diff --git a/selfdrive/controls/lib/curvature_learner.py b/selfdrive/controls/lib/curvature_learner.py
deleted file mode 100644
index 22f71b65f..000000000
--- a/selfdrive/controls/lib/curvature_learner.py
+++ /dev/null
@@ -1,64 +0,0 @@
-from numpy import clip
-import pickle
-import csv
-import os
-
-# HOW TO
-# import this module to where you want to use it, such as from ```selfdrive.controls.lib.curvature_learner import CurvatureLearner```
-# create the object ```self.curvature_offset = CurvatureLearner(debug=False)```
-# call the update method ```self.curvature_offset.update(angle_steers - angle_offset, self.LP.d_poly)```
-# The learned curvature offsets will save and load automatically
-# If you still need help, check out how I have it implemented in the devel_curvaturefactorlearner branch
-# by Zorrobyte
-# version 4
-
-class CurvatureLearner:
-    def __init__(self, debug=False):
-        self.offset = 0.
-        self.learning_rate = 12000
-        self.frame = 0
-        self.debug = debug
-        try:
-            self.learned_offsets = pickle.load(open("/data/curvaturev4.p", "rb"))
-        except (OSError, IOError):
-            self.learned_offsets = {
-                "center": 0.,
-                "inner": 0.,
-                "outer": 0.
-            }
-            pickle.dump(self.learned_offsets, open("/data/curvaturev4.p", "wb"))
-            os.chmod("/data/curvaturev4.p", 0o777)
-
-    def update(self, angle_steers=0., d_poly=None, v_ego=0.):
-        if angle_steers > 0.1:
-            if abs(angle_steers) < 2.:
-                self.learned_offsets["center"] -= d_poly[3] / self.learning_rate
-                self.offset = self.learned_offsets["center"]
-            elif 2. < abs(angle_steers) < 5.:
-                self.learned_offsets["inner"] -= d_poly[3] / self.learning_rate
-                self.offset = self.learned_offsets["inner"]
-            elif abs(angle_steers) > 5.:
-                self.learned_offsets["outer"] -= d_poly[3] / self.learning_rate
-                self.offset = self.learned_offsets["outer"]
-        elif angle_steers < -0.1:
-            if abs(angle_steers) < 2.:
-                self.learned_offsets["center"] += d_poly[3] / self.learning_rate
-                self.offset = self.learned_offsets["center"]
-            elif 2. < abs(angle_steers) < 5.:
-                self.learned_offsets["inner"] += d_poly[3] / self.learning_rate
-                self.offset = self.learned_offsets["inner"]
-            elif abs(angle_steers) > 5.:
-                self.learned_offsets["outer"] += d_poly[3] / self.learning_rate
-                self.offset = self.learned_offsets["outer"]
-
-        self.offset = clip(self.offset, -0.3, 0.3)
-        self.frame += 1
-
-        if self.frame == 12000:  # every 2 mins
-            pickle.dump(self.learned_offsets, open("/data/curvaturev4.p", "wb"))
-            self.frame = 0
-        if self.debug:
-            with open('/data/curvdebug.csv', 'a') as csv_file:
-                csv_file_writer = csv.writer(csv_file, delimiter=',', quotechar='"', quoting=csv.QUOTE_MINIMAL)
-                csv_file_writer.writerow([self.learned_offsets, v_ego])
-        return self.offset
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index d73ec9e3b..0ca9e694f 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -9,7 +9,6 @@ from selfdrive.controls.lib.lateral_mpc import libmpc_py
 from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
 from selfdrive.controls.lib.lane_planner import LanePlanner
 import selfdrive.messaging as messaging
-from selfdrive.controls.lib.curvature_learner import CurvatureLearner
 
 
 LOG_MPC = os.environ.get('LOG_MPC', False)
@@ -30,7 +29,6 @@ class PathPlanner(object):
     self.setup_mpc(CP.steerRateCost)
     self.solution_invalid_cnt = 0
     self.path_offset_i = 0.0
-    self.curvature_offset = CurvatureLearner(debug=False)
 
   def setup_mpc(self, steer_rate_cost):
     self.libmpc = libmpc_py.libmpc
@@ -60,13 +58,7 @@ class PathPlanner(object):
     # Run MPC
     self.angle_steers_des_prev = self.angle_steers_des_mpc
     VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio)
-    #curvature_factor = VM.curvature_factor(v_ego)
-    if active:
-      curvfac = self.curvature_offset.update(angle_steers - angle_offset, self.LP.d_poly, v_ego)
-    else:
-      curvfac = 0.
-
-    curvature_factor = VM.curvature_factor(v_ego) + curvfac
+    curvature_factor = VM.curvature_factor(v_ego)
 
     # TODO: Check for active, override, and saturation
     # if active: