meta.depth_keys:
+                continue    # Exclude depth keys from ImageNet stats
             for stats_type, stats in IMAGENET_STATS.items():
                 dataset.meta.stats[key][stats_type] = torch.tensor(stats, dtype=torch.float32)