diff --git a/isaacgymenvs/tasks/amp/humanoid_amp_base.py b/isaacgymenvs/tasks/amp/humanoid_amp_base.py
index 9b1bc5f22..e387a6e92 100644
--- a/isaacgymenvs/tasks/amp/humanoid_amp_base.py
+++ b/isaacgymenvs/tasks/amp/humanoid_amp_base.py
@@ -145,6 +145,7 @@ def create_sim(self):
 
     def reset_idx(self, env_ids):
         self._reset_actors(env_ids)
+        self._reset_env_tensors(env_ids)
         self._refresh_sim_tensors()
         self._compute_observations(env_ids)
         return
@@ -342,17 +343,18 @@ def _compute_humanoid_obs(self, env_ids=None):
         return obs
 
     def _reset_actors(self, env_ids):
+        self._root_states[env_ids] = self._initial_root_states[env_ids]
         self._dof_pos[env_ids] = self._initial_dof_pos[env_ids]
         self._dof_vel[env_ids] = self._initial_dof_vel[env_ids]
 
-        env_ids_int32 = env_ids.to(dtype=torch.int32)
-        self.gym.set_actor_root_state_tensor_indexed(self.sim,
-                                                     gymtorch.unwrap_tensor(self._initial_root_states),
-                                                     gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
+        return
 
-        self.gym.set_dof_state_tensor_indexed(self.sim,
-                                              gymtorch.unwrap_tensor(self._dof_state),
-                                              gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
+    def _reset_env_tensors(self, env_ids):
+        env_ids_int32 = env_ids.to(dtype=torch.int32)
+        self.gym.set_actor_root_state_tensor_indexed(self.sim, gymtorch.unwrap_tensor(self._root_states),
+                                                    gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
+        self.gym.set_dof_state_tensor_indexed(self.sim, gymtorch.unwrap_tensor(self._dof_state),
+                                                    gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
 
         self.progress_buf[env_ids] = 0
         self.reset_buf[env_ids] = 0
diff --git a/isaacgymenvs/tasks/humanoid_amp.py b/isaacgymenvs/tasks/humanoid_amp.py
index a2e5c9b11..aa91b919f 100644
--- a/isaacgymenvs/tasks/humanoid_amp.py
+++ b/isaacgymenvs/tasks/humanoid_amp.py
@@ -159,23 +159,13 @@ def _reset_actors(self, env_ids):
         else:
             assert(False), "Unsupported state initialization strategy: {:s}".format(str(self._state_init))
 
-        self.progress_buf[env_ids] = 0
-        self.reset_buf[env_ids] = 0
-        self._terminate_buf[env_ids] = 0
-
         return
     
     def _reset_default(self, env_ids):
+        self._root_states[env_ids] = self._initial_root_states[env_ids]
         self._dof_pos[env_ids] = self._initial_dof_pos[env_ids]
         self._dof_vel[env_ids] = self._initial_dof_vel[env_ids]
 
-        env_ids_int32 = env_ids.to(dtype=torch.int32)
-        self.gym.set_actor_root_state_tensor_indexed(self.sim, gymtorch.unwrap_tensor(self._initial_root_states),
-                                                     gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
-
-        self.gym.set_dof_state_tensor_indexed(self.sim, gymtorch.unwrap_tensor(self._dof_state),
-                                              gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
-
         self._reset_default_env_ids = env_ids
         return
 
@@ -264,11 +254,6 @@ def _set_env_state(self, env_ids, root_pos, root_rot, dof_pos, root_vel, root_an
         self._dof_pos[env_ids] = dof_pos
         self._dof_vel[env_ids] = dof_vel
 
-        env_ids_int32 = env_ids.to(dtype=torch.int32)
-        self.gym.set_actor_root_state_tensor_indexed(self.sim, gymtorch.unwrap_tensor(self._root_states), 
-                                                    gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
-        self.gym.set_dof_state_tensor_indexed(self.sim, gymtorch.unwrap_tensor(self._dof_state),
-                                                    gymtorch.unwrap_tensor(env_ids_int32), len(env_ids_int32))
         return
 
     def _update_hist_amp_obs(self, env_ids=None):