diff --git a/lerobot/record.py b/lerobot/record.py
index 0059752b8..8a3205c4e 100644
--- a/lerobot/record.py
+++ b/lerobot/record.py
@@ -167,6 +167,10 @@ def record_loop(
     if dataset is not None and fps is not None and dataset.fps != fps:
         raise ValueError(f"The dataset fps should be equal to requested fps ({dataset.fps} != {fps}).")
 
+    # if policy is given it needs cleaning up
+    if policy is not None:
+        policy.reset()
+
     timestamp = 0
     start_episode_t = time.perf_counter()
     while timestamp < control_time_s: