diff --git a/scripts/reinforcement_learning/skrl/play.py b/scripts/reinforcement_learning/skrl/play.py
index 089ec7561979..14b9a1fdb1ae 100644
--- a/scripts/reinforcement_learning/skrl/play.py
+++ b/scripts/reinforcement_learning/skrl/play.py
@@ -46,15 +46,17 @@
     "--ml_framework",
     type=str,
     default="torch",
-    choices=["torch", "jax", "jax-numpy"],
+    choices=["torch", "jax"],
     help="The ML framework used for training the skrl agent.",
 )
 parser.add_argument(
     "--algorithm",
     type=str,
     default="PPO",
-    choices=["AMP", "PPO", "IPPO", "MAPPO"],
-    help="The RL algorithm used for training the skrl agent.",
+    help=(
+        "Name of the RL algorithm to use (e.g. AMP, DDPG, IPPO, MAPPO, PPO, SAC, TD3, etc.) "
+        "when several algorithms exist for the same task. For a more specific selection, use the argument --agent."
+    ),
 )
 parser.add_argument("--real-time", action="store_true", default=False, help="Run in real-time, if possible.")
 
@@ -84,7 +86,7 @@
 from packaging import version
 
 # check for minimum supported skrl version
-SKRL_VERSION = "1.4.3"
+SKRL_VERSION = "2.0.0"
 if version.parse(skrl.__version__) < version.parse(SKRL_VERSION):
     skrl.logger.error(
         f"Unsupported skrl version: {skrl.__version__}. "
@@ -207,10 +209,11 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, expe
     print(f"[INFO] Loading model checkpoint from: {resume_path}")
     runner.agent.load(resume_path)
     # set agent to evaluation mode
-    runner.agent.set_running_mode("eval")
+    runner.agent.enable_training_mode(False, apply_to_models=True)
 
     # reset environment
     obs, _ = env.reset()
+    states = env.state()
     timestep = 0
     # simulate environment
     while simulation_app.is_running():
@@ -219,7 +222,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, expe
         # run everything in inference mode
         with torch.inference_mode():
             # agent stepping
-            outputs = runner.agent.act(obs, timestep=0, timesteps=0)
+            outputs = runner.agent.act(obs, states, timestep=0, timesteps=0)
             # - multi-agent (deterministic) actions
             if hasattr(env, "possible_agents"):
                 actions = {a: outputs[-1][a].get("mean_actions", outputs[0][a]) for a in env.possible_agents}
@@ -228,6 +231,7 @@ def main(env_cfg: ManagerBasedRLEnvCfg | DirectRLEnvCfg | DirectMARLEnvCfg, expe
                 actions = outputs[-1].get("mean_actions", outputs[0])
             # env stepping
             obs, _, _, _, _ = env.step(actions)
+            states = env.state()
         if args_cli.video:
             timestep += 1
             # exit the play loop after recording one video
diff --git a/scripts/reinforcement_learning/skrl/train.py b/scripts/reinforcement_learning/skrl/train.py
index cf2edce47435..badb4144031b 100644
--- a/scripts/reinforcement_learning/skrl/train.py
+++ b/scripts/reinforcement_learning/skrl/train.py
@@ -44,15 +44,17 @@
     "--ml_framework",
     type=str,
     default="torch",
-    choices=["torch", "jax", "jax-numpy"],
+    choices=["torch", "jax"],
     help="The ML framework used for training the skrl agent.",
 )
 parser.add_argument(
     "--algorithm",
     type=str,
     default="PPO",
-    choices=["AMP", "PPO", "IPPO", "MAPPO"],
-    help="The RL algorithm used for training the skrl agent.",
+    help=(
+        "Name of the RL algorithm to use (e.g. AMP, DDPG, IPPO, MAPPO, PPO, SAC, TD3, etc.) "
+        "when several algorithms exist for the same task. For a more specific selection, use the argument --agent."
+    ),
 )
 parser.add_argument(
     "--ray-proc-id", "-rid", type=int, default=None, help="Automatically configured by Ray integration, otherwise None."
@@ -85,7 +87,7 @@
 from packaging import version
 
