Need help on implementing dreamer

I have implemented dreamer but cannot get it to solve the walker2d environment. I copied and pasted much of the code from public repositories, but wrote the loss computation part myself. I’ve spent several days trying to debug the code and would really appreciate your help.. I’ve put a github link to the code. I’m suspecting the indexing might be wrong in the computation of lambda returns, but there could many other mistakes. I usually don’t post anything on the internet nor is English my first language but I’m sooo desperate to get this to work that i’m reaching out for help!!