diff --git a/model.py b/model.py
index 93a6a22..6e36c70 100644
--- a/model.py
+++ b/model.py
@@ -79,7 +79,7 @@ class GaussianPolicy(nn.Module):
         normal = Normal(mean, std)
 
         if reparam == True:
-            x_t = mean + std * torch.randn(1,6)
+            x_t = normal.rsample() # or mean + std * torch.randn(1,6)
         else:
             x_t = normal.sample()
 
@@ -152,4 +152,4 @@ class GaussianMixturePolicy(nn.Module):
         action = torch.tanh(x_t)
 
         action = action.detach().cpu().numpy()
-        return action[0]
\ No newline at end of file
+        return action[0]