 # check for minimum supported skrl version
-SKRL_VERSION = "1.4.3"
+SKRL_VERSION = "2.0.0"
 if version.parse(skrl.__version__) < version.parse(SKRL_VERSION):
     skrl.logger.error(
         f"Unsupported skrl version: {skrl.__version__}. "
diff --git a/source/isaaclab_rl/config/extension.toml b/source/isaaclab_rl/config/extension.toml
index 35ce26490606..6b5ae668f03e 100644
--- a/source/isaaclab_rl/config/extension.toml
+++ b/source/isaaclab_rl/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.5.0"
+version = "0.5.1"
 
 # Description
 title = "Isaac Lab RL"
diff --git a/source/isaaclab_rl/docs/CHANGELOG.rst b/source/isaaclab_rl/docs/CHANGELOG.rst
index 9666e7214e81..cf903b02d832 100644
--- a/source/isaaclab_rl/docs/CHANGELOG.rst
+++ b/source/isaaclab_rl/docs/CHANGELOG.rst
@@ -1,6 +1,14 @@
 Changelog
 ---------
 
+0.5.1 (2026-04-21)
+~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Updated skrl wrapper to support the new version of skrl 2.0.
+
 0.5.0 (2026-3-04)
 ~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_rl/isaaclab_rl/skrl.py b/source/isaaclab_rl/isaaclab_rl/skrl.py
index 5aba121523f2..b83a644831b1 100644
--- a/source/isaaclab_rl/isaaclab_rl/skrl.py
+++ b/source/isaaclab_rl/isaaclab_rl/skrl.py
@@ -38,7 +38,7 @@
 
 def SkrlVecEnvWrapper(
     env: ManagerBasedRLEnv | DirectRLEnv | DirectMARLEnv,
-    ml_framework: Literal["torch", "jax", "jax-numpy"] = "torch",
+    ml_framework: Literal["torch", "jax", "warp"] = "torch",
     wrapper: Literal["auto", "isaaclab", "isaaclab-single-agent", "isaaclab-multi-agent"] = "isaaclab",
 ):
     """Wraps around Isaac Lab environment for skrl.
@@ -77,9 +77,11 @@ def SkrlVecEnvWrapper(
         from skrl.envs.wrappers.torch import wrap_env
     elif ml_framework.startswith("jax"):
         from skrl.envs.wrappers.jax import wrap_env
+    elif ml_framework.startswith("warp"):
+        from skrl.envs.wrappers.warp import wrap_env
     else:
-        ValueError(
-            f"Invalid ML framework for skrl: {ml_framework}. Available options are: 'torch', 'jax' or 'jax-numpy'"
+        raise ValueError(
+            f"Invalid ML framework for skrl: {ml_framework}. Available options are: 'torch', 'jax', 'warp'"
         )
 
     # wrap and return the environment
diff --git a/source/isaaclab_rl/setup.py b/source/isaaclab_rl/setup.py
index f1cf55d3222c..d3b81f195893 100644
--- a/source/isaaclab_rl/setup.py
+++ b/source/isaaclab_rl/setup.py
@@ -41,7 +41,7 @@
 # Extra dependencies for RL agents
 EXTRAS_REQUIRE = {
     "sb3": ["stable-baselines3>=2.6", "tqdm", "rich"],  # tqdm/rich for progress bar
-    "skrl": ["skrl>=1.4.3"],
+    "skrl": ["skrl>=2.0.0"],
     "rl-games": [
         "rl-games @ git+https://github.com/isaac-sim/rl_games.git@python3.11",
         "gym",
diff --git a/source/isaaclab_tasks/config/extension.toml b/source/isaaclab_tasks/config/extension.toml
index 80335e4cf123..6b1140818ee3 100644
--- a/source/isaaclab_tasks/config/extension.toml
+++ b/source/isaaclab_tasks/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.11.14"
+version = "0.11.16"
 
 # Description
 title = "Isaac Lab Environments"
diff --git a/source/isaaclab_tasks/docs/CHANGELOG.rst b/source/isaaclab_tasks/docs/CHANGELOG.rst
index 896ed0be4255..8bb095bc372a 100644
--- a/source/isaaclab_tasks/docs/CHANGELOG.rst
+++ b/source/isaaclab_tasks/docs/CHANGELOG.rst
@@ -1,6 +1,14 @@
 Changelog
 ---------
 
