diff --git a/src/lerobot/scripts/lerobot_train.py b/src/lerobot/scripts/lerobot_train.py
index deb5a4681..a9c0ddb54 100644
--- a/src/lerobot/scripts/lerobot_train.py
+++ b/src/lerobot/scripts/lerobot_train.py
@@ -324,7 +324,9 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
                 temp_loader = torch.utils.data.DataLoader(
                     stats_dataset, batch_size=cfg.batch_size, shuffle=False, num_workers=0
                 )
-                mean, std = compute_relative_action_stats(temp_loader, num_batches=1000)
+                reverse_rename = {v: k for k, v in cfg.rename_map.items()} if cfg.rename_map else {}
+                raw_state_key = reverse_rename.get("observation.state", "observation.state")
+                mean, std = compute_relative_action_stats(temp_loader, state_key=raw_state_key, num_batches=1000)
                 del temp_loader, stats_dataset
                 gc.collect()
                 torch.save({"mean": mean, "std": std}, stats_path)