diff --git a/amp_rsl_rl/utils/wandb_utils.py b/amp_rsl_rl/utils/wandb_utils.py
index c1c0092..dea7945 100644
--- a/amp_rsl_rl/utils/wandb_utils.py
+++ b/amp_rsl_rl/utils/wandb_utils.py
@@ -1,10 +1,45 @@
 import os
+import warnings
 import wandb
 from rsl_rl.utils.wandb_utils import WandbSummaryWriter as RslWandbSummaryWriter
+from torch.utils.tensorboard import SummaryWriter
 
 class WandbSummaryWriter(RslWandbSummaryWriter):
-    def __init__(self, *args, **kwargs):
-        super().__init__(*args, **kwargs)
+    def __init__(self, log_dir: str, flush_secs: int, cfg: dict) -> None:
+        SummaryWriter.__init__(self, log_dir, flush_secs)
+
+        # Get the run name
+        run_name = os.path.split(log_dir)[-1]
+        
+        # Thanks to https://github.com/leggedrobotics/rsl_rl/pull/80/
+        try:
+            project = cfg['wandb_kwargs']["project"]
+        except KeyError:
+            raise KeyError("Please specify wandb_project in the runner config, e.g. legged_gym.") from None
+
+        try:
+            entity = cfg['wandb_kwargs']["entity"]
+        except KeyError:
+            entity = None
+            warnings.warn("wandb_entity not specified in the runner config.")
+        
+        try:
+            group = cfg['wandb_kwargs']["group"]
+        except KeyError:
+            warnings.warn("wandb_group not specified in the runner config. Using default group.")
+
+        # Initialize wandb
+        wandb.init(
+            project=project, 
+            entity=entity, 
+            name=run_name,
+            group=group,
+            notes=cfg['wandb_kwargs']['notes'],
+        )
+
+        # Add log directory to wandb
+        wandb.config.update({"log_dir": log_dir})
+
         self.video_files = []
 
     # To save video files to wandb explicitly