diff --git a/src/lerobot/policies/pi05_full/modeling_pi05.py b/src/lerobot/policies/pi05_full/modeling_pi05.py
index b1181765e..a13767794 100644
--- a/src/lerobot/policies/pi05_full/modeling_pi05.py
+++ b/src/lerobot/policies/pi05_full/modeling_pi05.py
@@ -1117,7 +1117,7 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
             "flow_mse_loss": flow_loss.mean(),
             "action_ce_loss": fast_loss.mean(),
             "subtask_ce_loss": subtask_loss,
-            "loss": flow_loss.mean() + 0.1 * subtask_loss.mean() + 0.05 * fast_loss.mean(), # TODO: jadechoghari: check weights
+            "loss": flow_loss.mean() + subtask_loss.mean() + fast_loss.mean(), # TODO: jadechoghari: check weights
         }
 
     @torch.no_grad()  # see openpi `sample_actions` (slightly adapted)