+0.11.16 (2026-04-21)
+~~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Updated some agents' configuration files for the skrl library to support the new version of skrl 2.0.
+
 0.11.15 (2026-03-07)
 ~~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ippo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ippo_cfg.yaml
index f9298c9252ac..606d5634e92e 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ippo_cfg.yaml
+++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_ippo_cfg.yaml
@@ -54,7 +54,9 @@ agent:
   learning_rate_scheduler: KLAdaptiveLR
   learning_rate_scheduler_kwargs:
     kl_threshold: 0.008
-  state_preprocessor: RunningStandardScaler
+  observation_preprocessor: RunningStandardScaler
+  observation_preprocessor_kwargs: null
+  state_preprocessor: null
   state_preprocessor_kwargs: null
   value_preprocessor: RunningStandardScaler
   value_preprocessor_kwargs: null
diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml
index 8f192cf2988d..aef5480970a9 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml
+++ b/source/isaaclab_tasks/isaaclab_tasks/direct/cart_double_pendulum/agents/skrl_mappo_cfg.yaml
@@ -28,7 +28,7 @@ models:
     clip_actions: False
     network:
       - name: net
-        input: OBSERVATIONS
+        input: STATES
         layers: [32, 32]
         activations: elu
     output: ONE
@@ -54,10 +54,10 @@ agent:
   learning_rate_scheduler: KLAdaptiveLR
   learning_rate_scheduler_kwargs:
     kl_threshold: 0.008
+  observation_preprocessor: RunningStandardScaler
+  observation_preprocessor_kwargs: null
   state_preprocessor: RunningStandardScaler
   state_preprocessor_kwargs: null
-  shared_state_preprocessor: RunningStandardScaler
-  shared_state_preprocessor_kwargs: null
   value_preprocessor: RunningStandardScaler
   value_preprocessor_kwargs: null
   random_timesteps: 0
diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_dance_amp_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_dance_amp_cfg.yaml
index 3071d039b88c..437fa80c6058 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_dance_amp_cfg.yaml
+++ b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_dance_amp_cfg.yaml
@@ -75,12 +75,14 @@ agent:
   learning_rate: 5.0e-05
   learning_rate_scheduler: null
   learning_rate_scheduler_kwargs: null
-  state_preprocessor: RunningStandardScaler
+  observation_preprocessor: RunningStandardScaler
+  observation_preprocessor_kwargs: null
+  state_preprocessor: null
   state_preprocessor_kwargs: null
   value_preprocessor: RunningStandardScaler
   value_preprocessor_kwargs: null
-  amp_state_preprocessor: RunningStandardScaler
-  amp_state_preprocessor_kwargs: null
+  amp_observation_preprocessor: RunningStandardScaler
+  amp_observation_preprocessor_kwargs: null
   random_timesteps: 0
   learning_starts: 0
   grad_norm_clip: 0.0
@@ -91,10 +93,9 @@ agent:
   value_loss_scale: 2.5
   discriminator_loss_scale: 5.0
   amp_batch_size: 512
-  task_reward_weight: 0.0
-  style_reward_weight: 1.0
+  task_reward_scale: 0.0
+  style_reward_scale: 2.0
   discriminator_batch_size: 4096
-  discriminator_reward_scale: 2.0
   discriminator_logit_regularization_scale: 0.05
   discriminator_gradient_penalty_scale: 5.0
   discriminator_weight_decay_scale: 1.0e-04
diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_run_amp_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_run_amp_cfg.yaml
index 0f6fcdc1a03f..fa3c590a9584 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_run_amp_cfg.yaml
+++ b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_run_amp_cfg.yaml
@@ -75,12 +75,14 @@ agent:
   learning_rate: 5.0e-05
   learning_rate_scheduler: null
   learning_rate_scheduler_kwargs: null
-  state_preprocessor: RunningStandardScaler
+  observation_preprocessor: RunningStandardScaler
+  observation_preprocessor_kwargs: null
+  state_preprocessor: null
   state_preprocessor_kwargs: null
