diff --git a/src/lerobot/scripts/rl/gym_manipulator.py b/src/lerobot/scripts/rl/gym_manipulator.py
index 4ee934f09..1d60380f8 100644
--- a/src/lerobot/scripts/rl/gym_manipulator.py
+++ b/src/lerobot/scripts/rl/gym_manipulator.py
@@ -655,9 +655,7 @@ class InverseKinematicsProcessor:
 
     def __call__(self, transition: EnvTransition) -> EnvTransition:
         action = transition.get(TransitionKey.ACTION)
-        observation = transition.get(TransitionKey.OBSERVATION)
-
-        if action is None or observation is None:
+        if action is None:
             return transition
 
         action_np = action.detach().cpu().numpy().squeeze()
@@ -945,6 +943,23 @@ def control_loop(env, env_processor, action_processor, teleop_device, cfg: EnvCo
         dataset.push_to_hub()
 
 
+def replay_trajectory(env, action_processor, cfg):
+    dataset = LeRobotDataset(
+        cfg.repo_id, root=cfg.dataset_root, episodes=[cfg.episode], download_videos=False
+    )
+    dataset_actions = dataset.hf_dataset.select_columns(["action"])
+    _, info = env.reset()
+
+    for _, action in enumerate(dataset_actions):
+        start_time = time.perf_counter()
+        transition = create_transition(
+            action=action["action"], complementary_data={"raw_joint_positions": info["raw_joint_positions"]}
+        )
+        transition = action_processor(transition)
+        env.step(transition[TransitionKey.ACTION])
+        busy_wait(1 / cfg.fps - (time.perf_counter() - start_time))
+
+
 @parser.wrap()
 def main(cfg: EnvConfig):
     env, teleop_device = make_robot_env(cfg)
@@ -986,6 +1001,10 @@ def main(cfg: EnvConfig):
     print("Environment processor:", env_processor)
     print("Action processor:", action_processor)
 
+    if cfg.mode == "replay":
+        replay_trajectory(env, action_processor, cfg)
+        exit()
+
     control_loop(env, env_processor, action_processor, teleop_device, cfg)