diff --git a/src/lerobot/utils/utils.py b/src/lerobot/utils/utils.py
index 6d9c0338..2e94a9c9 100644
--- a/src/lerobot/utils/utils.py
+++ b/src/lerobot/utils/utils.py
@@ -111,35 +111,46 @@ def is_amp_available(device: str):
         raise ValueError(f"Unknown device '{device}.")
 
 
-def init_logging(log_file: Path | None = None, display_pid: bool = False):
-    def custom_format(record):
+def init_logging(
+    log_file: Path | None = None,
+    display_pid: bool = False,
+    console_level: str = "INFO",
+    file_level: str = "DEBUG",
+):
+    def custom_format(record: logging.LogRecord) -> str:
         dt = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
         fnameline = f"{record.pathname}:{record.lineno}"
 
         # NOTE: Display PID is useful for multi-process logging.
         if display_pid:
             pid_str = f"[PID: {os.getpid()}]"
-            message = f"{record.levelname} {pid_str} {dt} {fnameline[-15:]:>15} {record.msg}"
+            message = f"{record.levelname} {pid_str} {dt} {fnameline[-15:]:>15} {record.getMessage()}"
         else:
-            message = f"{record.levelname} {dt} {fnameline[-15:]:>15} {record.msg}"
+            message = f"{record.levelname} {dt} {fnameline[-15:]:>15} {record.getMessage()}"
         return message
 
-    logging.basicConfig(level=logging.INFO)
-
-    for handler in logging.root.handlers[:]:
-        logging.root.removeHandler(handler)
-
     formatter = logging.Formatter()
     formatter.format = custom_format
+
+    logger = logging.getLogger()
+    logger.setLevel(logging.NOTSET)  # Set the logger to the lowest level to capture all messages
+
+    # Remove unused default handlers
+    for handler in logger.handlers[:]:
+        logger.removeHandler(handler)
+
+    # Write logs to console
     console_handler = logging.StreamHandler()
     console_handler.setFormatter(formatter)
-    logging.getLogger().addHandler(console_handler)
+    console_handler.setLevel(console_level.upper())
+    logger.addHandler(console_handler)
 
+    # Additionally write logs to file
     if log_file is not None:
-        # Additionally write logs to file
         file_handler = logging.FileHandler(log_file)
         file_handler.setFormatter(formatter)
-        logging.getLogger().addHandler(file_handler)
+        file_handler.setLevel(file_level.upper())
+        logger.addHandler(file_handler)
 
 
 def format_big_number(num, precision=0):