diff --git a/lerobot/scripts/eval.py b/lerobot/scripts/eval.py
index 1528612d..7b3c6dd3 100644
--- a/lerobot/scripts/eval.py
+++ b/lerobot/scripts/eval.py
@@ -47,6 +47,7 @@ from PIL import Image as PILImage
 from tqdm import trange
 
 from lerobot.common.datasets.factory import make_dataset
+from lerobot.common.datasets.utils import hf_transform_to_torch
 from lerobot.common.envs.factory import make_env
 from lerobot.common.envs.utils import postprocess_action, preprocess_observation
 from lerobot.common.logger import log_output_dir
@@ -270,7 +271,8 @@ def eval_policy(
 
         data_dict["index"] = torch.arange(0, total_frames, 1)
 
-        hf_dataset = Dataset.from_dict(data_dict).with_format("torch")
+        hf_dataset = Dataset.from_dict(data_dict)
+        hf_dataset.set_transform(hf_transform_to_torch)
 
     if max_episodes_rendered > 0:
         batch_stacked_frames = np.stack(ep_frames, 1)  # (b, t, *)