diff --git a/rsl_rl/runners/on_policy_runner.py b/rsl_rl/runners/on_policy_runner.py
index d396d5b5..6445a20b 100644
--- a/rsl_rl/runners/on_policy_runner.py
+++ b/rsl_rl/runners/on_policy_runner.py
@@ -352,6 +352,15 @@ def log(self, locs: dict, width: int = 80, pad: int = 35):
 
         str = f" \033[1m Learning iteration {locs['it']}/{locs['tot_iter']} \033[0m "
 
+        # Upload video to wandb
+        if self.logger_type == "wandb" and not self.disable_logs:
+            # use video_fps from cfg if available or default to 30
+            if "video_fps" in self.cfg:
+                video_fps = self.cfg["video_fps"]
+            else:
+                video_fps = 30
+            self.writer.add_video_files(self.log_dir, fps=video_fps, step=locs["it"])
+            
         if len(locs["rewbuffer"]) > 0:
             log_string = (
                 f"""{'#' * width}\n"""
diff --git a/rsl_rl/utils/wandb_utils.py b/rsl_rl/utils/wandb_utils.py
index 243e82d4..e4eec795 100644
--- a/rsl_rl/utils/wandb_utils.py
+++ b/rsl_rl/utils/wandb_utils.py
@@ -5,7 +5,7 @@
 
 from __future__ import annotations
 
-import os
+import os, pathlib, json
 from dataclasses import asdict
 from torch.utils.tensorboard import SummaryWriter
 
@@ -44,6 +44,7 @@ def __init__(self, log_dir: str, flush_secs: int, cfg):
             "Train/mean_reward/time": "Train/mean_reward_time",
             "Train/mean_episode_length/time": "Train/mean_episode_length_time",
         }
+        self.video_files = []
 
     def store_config(self, env_cfg, runner_cfg, alg_cfg, policy_cfg):
         wandb.config.update({"runner_cfg": runner_cfg})
@@ -76,6 +77,22 @@ def save_model(self, model_path, iter):
     def save_file(self, path, iter=None):
         wandb.save(path, base_path=os.path.dirname(path))
 
+    def add_video_files(self, log_dir: str, step: int, fps: int = 30):
+        # Check if there are video files in the video directory
+        if os.path.exists(log_dir):
+            # append the new video files to the existing list
+            for root, dirs, files in os.walk(log_dir):
+                for video_file in files:
+                    if video_file.endswith(".mp4") and video_file not in self.video_files:
+                        self.video_files.append(video_file)
+                        # add the new video file to wandb only if video file is not updating
+                        video_path = os.path.join(root, video_file)
+                        wandb.log(
+                            {"Video": wandb.Video(video_path, fps=fps, format="mp4")},
+                            step = step
+                        )
+
+
     """
     Private methods.
     """