diff --git a/docs/source/examples/isaaclab/jax_lift_franka_ppo.py b/docs/source/examples/isaaclab/jax_lift_franka_ppo.py
index 78b4728b..f292568a 100644
--- a/docs/source/examples/isaaclab/jax_lift_franka_ppo.py
+++ b/docs/source/examples/isaaclab/jax_lift_franka_ppo.py
@@ -53,7 +53,7 @@ def __call__(self, inputs, role):
 
 
 # load and wrap the Isaac Lab environment
-env = load_isaaclab_env(task_name="Isaac-Lift-Franka-v0")
+env = load_isaaclab_env(task_name="Isaac-Lift-Cube-Franka-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaaclab/jax_velocity_anymal_c_ppo.py b/docs/source/examples/isaaclab/jax_velocity_anymal_c_ppo.py
index afdeed64..c92169a1 100644
--- a/docs/source/examples/isaaclab/jax_velocity_anymal_c_ppo.py
+++ b/docs/source/examples/isaaclab/jax_velocity_anymal_c_ppo.py
@@ -53,7 +53,7 @@ def __call__(self, inputs, role):
 
 
 # load and wrap the Isaac Lab environment
-env = load_isaaclab_env(task_name="Isaac-Velocity-Anymal-C-v0")
+env = load_isaaclab_env(task_name="Isaac-Velocity-Flat-Anymal-C-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaaclab/torch_lift_franka_ppo.py b/docs/source/examples/isaaclab/torch_lift_franka_ppo.py
index 799bc455..be1a444e 100644
--- a/docs/source/examples/isaaclab/torch_lift_franka_ppo.py
+++ b/docs/source/examples/isaaclab/torch_lift_franka_ppo.py
@@ -54,7 +54,7 @@ def compute(self, inputs, role):
 
 
 # load and wrap the Isaac Lab environment
-env = load_isaaclab_env(task_name="Isaac-Lift-Franka-v0")
+env = load_isaaclab_env(task_name="Isaac-Lift-Cube-Franka-v0")
 env = wrap_env(env)
 
 device = env.device
diff --git a/docs/source/examples/isaaclab/torch_velocity_anymal_c_ppo.py b/docs/source/examples/isaaclab/torch_velocity_anymal_c_ppo.py
index a17a24e8..683bc095 100644
--- a/docs/source/examples/isaaclab/torch_velocity_anymal_c_ppo.py
+++ b/docs/source/examples/isaaclab/torch_velocity_anymal_c_ppo.py
@@ -54,7 +54,7 @@ def compute(self, inputs, role):
 
 
 # load and wrap the Isaac Lab environment
-env = load_isaaclab_env(task_name="Isaac-Velocity-Anymal-C-v0")
+env = load_isaaclab_env(task_name="Isaac-Velocity-Flat-Anymal-C-v0")
 env = wrap_env(env)
 
 device = env.device