   value_preprocessor: RunningStandardScaler
   value_preprocessor_kwargs: null
-  amp_state_preprocessor: RunningStandardScaler
-  amp_state_preprocessor_kwargs: null
+  amp_observation_preprocessor: RunningStandardScaler
+  amp_observation_preprocessor_kwargs: null
   random_timesteps: 0
   learning_starts: 0
   grad_norm_clip: 0.0
@@ -91,10 +93,9 @@ agent:
   value_loss_scale: 2.5
   discriminator_loss_scale: 5.0
   amp_batch_size: 512
-  task_reward_weight: 0.0
-  style_reward_weight: 1.0
+  task_reward_scale: 0.0
+  style_reward_scale: 2.0
   discriminator_batch_size: 4096
-  discriminator_reward_scale: 2.0
   discriminator_logit_regularization_scale: 0.05
   discriminator_gradient_penalty_scale: 5.0
   discriminator_weight_decay_scale: 1.0e-04
diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_walk_amp_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_walk_amp_cfg.yaml
index efb34f0d2f5b..8b52c661d48b 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_walk_amp_cfg.yaml
+++ b/source/isaaclab_tasks/isaaclab_tasks/direct/humanoid_amp/agents/skrl_walk_amp_cfg.yaml
@@ -75,12 +75,14 @@ agent:
   learning_rate: 5.0e-05
   learning_rate_scheduler: null
   learning_rate_scheduler_kwargs: null
-  state_preprocessor: RunningStandardScaler
+  observation_preprocessor: RunningStandardScaler
+  observation_preprocessor_kwargs: null
+  state_preprocessor: null
   state_preprocessor_kwargs: null
   value_preprocessor: RunningStandardScaler
   value_preprocessor_kwargs: null
-  amp_state_preprocessor: RunningStandardScaler
-  amp_state_preprocessor_kwargs: null
+  amp_observation_preprocessor: RunningStandardScaler
+  amp_observation_preprocessor_kwargs: null
   random_timesteps: 0
   learning_starts: 0
   grad_norm_clip: 0.0
@@ -91,10 +93,9 @@ agent:
   value_loss_scale: 2.5
   discriminator_loss_scale: 5.0
   amp_batch_size: 512
-  task_reward_weight: 0.0
-  style_reward_weight: 1.0
+  task_reward_scale: 0.0
+  style_reward_scale: 2.0
   discriminator_batch_size: 4096
-  discriminator_reward_scale: 2.0
   discriminator_logit_regularization_scale: 0.05
   discriminator_gradient_penalty_scale: 5.0
   discriminator_weight_decay_scale: 1.0e-04
diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ippo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ippo_cfg.yaml
index 60be7d18110e..793f972fb7ce 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ippo_cfg.yaml
+++ b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_ippo_cfg.yaml
@@ -54,7 +54,9 @@ agent:
   learning_rate_scheduler: KLAdaptiveLR
   learning_rate_scheduler_kwargs:
     kl_threshold: 0.016
-  state_preprocessor: RunningStandardScaler
+  observation_preprocessor: RunningStandardScaler
+  observation_preprocessor_kwargs: null
+  state_preprocessor: null
   state_preprocessor_kwargs: null
   value_preprocessor: RunningStandardScaler
   value_preprocessor_kwargs: null
diff --git a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_mappo_cfg.yaml b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_mappo_cfg.yaml
index 57c1c455185d..31c6087f500a 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_mappo_cfg.yaml
+++ b/source/isaaclab_tasks/isaaclab_tasks/direct/shadow_hand_over/agents/skrl_mappo_cfg.yaml
@@ -28,7 +28,7 @@ models:
     clip_actions: False
     network:
       - name: net
-        input: OBSERVATIONS
+        input: STATES
         layers: [512, 512, 256, 128]
         activations: elu
     output: ONE
@@ -54,10 +54,10 @@ agent:
   learning_rate_scheduler: KLAdaptiveLR
   learning_rate_scheduler_kwargs:
     kl_threshold: 0.016
+  observation_preprocessor: RunningStandardScaler
+  observation_preprocessor_kwargs: null
   state_preprocessor: RunningStandardScaler
   state_preprocessor_kwargs: null
-  shared_state_preprocessor: RunningStandardScaler
-  shared_state_preprocessor_kwargs: null
   value_preprocessor: RunningStandardScaler
   value_preprocessor_kwargs: null
   random_timesteps: 0