diff --git a/src/lerobot/policies/factory.py b/src/lerobot/policies/factory.py
index cfb550ab..9c67e317 100644
--- a/src/lerobot/policies/factory.py
+++ b/src/lerobot/policies/factory.py
@@ -360,8 +360,10 @@ def make_policy(
             raise ValueError("env_cfg cannot be None when ds_meta is not provided")
         features = env_to_policy_features(env_cfg)
 
-    cfg.output_features = {key: ft for key, ft in features.items() if ft.type is FeatureType.ACTION}
-    cfg.input_features = {key: ft for key, ft in features.items() if key not in cfg.output_features}
+    if not cfg.output_features:
+        cfg.output_features = {key: ft for key, ft in features.items() if ft.type is FeatureType.ACTION}
+    if not cfg.input_features:
+        cfg.input_features = {key: ft for key, ft in features.items() if key not in cfg.output_features}
     kwargs["config"] = cfg
 
     if cfg.pretrained_path: