diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml
index cbc2de67560..818bd291aaf 100644
--- a/source/isaaclab/config/extension.toml
+++ b/source/isaaclab/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.47.2"
+version = "0.47.3"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"
diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst
index 38834c3624d..f8fa62296f4 100644
--- a/source/isaaclab/docs/CHANGELOG.rst
+++ b/source/isaaclab/docs/CHANGELOG.rst
@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.47.3 (2025-10-28)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed advanced indexing issue in resetting prev action
+  in :class:`~isaaclab.envs.mdp.actions.JointPositionToLimitsAction` .
+
+
 0.47.2 (2025-10-22)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py b/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py
index 2667f7e86a6..3bc1306d2ed 100644
--- a/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py
+++ b/source/isaaclab/isaaclab/envs/mdp/actions/joint_actions_to_limits.py
@@ -257,12 +257,12 @@ def IO_descriptor(self) -> GenericActionIODescriptor:
     def reset(self, env_ids: Sequence[int] | None = None) -> None:
         # check if specific environment ids are provided
         if env_ids is None:
-            env_ids = slice(None)
+            super().reset(slice(None))
+            self._prev_applied_actions[:] = self._asset.data.joint_pos[:, self._joint_ids]
         else:
-            env_ids = env_ids[:, None]
-        super().reset(env_ids)
-        # reset history to current joint positions
-        self._prev_applied_actions[env_ids, :] = self._asset.data.joint_pos[env_ids, self._joint_ids]
+            super().reset(env_ids)
+            curr_applied_actions = self._asset.data.joint_pos[env_ids[:, None], self._joint_ids].view(len(env_ids), -1)
+            self._prev_applied_actions[env_ids, :] = curr_applied_actions
 
     def process_actions(self, actions: torch.Tensor):
         # apply affine transformations