You live there. You're allowed to remove items from your own porch. I think the scenarios would be:

1) Cops show up and and say, "Hey, that was a bait package. Can we get it back?"

2) Same as 1), plus USPS/FedEx/UPS would be unable to locate the tracking number.

3) Cops pull you over, thinking you're a porch pirate. You tell them where you live, and they regret the error, and ask for their bait package back.

(But these scenarios probably wouldn't happen in the first place. I assume that the chosen bait locations were done with the knowledge of the residents.)