diff --git a/torchrl/modules/models/model_based.py b/torchrl/modules/models/model_based.py
index 976f57dd5b9..8253fda80ed 100644
--- a/torchrl/modules/models/model_based.py
+++ b/torchrl/modules/models/model_based.py
@@ -19,6 +19,7 @@
 # from torchrl.modules.tensordict_module.rnn import GRUCell
 from torch.nn import GRUCell
 from torchrl._utils import timeit
+from torchrl.envs.utils import step_mdp
 
 from torchrl.modules.models.models import MLP
 
@@ -261,6 +262,8 @@ def forward(self, tensordict):
 
             tensordict_out.append(_tensordict)
             if t < time_steps - 1:
+                # Translate ("next", *) to the non-next key required for the current step input
+                _tensordict = step_mdp(_tensordict, keep_other=True)
                 _tensordict = _tensordict.select(*self.in_keys, strict=False)
                 _tensordict = update_values[t + 1].update(_tensordict)