diff --git a/source/isaaclab/isaaclab/utils/dict.py b/source/isaaclab/isaaclab/utils/dict.py
index a6a40f06775..527fa3ef156 100644
--- a/source/isaaclab/isaaclab/utils/dict.py
+++ b/source/isaaclab/isaaclab/utils/dict.py
@@ -267,6 +267,8 @@ def replace_slices_with_strings(data: dict) -> dict:
     """
     if isinstance(data, dict):
         return {k: replace_slices_with_strings(v) for k, v in data.items()}
+    elif isinstance(data, list):
+        return [replace_slices_with_strings(v) for v in data]
     elif isinstance(data, slice):
         return f"slice({data.start},{data.stop},{data.step})"
     else:
@@ -284,6 +286,8 @@ def replace_strings_with_slices(data: dict) -> dict:
     """
     if isinstance(data, dict):
         return {k: replace_strings_with_slices(v) for k, v in data.items()}
+    elif isinstance(data, list):
+        return [replace_strings_with_slices(v) for v in data]
     elif isinstance(data, str) and data.startswith("slice("):
         return string_to_slice(data)
     else:
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/__init__.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/__init__.py
index 1ac5daa1bc3..666f254162b 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/__init__.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/__init__.py
@@ -29,6 +29,7 @@
     entry_point="isaaclab.envs:ManagerBasedRLEnv",
     kwargs={
         "env_cfg_entry_point": stack_joint_pos_env_cfg.FrankaCubeStackEnvCfg,
+        "rsl_rl_cfg_entry_point": f"{agents.__name__}.rsl_rl_ppo_cfg:StackCubePPORunnerCfg",
     },
     disable_env_checker=True,
 )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/agents/rsl_rl_ppo_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/agents/rsl_rl_ppo_cfg.py
new file mode 100644
index 00000000000..b9e1fa2702f
--- /dev/null
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/agents/rsl_rl_ppo_cfg.py
@@ -0,0 +1,37 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from isaaclab.utils import configclass
+
+from isaaclab_rl.rsl_rl import RslRlOnPolicyRunnerCfg, RslRlPpoActorCriticCfg, RslRlPpoAlgorithmCfg
+
+
+@configclass
+class StackCubePPORunnerCfg(RslRlOnPolicyRunnerCfg):
+    num_steps_per_env = 24
+    max_iterations = 1500
+    save_interval = 50
+    experiment_name = "franka_stack"
+    empirical_normalization = False
+    policy = RslRlPpoActorCriticCfg(
+        init_noise_std=1.0,
+        actor_hidden_dims=[256, 128, 64],
+        critic_hidden_dims=[256, 128, 64],
+        activation="elu",
+    )
+    algorithm = RslRlPpoAlgorithmCfg(
+        value_loss_coef=1.0,
+        use_clipped_value_loss=True,
+        clip_param=0.2,
+        entropy_coef=0.006,
+        num_learning_epochs=5,
+        num_mini_batches=4,
+        learning_rate=1.0e-4,
+        schedule="adaptive",
+        gamma=0.98,
+        lam=0.95,
+        desired_kl=0.01,
+        max_grad_norm=1.0,
+    )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/stack_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/stack_env_cfg.py
index 23348675ac0..b6acb1402e3 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/stack_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/stack_env_cfg.py
@@ -90,7 +90,7 @@ class PolicyCfg(ObsGroup):
 
         def __post_init__(self):
             self.enable_corruption = False
-            self.concatenate_terms = False
+            self.concatenate_terms = True
 
     @configclass
     class RGBCameraPolicyCfg(ObsGroup):