diff --git a/client_read_test.go b/client_read_test.go
index b340c1a4..88eb405b 100644
--- a/client_read_test.go
+++ b/client_read_test.go
@@ -250,7 +250,7 @@ func TestClientRead(t *testing.T) {
 					Media: "application",
 					Payloads: []TrackGenericPayload{{
 						Type:   97,
-						RTPMap: "97 private/90000",
+						RTPMap: "private/90000",
 					}},
 				}
 				err = track.Init()
@@ -2721,6 +2721,7 @@ func TestClientReadDecodeErrors(t *testing.T) {
 		"packets lost",
 		"rtp too big",
 		"rtcp too big",
+		"cleaner error",
 	} {
 		t.Run(ca, func(t *testing.T) {
 			errorRecv := make(chan struct{})
@@ -2761,11 +2762,23 @@ func TestClientReadDecodeErrors(t *testing.T) {
 				require.Equal(t, base.Describe, req.Method)
 				require.Equal(t, mustParseURL("rtsp://localhost:8554/stream"), req.URL)
 
-				tracks := Tracks{&TrackH264{
-					PayloadType: 96,
-					SPS:         []byte{0x01, 0x02, 0x03, 0x04},
-					PPS:         []byte{0x01, 0x02, 0x03, 0x04},
-				}}
+				var track Track
+				if ca != "cleaner error" {
+					track = &TrackGeneric{
+						Media: "application",
+						Payloads: []TrackGenericPayload{{
+							Type:   97,
+							RTPMap: "private/90000",
+						}},
+					}
+				} else {
+					track = &TrackH264{
+						PayloadType: 96,
+						SPS:         []byte{0x01, 0x02, 0x03, 0x04},
+						PPS:         []byte{0x01, 0x02, 0x03, 0x04},
+					}
+				}
+				tracks := Tracks{track}
 				tracks.setControls()
 
 				err = conn.WriteResponse(&base.Response{
@@ -2868,6 +2881,18 @@ func TestClientReadDecodeErrors(t *testing.T) {
 						IP:   net.ParseIP("127.0.0.1"),
 						Port: th.ClientPorts[1],
 					})
+
+				case "cleaner error":
+					byts, _ := rtp.Packet{
+						Header: rtp.Header{
+							SequenceNumber: 100,
+						},
+						Payload: []byte{0x99},
+					}.Marshal()
+					l1.WriteTo(byts, &net.UDPAddr{
+						IP:   net.ParseIP("127.0.0.1"),
+						Port: th.ClientPorts[0],
+					})
 				}
 
 				req, err = conn.ReadRequest()
@@ -2898,6 +2923,8 @@ func TestClientReadDecodeErrors(t *testing.T) {
 						require.EqualError(t, err, "RTP packet is too big to be read with UDP")
 					case "rtcp too big":
 						require.EqualError(t, err, "RTCP packet is too big to be read with UDP")
+					case "cleaner error":
+						require.EqualError(t, err, "packet type not supported (STAP-B)")
 					}
 					close(errorRecv)
 				},
diff --git a/clientudpl.go b/clientudpl.go
index b27a5b34..38e5a9b6 100644
--- a/clientudpl.go
+++ b/clientudpl.go
@@ -204,29 +204,31 @@ func (u *clientUDPListener) processPlayRTP(now time.Time, payload []byte) {
 	}
 
 	packets, missing := u.ct.reorderer.Process(pkt)
-
 	if missing != 0 {
 		u.c.OnDecodeError(fmt.Errorf("%d RTP packet(s) lost", missing))
+		// do not return
 	}
 
 	for _, pkt := range packets {
 		out, err := u.ct.cleaner.Process(pkt)
 		if err != nil {
 			u.c.OnDecodeError(err)
-			continue
+			// do not return
 		}
 
-		out0 := out[0]
+		if out != nil {
+			out0 := out[0]
 
-		u.ct.udpRTCPReceiver.ProcessPacketRTP(time.Now(), pkt, out0.PTSEqualsDTS)
+			u.ct.udpRTCPReceiver.ProcessPacketRTP(time.Now(), pkt, out0.PTSEqualsDTS)
 
