From a5f15db05700cab2b2be4420bad3a941bb10959f Mon Sep 17 00:00:00 2001
From: Simon Alibert <simon.alibert@huggingface.co>
Date: Fri, 23 May 2025 13:16:14 +0200
Subject: [PATCH] Add changes from #1117

---
 lerobot/record.py | 4 ++++
 1 file changed, 4 insertions(+)

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: