diff --git a/benchmarl/algorithms/ippo.py b/benchmarl/algorithms/ippo.py
index 45e7e7c8..1ddf6172 100644
--- a/benchmarl/algorithms/ippo.py
+++ b/benchmarl/algorithms/ippo.py
@@ -49,6 +49,7 @@ def __init__(
         lmbda: float,
         scale_mapping: str,
         use_tanh_normal: bool,
+        pre_compute_advantage: bool,
         **kwargs
     ):
         super().__init__(**kwargs)
@@ -61,6 +62,7 @@ def __init__(
         self.lmbda = lmbda
         self.scale_mapping = scale_mapping
         self.use_tanh_normal = use_tanh_normal
+        self.pre_compute_advantage = pre_compute_advantage
 
     #############################
     # Overridden abstract methods
@@ -148,15 +150,17 @@ def _get_policy_for_loss(
                 spec=self.action_spec[group, "action"],
                 in_keys=[(group, "loc"), (group, "scale")],
                 out_keys=[(group, "action")],
-                distribution_class=IndependentNormal
-                if not self.use_tanh_normal
-                else TanhNormal,
-                distribution_kwargs={
-                    "min": self.action_spec[(group, "action")].space.low,
-                    "max": self.action_spec[(group, "action")].space.high,
-                }
-                if self.use_tanh_normal
-                else {},
+                distribution_class=(
+                    IndependentNormal if not self.use_tanh_normal else TanhNormal
+                ),
+                distribution_kwargs=(
+                    {
+                        "min": self.action_spec[(group, "action")].space.low,
+                        "max": self.action_spec[(group, "action")].space.high,
+                    }
+                    if self.use_tanh_normal
+                    else {}
+                ),
                 return_log_prob=True,
                 log_prob_key=(group, "log_prob"),
             )
@@ -220,14 +224,14 @@ def process_batch(self, group: str, batch: TensorDictBase) -> TensorDictBase:
                 nested_reward_key,
                 batch.get(("next", "reward")).unsqueeze(-1).expand((*group_shape, 1)),
             )
-
-        with torch.no_grad():
-            loss = self.get_loss_and_updater(group)[0]
-            loss.value_estimator(
-                batch,
-                params=loss.critic_network_params,
-                target_params=loss.target_critic_network_params,
-            )
+        if self.pre_compute_advantage:
+            with torch.no_grad():
+                loss = self.get_loss_and_updater(group)[0]
+                loss.value_estimator(
+                    batch,
+                    params=loss.critic_network_params,
+                    target_params=loss.target_critic_network_params,
+                )
 
         return batch
 
@@ -285,6 +289,7 @@ class IppoConfig(AlgorithmConfig):
     lmbda: float = MISSING
     scale_mapping: str = MISSING
     use_tanh_normal: bool = MISSING
+    pre_compute_advantage: bool = MISSING
 
     @staticmethod
     def associated_class() -> Type[Algorithm]:
diff --git a/benchmarl/algorithms/mappo.py b/benchmarl/algorithms/mappo.py
index 0a391d2e..d3099693 100644
--- a/benchmarl/algorithms/mappo.py
+++ b/benchmarl/algorithms/mappo.py
@@ -53,6 +53,7 @@ def __init__(
         lmbda: float,
         scale_mapping: str,
         use_tanh_normal: bool,
+        pre_compute_advantage: bool,
         **kwargs
     ):
         super().__init__(**kwargs)
@@ -65,6 +66,7 @@ def __init__(
         self.lmbda = lmbda
         self.scale_mapping = scale_mapping
         self.use_tanh_normal = use_tanh_normal
+        self.pre_compute_advantage = pre_compute_advantage
 
     #############################
     # Overridden abstract methods
@@ -152,15 +154,17 @@ def _get_policy_for_loss(
                 spec=self.action_spec[group, "action"],
                 in_keys=[(group, "loc"), (group, "scale")],
                 out_keys=[(group, "action")],
-                distribution_class=IndependentNormal
-                if not self.use_tanh_normal
-                else TanhNormal,
-                distribution_kwargs={
-                    "min": self.action_spec[(group, "action")].space.low,
-                    "max": self.action_spec[(group, "action")].space.high,
-                }
-                if self.use_tanh_normal
-                else {},
+                distribution_class=(
+                    IndependentNormal if not self.use_tanh_normal else TanhNormal
+                ),
+                distribution_kwargs=(
+                    {
+                        "min": self.action_spec[(group, "action")].space.low,
+                        "max": self.action_spec[(group, "action")].space.high,
+                    }
+                    if self.use_tanh_normal
+                    else {}
+                ),
                 return_log_prob=True,
                 log_prob_key=(group, "log_prob"),
             )
@@ -224,14 +228,14 @@ def process_batch(self, group: str, batch: TensorDictBase) -> TensorDictBase:
                 nested_reward_key,
                 batch.get(("next", "reward")).unsqueeze(-1).expand((*group_shape, 1)),
             )
-
-        with torch.no_grad():
-            loss = self.get_loss_and_updater(group)[0]
-            loss.value_estimator(
-                batch,
-                params=loss.critic_network_params,
-                target_params=loss.target_critic_network_params,
-            )
+        if self.pre_compute_advantage:
+            with torch.no_grad():
+                loss = self.get_loss_and_updater(group)[0]
+                loss.value_estimator(
+                    batch,
+                    params=loss.critic_network_params,
+                    target_params=loss.target_critic_network_params,
+                )
 
         return batch
 
@@ -321,6 +325,7 @@ class MappoConfig(AlgorithmConfig):
     lmbda: float = MISSING
     scale_mapping: str = MISSING
     use_tanh_normal: bool = MISSING
+    pre_compute_advantage: bool = MISSING
 
     @staticmethod
     def associated_class() -> Type[Algorithm]:
diff --git a/benchmarl/conf/algorithm/ippo.yaml b/benchmarl/conf/algorithm/ippo.yaml
index 2cda60df..2e4c13a9 100644
--- a/benchmarl/conf/algorithm/ippo.yaml
+++ b/benchmarl/conf/algorithm/ippo.yaml
@@ -11,3 +11,4 @@ loss_critic_type: "l2"
 lmbda: 0.9
 scale_mapping: "biased_softplus_1.0"
 use_tanh_normal: True
+pre_compute_advantage: False
diff --git a/benchmarl/conf/algorithm/mappo.yaml b/benchmarl/conf/algorithm/mappo.yaml
index db194d5f..20da8dc6 100644
--- a/benchmarl/conf/algorithm/mappo.yaml
+++ b/benchmarl/conf/algorithm/mappo.yaml
@@ -12,3 +12,4 @@ loss_critic_type: "l2"
 lmbda: 0.9
 scale_mapping: "biased_softplus_1.0"
 use_tanh_normal: True
+pre_compute_advantage: False