diff --git a/algorithms/ddpg/agent.py b/algorithms/ddpg/agent.py
index e5a696d8..8d6e17fa 100644
--- a/algorithms/ddpg/agent.py
+++ b/algorithms/ddpg/agent.py
@@ -13,6 +13,7 @@
 import gym
 import numpy as np
 import torch
+import torch.nn as nn
 import torch.nn.functional as F
 import wandb
 
@@ -101,13 +102,13 @@ def select_action(self, state: np.ndarray) -> np.ndarray:
         ):
             return self.env.action_space.sample()
 
-        selected_action = self.actor(state)
+        selected_action = self.actor(state).detach().cpu().numpy()
 
         if not self.args.test:
-            selected_action += torch.FloatTensor(self.noise.sample()).to(device)
-            selected_action = torch.clamp(selected_action, -1.0, 1.0)
+            noise = self.noise.sample()
+            selected_action = np.clip(selected_action + noise, -1.0, 1.0)
 
-        return selected_action.detach().cpu().numpy()
+        return selected_action
 
     # pylint: disable=no-self-use
     def _preprocess_state(self, state: np.ndarray) -> torch.Tensor:
@@ -150,17 +151,21 @@ def update_model(self) -> Tuple[torch.Tensor, torch.Tensor]:
         curr_returns = curr_returns.to(device)
 
         # train critic
+        gradient_clip_cr = self.hyper_params["GRADIENT_CLIP_CR"]
         values = self.critic(torch.cat((states, actions), dim=-1))
         critic_loss = F.mse_loss(values, curr_returns)
         self.critic_optimizer.zero_grad()
         critic_loss.backward()
+        nn.utils.clip_grad_norm_(self.critic.parameters(), gradient_clip_cr)
         self.critic_optimizer.step()
 
         # train actor
+        gradient_clip_ac = self.hyper_params["GRADIENT_CLIP_AC"]
         actions = self.actor(states)
         actor_loss = -self.critic(torch.cat((states, actions), dim=-1)).mean()
         self.actor_optimizer.zero_grad()
         actor_loss.backward()
+        nn.utils.clip_grad_norm_(self.actor.parameters(), gradient_clip_ac)
         self.actor_optimizer.step()
 
         # update target networks
diff --git a/algorithms/fd/ddpg_agent.py b/algorithms/fd/ddpg_agent.py
index a64496c3..f1f48203 100644
--- a/algorithms/fd/ddpg_agent.py
+++ b/algorithms/fd/ddpg_agent.py
@@ -13,6 +13,7 @@
 
 import numpy as np
 import torch
+import torch.nn as nn
 
 from algorithms.common.buffer.priortized_replay_buffer import PrioritizedReplayBufferfD
 from algorithms.common.buffer.replay_buffer import NStepTransitionBuffer
@@ -104,6 +105,7 @@ def update_model(self) -> Tuple[torch.Tensor, torch.Tensor]:
         gamma = self.hyper_params["GAMMA"]
 
         # train critic
+        gradient_clip_cr = self.hyper_params["GRADIENT_CLIP_CR"]
         critic_loss_element_wise = self._get_critic_loss(experiences_1, gamma)
         critic_loss = torch.mean(critic_loss_element_wise * weights)
 
@@ -118,14 +120,17 @@ def update_model(self) -> Tuple[torch.Tensor, torch.Tensor]:
 
         self.critic_optimizer.zero_grad()
         critic_loss.backward()
+        nn.utils.clip_grad_norm_(self.critic.parameters(), gradient_clip_cr)
         self.critic_optimizer.step()
 
         # train actor
+        gradient_clip_ac = self.hyper_params["GRADIENT_CLIP_AC"]
         actions = self.actor(states)
         actor_loss_element_wise = -self.critic(torch.cat((states, actions), dim=-1))
         actor_loss = torch.mean(actor_loss_element_wise * weights)
         self.actor_optimizer.zero_grad()
         actor_loss.backward()
+        nn.utils.clip_grad_norm_(self.actor.parameters(), gradient_clip_ac)
         self.actor_optimizer.step()
 
         # update target networks
diff --git a/algorithms/per/ddpg_agent.py b/algorithms/per/ddpg_agent.py
index 3c916d85..7dc6afb9 100644
--- a/algorithms/per/ddpg_agent.py
+++ b/algorithms/per/ddpg_agent.py
@@ -10,6 +10,7 @@
 from typing import Tuple
 
 import torch
+import torch.nn as nn
 
 from algorithms.common.buffer.priortized_replay_buffer import PrioritizedReplayBuffer
 import algorithms.common.helper_functions as common_utils
@@ -53,19 +54,23 @@ def update_model(self) -> Tuple[torch.Tensor, ...]:
         curr_returns = curr_returns.to(device).detach()
 