-		u.c.OnPacketRTP(&ClientOnPacketRTPCtx{
-			TrackID:      u.ct.id,
-			Packet:       out0.Packet,
-			PTSEqualsDTS: out0.PTSEqualsDTS,
-			H264NALUs:    out0.H264NALUs,
-			H264PTS:      out0.H264PTS,
-		})
+			u.c.OnPacketRTP(&ClientOnPacketRTPCtx{
+				TrackID:      u.ct.id,
+				Packet:       out0.Packet,
+				PTSEqualsDTS: out0.PTSEqualsDTS,
+				H264NALUs:    out0.H264NALUs,
+				H264PTS:      out0.H264PTS,
+			})
+		}
 	}
 }
 
diff --git a/pkg/rtpcleaner/cleaner.go b/pkg/rtpcleaner/cleaner.go
index 4cf9ae73..bbae4702 100644
--- a/pkg/rtpcleaner/cleaner.go
+++ b/pkg/rtpcleaner/cleaner.go
@@ -65,35 +65,25 @@ func (p *Cleaner) processH264(pkt *rtp.Packet) ([]*Output, error) {
 		p.h264Encoder.Init()
 	}
 
-	// decode
-	nalus, pts, err := p.h264Decoder.DecodeUntilMarker(pkt)
-	if err != nil {
-		// ignore decode errors, except for the case in which the
-		// encoder is active
-		if p.h264Encoder == nil {
-			return []*Output{{
-				Packet:       pkt,
-				PTSEqualsDTS: false,
-			}}, nil
-		}
-
-		if err == rtph264.ErrNonStartingPacketAndNoPrevious ||
-			err == rtph264.ErrMorePacketsNeeded {
-			return nil, nil
-		}
-
-		return nil, err
-	}
-
-	ptsEqualsDTS := h264.IDRPresent(nalus)
-
 	// re-encode
 	if p.h264Encoder != nil {
-		packets, err := p.h264Encoder.Encode(nalus, pts)
+		// decode
+		nalus, pts, err := p.h264Decoder.DecodeUntilMarker(pkt)
 		if err != nil {
-			return nil, err
+			if err == rtph264.ErrNonStartingPacketAndNoPrevious ||
+				err == rtph264.ErrMorePacketsNeeded { // hide standard errors
+				err = nil
+			}
+
+			return nil, err // original packets are oversized, do not return them
 		}
 
+		packets, err := p.h264Encoder.Encode(nalus, pts)
+		if err != nil {
+			return nil, err // original packets are oversized, do not return them
+		}
+
+		ptsEqualsDTS := h264.IDRPresent(nalus)
 		output := make([]*Output, len(packets))
 
 		for i, pkt := range packets {
@@ -115,9 +105,23 @@ func (p *Cleaner) processH264(pkt *rtp.Packet) ([]*Output, error) {
 		return output, nil
 	}
 
+	// decode
+	nalus, pts, err := p.h264Decoder.DecodeUntilMarker(pkt)
+	if err != nil {
+		if err == rtph264.ErrNonStartingPacketAndNoPrevious ||
+			err == rtph264.ErrMorePacketsNeeded { // hide standard errors
+			err = nil
+		}
+
+		return []*Output{{
+			Packet:       pkt,
+			PTSEqualsDTS: false,
+		}}, err
+	}
+
 	return []*Output{{
 		Packet:       pkt,
-		PTSEqualsDTS: ptsEqualsDTS,
+		PTSEqualsDTS: h264.IDRPresent(nalus),
 		H264NALUs:    nalus,
 		H264PTS:      pts,
 	}}, nil
diff --git a/pkg/rtpcleaner/cleaner_test.go b/pkg/rtpcleaner/cleaner_test.go
index 91eae3cb..5c580aa3 100644
--- a/pkg/rtpcleaner/cleaner_test.go
+++ b/pkg/rtpcleaner/cleaner_test.go
@@ -154,7 +154,7 @@ func TestH264ProcessEvenIfInvalid(t *testing.T) {
 		},
 		Payload: []byte{25},
 	})
-	require.NoError(t, err)
+	require.Error(t, err)
 	require.Equal(t, []*Output{{
 		Packet: &rtp.Packet{
 			Header: rtp.Header{
@@ -167,3 +167,48 @@ func TestH264ProcessEvenIfInvalid(t *testing.T) {
 		},
 	}}, out)
 }
+
+func TestH264RandomAccess(t *testing.T) {
+	for _, ca := range []string{
+		"standard",
+		"oversized",
+	} {
+		t.Run(ca, func(t *testing.T) {
+			cleaner := New(true, true)
+
+			var payload []byte
+			if ca == "standard" {
+				payload = append([]byte{0x1C, 1 << 6},
+					bytes.Repeat([]byte{0x01, 0x02, 0x03, 0x04, 0x05}, 10/5)...)
+			} else {
+				payload = append([]byte{0x1C, 1 << 6},
+					bytes.Repeat([]byte{0x01, 0x02, 0x03, 0x04, 0x05}, 2048/5)...)
+			}
+
+			out, err := cleaner.Process(&rtp.Packet{
+				Header: rtp.Header{
+					Version:        2,
+					PayloadType:    96,
+					SequenceNumber: 34572,
+				},
+				Payload: payload,
+			})
+			require.NoError(t, err)
+
+			if ca == "standard" {
+				require.Equal(t, []*Output{{
+					Packet: &rtp.Packet{
+						Header: rtp.Header{
+							Version:        2,
+							PayloadType:    96,
+							SequenceNumber: 34572,
+						},
+						Payload: payload,
+					},
+				}}, out)
+			} else {
+				require.Equal(t, []*Output(nil), out)
+			}
+		})
+	}
+}
diff --git a/server_publish_test.go b/server_publish_test.go
index 2abc8557..f079b763 100644
--- a/server_publish_test.go
+++ b/server_publish_test.go
@@ -1483,6 +1483,7 @@ func TestServerPublishDecodeErrors(t *testing.T) {
 		"packets lost",
 		"rtp too big",
 		"rtcp too big",
+		"cleaner error",
 	} {
 		t.Run(ca, func(t *testing.T) {
 			errorRecv := make(chan struct{})
@@ -1516,6 +1517,8 @@ func TestServerPublishDecodeErrors(t *testing.T) {
 							require.EqualError(t, ctx.Error, "RTP packet is too big to be read with UDP")
 						case "rtcp too big":
 							require.EqualError(t, ctx.Error, "RTCP packet is too big to be read with UDP")
+						case "cleaner error":
+							require.EqualError(t, ctx.Error, "packet type not supported (STAP-B)")
 						}
 						close(errorRecv)
 					},
@@ -1534,11 +1537,23 @@ func TestServerPublishDecodeErrors(t *testing.T) {
 			defer nconn.Close()
 			conn := conn.NewConn(nconn)
 
-			tracks := Tracks{&TrackH264{
-				PayloadType: 96,
-				SPS:         []byte{0x01, 0x02, 0x03, 0x04},
-				PPS:         []byte{0x01, 0x02, 0x03, 0x04},
-			}}
+			var track Track
+			if ca != "cleaner error" {
+				track = &TrackGeneric{
+					Media: "application",
+					Payloads: []TrackGenericPayload{{
+						Type:   97,
+						RTPMap: "private/90000",
+					}},
+				}
+			} else {
+				track = &TrackH264{
+					PayloadType: 96,
+					SPS:         []byte{0x01, 0x02, 0x03, 0x04},
+					PPS:         []byte{0x01, 0x02, 0x03, 0x04},
+				}
+			}
+			tracks := Tracks{track}
 			tracks.setControls()
 
 			res, err := writeReqReadRes(conn, base.Request{
@@ -1649,6 +1664,18 @@ func TestServerPublishDecodeErrors(t *testing.T) {
 					IP:   net.ParseIP("127.0.0.1"),
 					Port: resTH.ServerPorts[1],
 				})
+
+			case "cleaner error":
+				byts, _ := rtp.Packet{
+					Header: rtp.Header{
+						SequenceNumber: 100,
+					},
+					Payload: []byte{0x99},
+				}.Marshal()
+				l1.WriteTo(byts, &net.UDPAddr{
+					IP:   net.ParseIP("127.0.0.1"),
+					Port: resTH.ServerPorts[0],
+				})
 			}
 
