diff --git a/core/nbv_dataset.py b/core/nbv_dataset.py
index d47975a..6564c56 100644
--- a/core/nbv_dataset.py
+++ b/core/nbv_dataset.py
@@ -165,13 +165,8 @@ class NBVReconstructionDataset(BaseDataset):
             [best_to_world_6d, best_to_world_trans], axis=0
         )
 
-        combined_scanned_views_pts = np.concatenate(scanned_views_pts, axis=0)
-        voxel_downsampled_combined_scanned_pts_np = PtsUtil.voxel_downsample_point_cloud(combined_scanned_views_pts, 0.002)
-        random_downsampled_combined_scanned_pts_np = PtsUtil.random_downsample_point_cloud(voxel_downsampled_combined_scanned_pts_np, self.pts_num)
-        
         data_item = {
             "scanned_pts": np.asarray(scanned_views_pts, dtype=np.float32), # Ndarray(S x Nv x 3)
-            "combined_scanned_pts": np.asarray(random_downsampled_combined_scanned_pts_np, dtype=np.float32), # Ndarray(N x 3)
             "scanned_coverage_rate": scanned_coverages_rate, # List(S): Float, range(0, 1)
             "scanned_n_to_world_pose_9d": np.asarray(scanned_n_to_world_pose, dtype=np.float32), # Ndarray(S x 9)
             "best_coverage_rate": nbv_coverage_rate, # Float, range(0, 1)
@@ -203,9 +198,6 @@ class NBVReconstructionDataset(BaseDataset):
             collate_data["best_to_world_pose_9d"] = torch.stack(
                 [torch.tensor(item["best_to_world_pose_9d"]) for item in batch]
             )
-            collate_data["combined_scanned_pts"] = torch.stack(
-                [torch.tensor(item["combined_scanned_pts"]) for item in batch]
-            )
             collate_data["scanned_pts_mask"] = torch.stack(
                 [torch.tensor(item["scanned_pts_mask"]) for item in batch]
             )
@@ -216,7 +208,6 @@ class NBVReconstructionDataset(BaseDataset):
                     "scanned_pts_mask",
                     "scanned_n_to_world_pose_9d",
                     "best_to_world_pose_9d",
-                    "combined_scanned_pts",
                 ]:
                     collate_data[key] = [item[key] for item in batch]
             return collate_data