diff --git a/lerobot/common/policies/normalize.py b/lerobot/common/policies/normalize.py
index a711dcaa8..8f9096a6d 100644
--- a/lerobot/common/policies/normalize.py
+++ b/lerobot/common/policies/normalize.py
@@ -162,6 +162,9 @@ class Normalize(nn.Module):
                 output_batch[key] = output_batch[key] * 2 - 1
             else:
                 raise ValueError(mode)
+        for key in batch:
+            if key not in output_batch:
+                output_batch[key] = batch[key]
         return output_batch
 
 
@@ -231,4 +234,7 @@ class Unnormalize(nn.Module):
                 output_batch[key] = output_batch[key] * (max - min) + min
             else:
                 raise ValueError(mode)
+        for key in batch:
+            if key not in output_batch:
+                output_batch[key] = batch[key]
         return output_batch