 			<-errorRecv
diff --git a/serverconn.go b/serverconn.go
index 6e052adc..528ee1d4 100644
--- a/serverconn.go
+++ b/serverconn.go
@@ -257,7 +257,8 @@ func (sc *ServerConn) readFuncTCP(readRequest chan readReq) error {
 
 				out, err := sc.session.setuppedTracks[trackID].cleaner.Process(pkt)
 				if err != nil {
-					return err
+					onDecodeError(sc.session, err)
+					// do not return
 				}
 
 				if h, ok := sc.s.Handler.(ServerHandlerOnPacketRTP); ok {
diff --git a/serversession.go b/serversession.go
index 62c32d0c..d625bd12 100644
--- a/serversession.go
+++ b/serversession.go
@@ -176,7 +176,7 @@ type ServerSession struct {
 	lastRequestTime     time.Time
 	tcpConn             *ServerConn
 	announcedTracks     Tracks // publish
-	udpLastFrameTime    *int64 // publish
+	udpLastPacketTime   *int64 // publish
 	udpCheckStreamTimer *time.Timer
 	writerRunning       bool
 	writeBuffer         *ringbuffer.RingBuffer
@@ -412,7 +412,7 @@ func (ss *ServerSession) runInner() error {
 
 			// in case of RECORD, timeout happens when no RTP or RTCP packets are being received
 			if ss.state == ServerSessionStateRecord {
-				lft := atomic.LoadInt64(ss.udpLastFrameTime)
+				lft := atomic.LoadInt64(ss.udpLastPacketTime)
 				if now.Sub(time.Unix(lft, 0)) >= ss.s.ReadTimeout {
 					return liberrors.ErrServerNoUDPPacketsInAWhile{}
 				}
@@ -565,7 +565,7 @@ func (ss *ServerSession) handleRequest(sc *ServerConn, req *base.Request) (*base
 		ss.announcedTracks = tracks
 
 		v := time.Now().Unix()
-		ss.udpLastFrameTime = &v
+		ss.udpLastPacketTime = &v
 		return res, err
 
 	case base.Setup:
diff --git a/serverudpl.go b/serverudpl.go
index b2cdff94..42eff354 100644
--- a/serverudpl.go
+++ b/serverudpl.go
@@ -13,7 +13,7 @@ import (
 )
 
 type clientData struct {
-	ss           *ServerSession
+	session      *ServerSession
 	track        *ServerSessionSetuppedTrack
 	isPublishing bool
 }
@@ -34,6 +34,15 @@ func (p *clientAddr) fill(ip net.IP, port int) {
 	}
 }
 
+func onDecodeError(ss *ServerSession, err error) {
+	if h, ok := ss.s.Handler.(ServerHandlerOnDecodeError); ok {
+		h.OnDecodeError(&ServerHandlerOnDecodeErrorCtx{
+			Session: ss,
+			Error:   err,
+		})
+	}
+}
+
 type serverUDPListener struct {
 	s *Server
 
@@ -193,95 +202,67 @@ func (u *serverUDPListener) runReader() {
 
 func (u *serverUDPListener) processRTP(clientData *clientData, payload []byte) {
 	if len(payload) == (maxPacketSize + 1) {
-		if h, ok := clientData.ss.s.Handler.(ServerHandlerOnDecodeError); ok {
-			h.OnDecodeError(&ServerHandlerOnDecodeErrorCtx{
-				Session: clientData.ss,
-				Error:   fmt.Errorf("RTP packet is too big to be read with UDP"),
-			})
-		}
+		onDecodeError(clientData.session, fmt.Errorf("RTP packet is too big to be read with UDP"))
 		return
 	}
 
 	pkt := u.s.udpRTPPacketBuffer.next()
 	err := pkt.Unmarshal(payload)
 	if err != nil {
-		if h, ok := clientData.ss.s.Handler.(ServerHandlerOnDecodeError); ok {
-			h.OnDecodeError(&ServerHandlerOnDecodeErrorCtx{
-				Session: clientData.ss,
-				Error:   err,
-			})
-		}
+		onDecodeError(clientData.session, err)
 		return
 	}
 
-	packets, missing := clientData.track.reorderer.Process(pkt)
+	now := time.Now()
+	atomic.StoreInt64(clientData.session.udpLastPacketTime, now.Unix())
 
