diff --git a/.gitignore b/.gitignore
index 348562a3..d340b158 100644
--- a/.gitignore
+++ b/.gitignore
@@ -14,10 +14,11 @@ docs/d3rlpy*.rst
 docs/modules.rst
 docs/references/generated
 coverage.xml
-.coverage
+.coverage*
 .mypy_cache
 .ipynb_checkpoints
 build
 dist
 /.idea/
 *.egg-info
+*.DS_Store
\ No newline at end of file
diff --git a/d3rlpy/algos/qlearning/torch/callbacks.py b/d3rlpy/algos/qlearning/torch/callbacks.py
new file mode 100644
index 00000000..09fe0dff
--- /dev/null
+++ b/d3rlpy/algos/qlearning/torch/callbacks.py
@@ -0,0 +1,73 @@
+from abc import ABCMeta, abstractmethod
+from typing import Sequence, List
+import torch.nn as nn
+
+from ... import QLearningAlgoBase, QLearningAlgoImplBase
+from ....constants import IMPL_NOT_INITIALIZED_ERROR
+
+__all__ = [
+    "ParameterReset"
+]
+
+class QLearningCallback(metaclass=ABCMeta):
+    @abstractmethod
+    def __call__(self, algo: QLearningAlgoBase, epoch: int, total_step: int):
+        pass
+
+
+class ParameterReset(QLearningCallback):
+    def __init__(self, replay_ratio: int, encoder_reset:Sequence[bool],
+                 output_reset:bool, algo:QLearningAlgoBase=None) -> None:
+        self._replay_ratio = replay_ratio
+        self._encoder_reset = encoder_reset
+        self._output_reset = output_reset
+        self._check = False
+        if algo is not None:
+            self._check_layer_resets(algo=algo)
+            
+    
+    def _get_layers(self, q_func:nn.ModuleList)->List[nn.Module]:
+        all_modules = {nm:module for (nm, module) in q_func.named_modules()}
+        q_func_layers = [
+            *all_modules["_encoder._layers"],
+            all_modules["_fc"]
+            ]
+        return q_func_layers
+    
+    def _check_layer_resets(self, algo:QLearningAlgoBase):
+        assert algo._impl is not None, IMPL_NOT_INITIALIZED_ERROR
+        assert isinstance(algo._impl, QLearningAlgoImplBase)
+        
+        all_valid_layers = []
+        for q_func in algo._impl.q_function:
+            q_func_layers = self._get_layers(q_func)
+            if len(self._encoder_reset) + 1 != len(q_func_layers):
+                raise ValueError(
+                    f"""
+                    q_function layers: {q_func_layers};
+                    specified encoder layers: {self._encoder_reset} 
+                    """
+                    )
+            valid_layers = [
+                hasattr(layer, 'reset_parameters') for lr, layer in zip(
+                    self._encoder_reset, q_func_layers) 
+                if lr
+                ]
+            all_valid_layers.append(all(valid_layers))
+        self._check = all(all_valid_layers)
+        if not self._check:
+            raise ValueError(
+                "Some layer do not contain resettable parameters"
+                )
+    
+    def __call__(self, algo: QLearningAlgoBase, epoch: int, total_step: int):
+        if not self._check:
+            self._check_layer_resets(algo=algo)
+        assert isinstance(algo._impl, QLearningAlgoImplBase)
+        if epoch % self._replay_ratio == 0:
+            reset_lst = [*self._encoder_reset, self._output_reset]
+            for q_func in algo._impl.q_function:
+                q_func_layers = self._get_layers(q_func)
+                for lr, layer in zip(reset_lst, q_func_layers):
+                    if lr:
+                        layer.reset_parameters()
\ No newline at end of file
diff --git a/d3rlpy/algos/qlearning/torch/cql_impl.py b/d3rlpy/algos/qlearning/torch/cql_impl.py
index a531abd6..15525bed 100644
--- a/d3rlpy/algos/qlearning/torch/cql_impl.py
+++ b/d3rlpy/algos/qlearning/torch/cql_impl.py
@@ -6,6 +6,7 @@
 import torch.nn.functional as F
 from torch.optim import Optimizer
 
+from ....dataclass_utils import asdict_as_float
 from ....dataset import Shape
 from ....models.torch import (
     ContinuousEnsembleQFunctionForwarder,
@@ -14,10 +15,17 @@
     build_squashed_gaussian_distribution,
 )
 from ....torch_utility import TorchMiniBatch
+from .ddpg_impl import DDPGCriticLoss
 from .dqn_impl import DoubleDQNImpl, DQNLoss, DQNModules
 from .sac_impl import SACImpl, SACModules
 
