Brant Daugherty and Peta Murgatroyd struggled in rehearsals for Dancing With the Stars 2013 Season 17, Week 4, but still pulled off an impressive Salsa.

As usual, their performance was sexy and fun, showing off their chemistry and Peta’s sharp choreography as they moved quickly across the ballroom floor, maintaining closer contact and thrusting more than we’ve seen them do so far. Brant was shirtless, they were lifting and jumping and pulling off crazy moves, and it was definitely a jaw-dropper.

The judges’ comments were mixed, though. “The lifts were fantastic, that’s for sure. But when you take off your shirt, and I don’t want to dissuade you from taking off your shirt … it’s very revealing. I think you needed to work a little more on the Salsa moves in your arms,” Carrie Ann said.

Guest judge Julianne Hough agreed, saying, “Yeah, that was awesome, and when you took off the shirt. I don’t know if I told you this, but I’m single now ... but I have to agree with Carrie Ann.” She called it a “ little bit loosey goosey” explaining, “It was a great job, but you have to work on your upper body.”

Bruno agreed, saying, “I thought you were a good boy. I had no idea you were such a brazen party animal! The Salsa is having a good time, but it has to have a certain amount of control and smoothless.” Overall, he said Brant lost a bit of the technique along the way.

They didn’t fare too badly, though, scoring 7s across the board and 21 points overall.

Check out the video below, then hit the comments with your thoughts on their performance!