diff --git a/torchrl/envs/batched_envs.py b/torchrl/envs/batched_envs.py
index 559935ee976..986fe31b1e0 100644
--- a/torchrl/envs/batched_envs.py
+++ b/torchrl/envs/batched_envs.py
@@ -2451,13 +2451,15 @@ def look_for_cuda(tensor, has_cuda=has_cuda):
             if event is not None:
                 event.record()
                 event.synchronize()
-            mp_event.set()
 
             if _non_tensor_keys:
                 child_pipe.send(
                     ("non_tensor", cur_td.select(*_non_tensor_keys, strict=False))
                 )
 
+            # Set event only after non-tensor data is sent to avoid race condition
+            mp_event.set()
+
             del cur_td
 
         elif cmd == "step":
@@ -2483,7 +2485,6 @@ def look_for_cuda(tensor, has_cuda=has_cuda):
             if event is not None:
                 event.record()
                 event.synchronize()
-            mp_event.set()
 
             # Make sure the root is updated
             root_shared_tensordict.update_(env._step_mdp(input))
@@ -2493,6 +2494,9 @@ def look_for_cuda(tensor, has_cuda=has_cuda):
                     ("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":
@@ -2525,13 +2529,15 @@ def look_for_cuda(tensor, has_cuda=has_cuda):
             if event is not None:
                 event.record()
                 event.synchronize()
-            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":