-__all__ = ["CQLImpl", "DiscreteCQLImpl", "CQLModules", "DiscreteCQLLoss"]
+__all__ = [
+    "CQLImpl",
+    "DiscreteCQLImpl",
+    "CQLModules",
+    "DiscreteCQLLoss",
+    "CQLLoss",
+]
 
 
 @dataclasses.dataclass(frozen=True)
@@ -26,6 +34,12 @@ class CQLModules(SACModules):
     alpha_optim: Optional[Optimizer]
 
 
+@dataclasses.dataclass(frozen=True)
+class CQLLoss(DDPGCriticLoss):
+    td_loss: torch.Tensor
+    conservative_loss: torch.Tensor
+
+
 class CQLImpl(SACImpl):
     _modules: CQLModules
     _alpha_threshold: float
@@ -65,12 +79,28 @@ def __init__(
 
     def compute_critic_loss(
         self, batch: TorchMiniBatch, q_tpn: torch.Tensor
-    ) -> torch.Tensor:
-        loss = super().compute_critic_loss(batch, q_tpn)
+    ) -> CQLLoss:
+        loss = super().compute_critic_loss(batch, q_tpn).loss
         conservative_loss = self._compute_conservative_loss(
             batch.observations, batch.actions, batch.next_observations
         )
-        return loss + conservative_loss
+        return CQLLoss(
+            loss=loss + conservative_loss,
+            td_loss=loss,
+            conservative_loss=conservative_loss,
+        )
+
+    def update_critic(self, batch: TorchMiniBatch) -> Dict[str, float]:
+        self._modules.critic_optim.zero_grad()
+
+        q_tpn = self.compute_target(batch)
+
+        loss = self.compute_critic_loss(batch, q_tpn)
+
+        loss.loss.backward()
+        self._modules.critic_optim.step()
+
+        return asdict_as_float(loss)
 
     def update_alpha(self, batch: TorchMiniBatch) -> Dict[str, float]:
         assert self._modules.alpha_optim
@@ -274,5 +304,7 @@ def compute_loss(
         )
         loss = td_loss + self._alpha * conservative_loss
         return DiscreteCQLLoss(
-            loss=loss, td_loss=td_loss, conservative_loss=conservative_loss
+            loss=loss,
+            td_loss=td_loss,
+            conservative_loss=self._alpha * conservative_loss,
         )
diff --git a/d3rlpy/algos/qlearning/torch/ddpg_impl.py b/d3rlpy/algos/qlearning/torch/ddpg_impl.py
index a1535589..26a09d7e 100644
--- a/d3rlpy/algos/qlearning/torch/ddpg_impl.py
+++ b/d3rlpy/algos/qlearning/torch/ddpg_impl.py
@@ -6,13 +6,20 @@
 from torch import nn
 from torch.optim import Optimizer
 
+from ....dataclass_utils import asdict_as_float
 from ....dataset import Shape
 from ....models.torch import ContinuousEnsembleQFunctionForwarder, Policy
 from ....torch_utility import Modules, TorchMiniBatch, hard_sync, soft_sync
 from ..base import QLearningAlgoImplBase
 from .utility import ContinuousQFunctionMixin
 
-__all__ = ["DDPGImpl", "DDPGBaseImpl", "DDPGBaseModules", "DDPGModules"]
+__all__ = [
+    "DDPGImpl",
+    "DDPGBaseImpl",
+    "DDPGBaseModules",
+    "DDPGModules",
+    "DDPGCriticLoss",
+]
 
 
 @dataclasses.dataclass(frozen=True)
@@ -24,6 +31,11 @@ class DDPGBaseModules(Modules):
     critic_optim: Optimizer
 
 
+@dataclasses.dataclass(frozen=True)
+class DDPGCriticLoss:
+    loss: torch.Tensor
+
+
 class DDPGBaseImpl(
     ContinuousQFunctionMixin, QLearningAlgoImplBase, metaclass=ABCMeta
 ):
@@ -63,15 +75,15 @@ def update_critic(self, batch: TorchMiniBatch) -> Dict[str, float]:
 
         loss = self.compute_critic_loss(batch, q_tpn)
 
-        loss.backward()
+        loss.loss.backward()
         self._modules.critic_optim.step()
 
