From 519b76110efeea55a4f919895d0029dc0df41e8b Mon Sep 17 00:00:00 2001
From: Ben Zhang <5977478+ben-z@users.noreply.github.com>
Date: Sun, 13 Jul 2025 12:58:05 -0700
Subject: [PATCH] Remove random noise injected by policy server (#1496)

---
 src/lerobot/scripts/server/policy_server.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/lerobot/scripts/server/policy_server.py b/src/lerobot/scripts/server/policy_server.py
index 669ccc58e..13ba976e2 100644
--- a/src/lerobot/scripts/server/policy_server.py
+++ b/src/lerobot/scripts/server/policy_server.py
@@ -323,7 +323,7 @@ class PolicyServer(async_inference_pb2_grpc.AsyncInferenceServicer):
         if chunk.ndim != 3:
             chunk = chunk.unsqueeze(0)  # adding batch dimension, now shape is (B, chunk_size, action_dim)
 
-        return chunk[:, : self.actions_per_chunk, :] + torch.randn_like(chunk[:, : self.actions_per_chunk, :])
+        return chunk[:, : self.actions_per_chunk, :]
 
     def _predict_action_chunk(self, observation_t: TimedObservation) -> list[TimedAction]:
         """Predict an action chunk based on an observation"""