diff --git a/src/lerobot/scripts/lerobot_teleoperate.py b/src/lerobot/scripts/lerobot_teleoperate.py
index 5a9fdbc..be4fc99 100644
--- a/src/lerobot/scripts/lerobot_teleoperate.py
+++ b/src/lerobot/scripts/lerobot_teleoperate.py
@@ -85,6 +85,7 @@
 from lerobot.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
+    alicia_d_leader,
     bi_so100_leader,
     gamepad,
     homunculus,
@@ -160,8 +161,11 @@ def teleop_loop(
         # Process action for robot through pipeline
         robot_action_to_send = robot_action_processor((teleop_action, obs))
 
-        # Send processed action to robot (robot_action_processor.to_output should return dict[str, Any])
-        _ = robot.send_action(robot_action_to_send)
+        # When the teleoperator controls the robot through a direct hardware
+        # connection, sending the action again from the computer would duplicate
+        # the command. Keep processing it for visualization, but skip transmission.
+        if not teleop.directly_controls_robot:
+            _ = robot.send_action(robot_action_to_send)
 
         if display_data:
             # Process robot observation through pipeline
diff --git a/tests/test_control_robot.py b/tests/test_control_robot.py
index f0caff2..1ba8ac3 100644
--- a/tests/test_control_robot.py
+++ b/tests/test_control_robot.py
@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from unittest.mock import patch
+from unittest.mock import PropertyMock, patch
 
 from lerobot.scripts.lerobot_calibrate import CalibrateConfig, calibrate
 from lerobot.processor import make_default_processors
@@ -23,7 +23,7 @@
 from lerobot.scripts.lerobot_teleoperate import TeleoperateConfig, teleoperate
 from tests.fixtures.constants import DUMMY_REPO_ID
 from tests.mocks.mock_robot import MockRobot, MockRobotConfig
-from tests.mocks.mock_teleop import MockTeleopConfig
+from tests.mocks.mock_teleop import MockTeleop, MockTeleopConfig
 
 
 def test_calibrate():
@@ -43,6 +43,24 @@ def test_teleoperate():
     teleoperate(cfg)
 
 
+def test_teleoperate_skips_send_action_when_teleop_directly_controls_robot():
+    robot_cfg = MockRobotConfig()
+    teleop_cfg = MockTeleopConfig()
+    cfg = TeleoperateConfig(
+        robot=robot_cfg,
+        teleop=teleop_cfg,
+        teleop_time_s=0.1,
+    )
+
+    with (
+        patch.object(MockTeleop, "directly_controls_robot", new_callable=PropertyMock, return_value=True),
+        patch.object(MockRobot, "send_action", autospec=True) as mock_send_action,
+    ):
+        teleoperate(cfg)
+
+    mock_send_action.assert_not_called()
+
+
 def test_record_and_resume(tmp_path):
     robot_cfg = MockRobotConfig()
     teleop_cfg = MockTeleopConfig()