-        return {"critic_loss": float(loss.cpu().detach().numpy())}
+        return asdict_as_float(loss)
 
     def compute_critic_loss(
         self, batch: TorchMiniBatch, q_tpn: torch.Tensor
-    ) -> torch.Tensor:
-        return self._q_func_forwarder.compute_error(
+    ) -> DDPGCriticLoss:
+        loss = self._q_func_forwarder.compute_error(
             observations=batch.observations,
             actions=batch.actions,
             rewards=batch.rewards,
@@ -79,6 +91,7 @@ def compute_critic_loss(
             terminals=batch.terminals,
             gamma=self._gamma**batch.intervals,
         )
+        return DDPGCriticLoss(loss=loss)
 
     def update_actor(self, batch: TorchMiniBatch) -> Dict[str, float]:
         # Q function should be inference mode for stability
diff --git a/tests/algos/qlearning/test_callbacks.py b/tests/algos/qlearning/test_callbacks.py
new file mode 100644
index 00000000..7bfec3fa
--- /dev/null
+++ b/tests/algos/qlearning/test_callbacks.py
@@ -0,0 +1,113 @@
+import pytest
+from typing import Any, Sequence, List, Union
+from unittest.mock import MagicMock, Mock
+from d3rlpy.dataset import Shape
+
+from d3rlpy.algos.qlearning.torch.callbacks import ParameterReset
+from d3rlpy.algos import QLearningAlgoBase, QLearningAlgoImplBase
+from d3rlpy.torch_utility import Modules
+import torch
+
+from ...test_torch_utility import DummyModules
+
+
+class LayerHasResetMock: 
+       
+    def reset_parameters(self):
+        return True
+    
+class LayerNoResetMock: 
+       pass
+
+fc = torch.nn.Linear(100, 100)
+optim = torch.optim.Adam(fc.parameters())
+modules = DummyModules(fc=fc, optim=optim)
+
+class ImplMock(MagicMock):
+    
+    def __init__(
+        self, q_funcs:List[Union[LayerHasResetMock, LayerNoResetMock]]
+        ) -> None:
+        super().__init__(spec=QLearningAlgoImplBase)
+        self.q_function = q_funcs
+
+
+class QLearningAlgoBaseMock(MagicMock):
+    
+    def __init__(self, spec, layer_setup:Sequence[bool]) -> None:
+        super().__init__(spec=spec)
+        q_funcs = []
+        for i in layer_setup:
+            if i:
+                q_funcs.append(LayerHasResetMock())
+            else:
+                q_funcs.append(LayerNoResetMock())
+        self._impl = ImplMock(q_funcs=q_funcs)
+    
+
+
+def test_check_layer_resets():
+    algo = QLearningAlgoBaseMock(spec=QLearningAlgoBase, 
+                                 layer_setup=[True, True, False])
+    replay_ratio = 2
+    layer_reset_valid = [True, True, False]
+    pr = ParameterReset(
+        replay_ratio=replay_ratio, 
+        layer_reset=layer_reset_valid,
+        algo=algo
+        )
+    assert pr._check is True
+    
+    layer_reset_invalid = [True, True, True]
+    try:
+        pr = ParameterReset(
+            replay_ratio=replay_ratio, 
+            layer_reset=layer_reset_invalid,
+            algo=algo
+        )
+        raise Exception
+    except ValueError as e:
+        assert True
+    
+    layer_reset_long = [True, True, True, False]
+    try:
+        pr = ParameterReset(
+            replay_ratio=replay_ratio, 
+            layer_reset=layer_reset_long,
+            algo=algo
+        )
+        raise Exception
+    except ValueError as e:
+        assert True
+    
+    layer_reset_shrt = [True, True]
+    try:
+        pr = ParameterReset(
+            replay_ratio=replay_ratio, 
+            layer_reset=layer_reset_shrt,
+            algo=algo
+        )
+        raise Exception
+    except ValueError as e:
+        assert True
+    
+
+def test_call():
+    algo = QLearningAlgoBaseMock(spec=QLearningAlgoBase, 
+                                 layer_setup=[True, True, False])
+    replay_ratio = 2
+    layer_reset_valid = [True, True, False]
+    pr = ParameterReset(
+        replay_ratio=replay_ratio, 
+        layer_reset=layer_reset_valid,
+        algo=algo
+        )
+    pr(algo=algo, epoch=1, total_step=100)
+    pr(algo=algo, epoch=2, total_step=100)
+    
+    pr = ParameterReset(
+        replay_ratio=replay_ratio, 
+        layer_reset=layer_reset_valid,
+        )
+    pr(algo=algo, epoch=1, total_step=100)
+    pr(algo=algo, epoch=2, total_step=100)
\ No newline at end of file