diff --git a/lerobot/scripts/visualize_dataset_html.py b/lerobot/scripts/visualize_dataset_html.py
index 51272cb15..39ce81e6e 100644
--- a/lerobot/scripts/visualize_dataset_html.py
+++ b/lerobot/scripts/visualize_dataset_html.py
@@ -88,6 +88,7 @@ def run_server(
     port: str,
     static_folder: Path,
     template_folder: Path,
+    has_policy = False,
 ):
     app = Flask(__name__, static_folder=static_folder.resolve(), template_folder=template_folder.resolve())
     app.config["SEND_FILE_MAX_AGE_DEFAULT"] = 0  # specifying not to cache
@@ -130,7 +131,7 @@ def show_episode(dataset_namespace, dataset_name, episode_id):
             dataset_info=dataset_info,
             videos_info=videos_info,
             ep_csv_url=ep_csv_url,
-            has_policy=False,
+            has_policy = has_policy,
         )
 
     app.run(host=host, port=port)
@@ -344,7 +345,7 @@ def visualize_dataset_html(
         write_episode_data_csv(static_dir, ep_csv_fname, episode_index, dataset, policy=policy)
 
     if serve:
-        run_server(dataset, episodes, host, port, static_dir, template_dir)
+        run_server(dataset, episodes, host, port, static_dir, template_dir, has_policy=policy is not None)
 
 
 def main():
diff --git a/lerobot/templates/visualize_dataset_template.html b/lerobot/templates/visualize_dataset_template.html
index 0fa1e713e..cb178af65 100644
--- a/lerobot/templates/visualize_dataset_template.html
+++ b/lerobot/templates/visualize_dataset_template.html
@@ -229,7 +229,8 @@ <h1 class="text-xl font-bold mt-4 font-mono">
                 dygraph: null,
                 currentFrameData: null,
                 columnNames: ["state", "action", "pred action"],
-                nColumns: 2,
+                hasPolicy: {% if has_policy %}true{% else %}false{% endif %},
+                nColumns: {% if has_policy %}3{% else %}2{% endif %},
                 nStates: 0,
                 nActions: 0,
                 checked: [],
@@ -278,6 +279,9 @@ <h1 class="text-xl font-bold mt-4 font-mono">
                                 const seriesNames = this.dygraph.getLabels().slice(1);
                                 this.nStates = seriesNames.findIndex(item => item.startsWith('action_'));
                                 this.nActions = seriesNames.length - this.nStates;
+                                if(this.hasPolicy){
+                                    this.nActions = Math.floor(this.nActions / 2);
+                                }
                                 const colors = [];
                                 const LIGHTNESS = [30, 65, 85]; // state_lightness, action_lightness, pred_action_lightness
                                 // colors for "state" lines
@@ -290,6 +294,13 @@ <h1 class="text-xl font-bold mt-4 font-mono">
                                     const color = `hsl(${hue}, 100%, ${LIGHTNESS[1]}%)`;
                                     colors.push(color);
                                 }
+                                if(this.hasPolicy){
+                                    // colors for "action" lines
+                                    for (let hue = 0; hue < 360; hue += parseInt(360/this.nActions)) {
+                                        const color = `hsl(${hue}, 100%, ${LIGHTNESS[2]}%)`;
+                                        colors.push(color);
+                                    }
+                                }
                                 this.dygraph.updateOptions({ colors });
                                 this.colors = colors;
 
@@ -327,6 +338,10 @@ <h1 class="text-xl font-bold mt-4 font-mono">
                         // row consists of [state value, action value]
                         row.push(rowIndex < this.nStates ? this.currentFrameData[stateValueIdx] : nullCell); // push "state value" to row
                         row.push(rowIndex < this.nActions ? this.currentFrameData[actionValueIdx] : nullCell); // push "action value" to row
+                        if(this.hasPolicy){
+                            const predActionValueIdx = stateValueIdx + this.nStates + this.nActions; // because this.currentFrameData = [state0, state1, ..., stateN, action0, action1, ..., actionN, pred_action1, ..., pred_actionN]
+                            row.push(rowIndex < this.nActions ? this.currentFrameData[predActionValueIdx] : nullCell); // push "action value" to row
+                        }
                         rowIndex += 1;
                         rows.push(row);
                     }