diff --git a/lerobot/common/utils/control_utils.py b/lerobot/common/utils/control_utils.py
index 012f9f270..327d86653 100644
--- a/lerobot/common/utils/control_utils.py
+++ b/lerobot/common/utils/control_utils.py
@@ -112,6 +112,7 @@ def predict_action(
     ):
         # Convert to pytorch format: channel first and float32 in [0,1] with batch dimension
         for name in observation:
+            observation[name] = torch.from_numpy(observation[name])
             if "image" in name:
                 observation[name] = observation[name].type(torch.float32) / 255
                 observation[name] = observation[name].permute(2, 0, 1).contiguous()