         # train critic
+        gradient_clip_cr = self.hyper_params["GRADIENT_CLIP_CR"]
         values = self.critic(torch.cat((states, actions), dim=-1))
         critic_loss_element_wise = (values - curr_returns).pow(2)
         critic_loss = torch.mean(critic_loss_element_wise * weights)
         self.critic_optimizer.zero_grad()
         critic_loss.backward()
+        nn.utils.clip_grad_norm_(self.critic.parameters(), gradient_clip_cr)
         self.critic_optimizer.step()
 
         # train actor
+        gradient_clip_ac = self.hyper_params["GRADIENT_CLIP_AC"]
         actions = self.actor(states)
         actor_loss_element_wise = -self.critic(torch.cat((states, actions), dim=-1))
         actor_loss = torch.mean(actor_loss_element_wise * weights)
         self.actor_optimizer.zero_grad()
         actor_loss.backward()
+        nn.utils.clip_grad_norm_(self.actor.parameters(), gradient_clip_ac)
         self.actor_optimizer.step()
 
         # update target networks
diff --git a/examples/lunarlander_continuous_v2/ddpg.py b/examples/lunarlander_continuous_v2/ddpg.py
index 3475bea4..42d36345 100644
--- a/examples/lunarlander_continuous_v2/ddpg.py
+++ b/examples/lunarlander_continuous_v2/ddpg.py
@@ -21,15 +21,17 @@
 hyper_params = {
     "GAMMA": 0.99,
     "TAU": 5e-3,
-    "BUFFER_SIZE": int(1e5),
+    "BUFFER_SIZE": int(1e4),
     "BATCH_SIZE": 64,
-    "LR_ACTOR": 4e-5,
+    "LR_ACTOR": 3e-4,
     "LR_CRITIC": 3e-4,
     "OU_NOISE_THETA": 0.0,
     "OU_NOISE_SIGMA": 0.0,
     "WEIGHT_DECAY": 1e-6,
     "INITIAL_RANDOM_ACTION": int(1e4),
     "MULTIPLE_LEARN": 1,  # multiple learning updates
+    "GRADIENT_CLIP_AC": 0.5,
+    "GRADIENT_CLIP_CR": 1.0,
 }
 
 
diff --git a/examples/lunarlander_continuous_v2/ddpgfd.py b/examples/lunarlander_continuous_v2/ddpgfd.py
index 3962a5f4..3f3c3848 100644
--- a/examples/lunarlander_continuous_v2/ddpgfd.py
+++ b/examples/lunarlander_continuous_v2/ddpgfd.py
@@ -23,21 +23,23 @@
     "GAMMA": 0.99,
     "TAU": 5e-3,
     "BUFFER_SIZE": int(1e5),
-    "BATCH_SIZE": 64,
-    "LR_ACTOR": 4e-5,
+    "BATCH_SIZE": 128,
+    "LR_ACTOR": 3e-4,
     "LR_CRITIC": 3e-4,
     "OU_NOISE_THETA": 0.0,
     "OU_NOISE_SIGMA": 0.0,
-    "PRETRAIN_STEP": int(1e3),
+    "PRETRAIN_STEP": int(5e3),
     "MULTIPLE_LEARN": 1,  # multiple learning updates
     "LAMBDA1": 1.0,  # N-step return weight
-    "LAMBDA2": 1e-5,  # l2 regularization weight
+    "LAMBDA2": 1e-4,  # l2 regularization weight
     "LAMBDA3": 1.0,  # actor loss contribution of prior weight
     "PER_ALPHA": 0.3,
     "PER_BETA": 1.0,
     "PER_EPS": 1e-6,
     "PER_EPS_DEMO": 1.0,
     "INITIAL_RANDOM_ACTION": int(1e4),
+    "GRADIENT_CLIP_AC": 0.5,
+    "GRADIENT_CLIP_CR": 1.0,
 }
 
 
diff --git a/examples/lunarlander_continuous_v2/per-ddpg.py b/examples/lunarlander_continuous_v2/per-ddpg.py
index c1cefe25..0e07176f 100644
--- a/examples/lunarlander_continuous_v2/per-ddpg.py
+++ b/examples/lunarlander_continuous_v2/per-ddpg.py
@@ -21,8 +21,8 @@
 hyper_params = {
     "GAMMA": 0.99,
     "TAU": 5e-3,
-    "BUFFER_SIZE": int(1e5),
-    "BATCH_SIZE": 64,
+    "BUFFER_SIZE": int(1e6),
+    "BATCH_SIZE": 128,
     "LR_ACTOR": 3e-4,
     "LR_CRITIC": 3e-4,
     "OU_NOISE_THETA": 0.0,
@@ -30,9 +30,11 @@
     "PER_ALPHA": 0.6,
     "PER_BETA": 0.4,
     "PER_EPS": 1e-6,
-    "WEIGHT_DECAY": 1e-6,
+    "WEIGHT_DECAY": 5e-6,
     "INITIAL_RANDOM_ACTION": int(1e4),
     "MULTIPLE_LEARN": 1,  # multiple learning updates
+    "GRADIENT_CLIP_AC": 0.5,
+    "GRADIENT_CLIP_CR": 1.0,
 }