+	packets, missing := clientData.track.reorderer.Process(pkt)
 	if missing != 0 {
-		if h, ok := clientData.ss.s.Handler.(ServerHandlerOnDecodeError); ok {
-			h.OnDecodeError(&ServerHandlerOnDecodeErrorCtx{
-				Session: clientData.ss,
-				Error:   fmt.Errorf("%d RTP packet(s) lost", missing),
-			})
-		}
+		onDecodeError(clientData.session, fmt.Errorf("%d RTP packet(s) lost", missing))
+		// do not return
 	}
 
 	for _, pkt := range packets {
-		now := time.Now()
-		atomic.StoreInt64(clientData.ss.udpLastFrameTime, now.Unix())
-
 		out, err := clientData.track.cleaner.Process(pkt)
 		if err != nil {
-			if h, ok := clientData.ss.s.Handler.(ServerHandlerOnDecodeError); ok {
-				h.OnDecodeError(&ServerHandlerOnDecodeErrorCtx{
-					Session: clientData.ss,
-					Error:   err,
-				})
-			}
-			continue
+			onDecodeError(clientData.session, err)
+			// do not return
 		}
 
-		out0 := out[0]
+		if out != nil {
+			out0 := out[0]
 
-		clientData.track.udpRTCPReceiver.ProcessPacketRTP(now, pkt, out0.PTSEqualsDTS)
+			clientData.track.udpRTCPReceiver.ProcessPacketRTP(now, pkt, out0.PTSEqualsDTS)
 
-		if h, ok := clientData.ss.s.Handler.(ServerHandlerOnPacketRTP); ok {
-			h.OnPacketRTP(&ServerHandlerOnPacketRTPCtx{
-				Session:      clientData.ss,
-				TrackID:      clientData.track.id,
-				Packet:       out0.Packet,
-				PTSEqualsDTS: out0.PTSEqualsDTS,
-				H264NALUs:    out0.H264NALUs,
-				H264PTS:      out0.H264PTS,
-			})
+			if h, ok := clientData.session.s.Handler.(ServerHandlerOnPacketRTP); ok {
+				h.OnPacketRTP(&ServerHandlerOnPacketRTPCtx{
+					Session:      clientData.session,
+					TrackID:      clientData.track.id,
+					Packet:       out0.Packet,
+					PTSEqualsDTS: out0.PTSEqualsDTS,
+					H264NALUs:    out0.H264NALUs,
+					H264PTS:      out0.H264PTS,
+				})
+			}
 		}
 	}
 }
 
 func (u *serverUDPListener) processRTCP(clientData *clientData, payload []byte) {
 	if len(payload) == (maxPacketSize + 1) {
-		if h, ok := clientData.ss.s.Handler.(ServerHandlerOnDecodeError); ok {
-			h.OnDecodeError(&ServerHandlerOnDecodeErrorCtx{
-				Session: clientData.ss,
-				Error:   fmt.Errorf("RTCP packet is too big to be read with UDP"),
-			})
-		}
+		onDecodeError(clientData.session, fmt.Errorf("RTCP packet is too big to be read with UDP"))
 		return
 	}
 
 	packets, err := rtcp.Unmarshal(payload)
 	if err != nil {
-		if h, ok := clientData.ss.s.Handler.(ServerHandlerOnDecodeError); ok {
-			h.OnDecodeError(&ServerHandlerOnDecodeErrorCtx{
-				Session: clientData.ss,
-				Error:   err,
-			})
-		}
+		onDecodeError(clientData.session, err)
 		return
 	}
 
 	if clientData.isPublishing {
 		now := time.Now()
-		atomic.StoreInt64(clientData.ss.udpLastFrameTime, now.Unix())
+		atomic.StoreInt64(clientData.session.udpLastPacketTime, now.Unix())
 
 		for _, pkt := range packets {
 			clientData.track.udpRTCPReceiver.ProcessPacketRTCP(now, pkt)
@@ -289,7 +270,7 @@ func (u *serverUDPListener) processRTCP(clientData *clientData, payload []byte)
 	}
 
 	for _, pkt := range packets {
-		clientData.ss.onPacketRTCP(clientData.track.id, pkt)
+		clientData.session.onPacketRTCP(clientData.track.id, pkt)
 	}
 }
 
@@ -312,7 +293,7 @@ func (u *serverUDPListener) addClient(ip net.IP, port int, ss *ServerSession,
 	addr.fill(ip, port)
 
 	u.clients[addr] = &clientData{
-		ss:           ss,
+		session:      ss,
 		track:        track,
 		isPublishing: isPublishing,
 	}
@@ -323,7 +304,7 @@ func (u *serverUDPListener) removeClient(ss *ServerSession) {
 	defer u.clientsMutex.Unlock()
 
 	for addr, data := range u.clients {
-		if data.ss == ss {
+		if data.session == ss {
 			delete(u.clients, addr)
 		}
 	}