diff --git a/test/test_collector.py b/test/test_collector.py
index bb0c0330bf7..921299d4c40 100644
--- a/test/test_collector.py
+++ b/test/test_collector.py
@@ -162,7 +162,7 @@ def forward(self, observation):
         output = self.linear(observation)
         if self.multiple_outputs:
             return output, output.sum(), output.min(), output.max()
-        return self.linear(observation)
+        return output
 
 
 class UnwrappablePolicy(nn.Module):
@@ -1512,6 +1512,7 @@ def create_env():
             cudagraph_policy=cudagraph,
             weight_sync_schemes={"policy": MultiProcessWeightSyncScheme()},
         )
+        assert "policy" in collector._weight_senders, collector._weight_senders.keys()
         try:
             # collect state_dict
             state_dict = collector.state_dict()
diff --git a/test/test_env.py b/test/test_env.py
index 7cd3c61ae0c..7aa00e98d2d 100644
--- a/test/test_env.py
+++ b/test/test_env.py
@@ -3836,6 +3836,8 @@ def test_parallel(self, bwad, use_buffers, maybe_fork_ParallelEnv):
         finally:
             env.close(raise_if_closed=False)
             del env
+            time.sleep(0.1)
+            gc.collect()
 
     class AddString(Transform):
         def __init__(self):
diff --git a/torchrl/collectors/collectors.py b/torchrl/collectors/collectors.py
index 355e6e98db0..c14b1490cd6 100644
--- a/torchrl/collectors/collectors.py
+++ b/torchrl/collectors/collectors.py
@@ -307,6 +307,19 @@ def _extract_weights_if_needed(self, weights: Any, model_id: str) -> Any:
             else None
         )
 
+        # If no weights were provided and a sync scheme exists, extract the latest
+        # weights from the current model using the scheme strategy (state_dict or tensordict).
+        # This ensures we don't return stale cached weights.
+        if weights is None and scheme is not None:
+            from torchrl.weight_update.weight_sync_schemes import (
+                _resolve_model,
+                WeightStrategy,
+            )
+
+            strategy = WeightStrategy(extract_as=scheme.strategy)
+            model = _resolve_model(self, model_id)
+            return strategy.extract_weights(model)
+
         if weights is None:
             if model_id == "policy" and hasattr(self, "policy_weights"):
                 return self.policy_weights
@@ -462,6 +475,21 @@ def update_policy_weights_(
                 # Apply to local policy
                 if hasattr(self, "policy") and isinstance(self.policy, nn.Module):
                     strategy.apply_weights(self.policy, weights)
+            elif (
+                hasattr(self, "_original_policy")
+                and isinstance(self._original_policy, nn.Module)
+                and hasattr(self, "policy")
+                and isinstance(self.policy, nn.Module)
+            ):
+                # If no weights were provided, mirror weights from the original (trainer) policy
+                from torchrl.weight_update.weight_sync_schemes import WeightStrategy
+
+                strategy = WeightStrategy(extract_as="tensordict")
+                weights = strategy.extract_weights(self._original_policy)
+                # Cast weights to the policy device before applying
+                if self.policy_device is not None:
+                    weights = weights.to(self.policy_device)
+                strategy.apply_weights(self.policy, weights)
             # Otherwise, no action needed - policy is local and changes are immediately visible
 
     def __iter__(self) -> Iterator[TensorDictBase]:
diff --git a/torchrl/envs/batched_envs.py b/torchrl/envs/batched_envs.py
index 2baa465b74b..c6bdaf6383e 100644
--- a/torchrl/envs/batched_envs.py
+++ b/torchrl/envs/batched_envs.py
@@ -2489,14 +2489,15 @@ def look_for_cuda(tensor, has_cuda=has_cuda):
             # Make sure the root is updated
             root_shared_tensordict.update_(env._step_mdp(input))
 
+            # Set event before sending non-tensor data so parent knows worker is done
+            # The recv() call itself will provide synchronization for the pipe
+            mp_event.set()
+
             if _non_tensor_keys:
                 child_pipe.send(
                     ("non_tensor", next_td.select(*_non_tensor_keys, strict=False))
                 )
 
-            # Set event only after non-tensor data is sent to avoid race condition
-            mp_event.set()
-
             del next_td
 
         elif cmd == "step_and_maybe_reset":
@@ -2530,14 +2531,15 @@ def look_for_cuda(tensor, has_cuda=has_cuda):
                 event.record()
                 event.synchronize()
 
+            # Set event before sending non-tensor data so parent knows worker is done
+            # The recv() call itself will provide synchronization for the pipe
+            mp_event.set()
+
             if _non_tensor_keys:
                 ntd = root_next_td.select(*_non_tensor_keys)
                 ntd.set("next", td_next.select(*_non_tensor_keys))
                 child_pipe.send(("non_tensor", ntd))
 
-            # Set event only after non-tensor data is sent to avoid race condition
-            mp_event.set()
-
             del td, root_next_td
 
         elif cmd == "close":