From a98a38160c70b230f9032354647a23af5fe04dfe Mon Sep 17 00:00:00 2001
From: CarolinePascal <caroline8.pascal@gmail.com>
Date: Wed, 24 Jun 2026 17:34:08 +0200
Subject: [PATCH] fix(ImageNet): excluding dpeth frames from ImageNet stats

---
 src/lerobot/datasets/factory.py | 2 ++
 1 file changed, 2 insertions(+)

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)