diff --git a/.circleci/config.yml b/.circleci/config.yml
index 22447be442681c57313ea1c8cbff01fa4c876064..ad0e46f2e8fc978921994cc6204badf0fe1818b9 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -87,7 +87,7 @@ jobs:
                 chmod +x ~/miniconda.sh
                 ~/miniconda.sh -b -p $HOME/miniconda
                 rm ~/miniconda.sh
-                export PATH=$HOME/miniconda/bin:$PATH
+                export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
                 conda create -y -n habitat python=3.6
                 . activate habitat
                 conda install -q -y -c conda-forge ninja ccache numpy pytest pytest-mock
@@ -99,7 +99,7 @@ jobs:
           command: |
               if [ ! -f ~/miniconda/pytorch_installed ]
               then
-                export PATH=$HOME/miniconda/bin:$PATH
+                export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
                 . activate habitat;
                 conda install -c  conda-forge opencv -y
                 conda install -y pytorch torchvision cudatoolkit=10.0 -c pytorch
@@ -116,7 +116,7 @@ jobs:
       - run:
           name: CCache initialization
           command: |
-            export PATH=$HOME/miniconda/bin:$PATH
+            export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
             . activate habitat;
             ccache --show-stats
             ccache --zero-stats
@@ -126,7 +126,7 @@ jobs:
           no_output_timeout: 20m
           command: |
               while [ ! -f ./cuda_installed ]; do sleep 2; done # wait for CUDA
-              export PATH=$HOME/miniconda/bin:$PATH
+              export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
               . activate habitat;
               if [ ! -d ./habitat-sim ]
               then
@@ -139,7 +139,7 @@ jobs:
           name: Ccache stats
           when: always
           command: |
-            export PATH=$HOME/miniconda/bin:$PATH
+            export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
             . activate habitat;
             ccache --show-stats
       - run:
@@ -156,7 +156,7 @@ jobs:
           name: Run sim benchmark
           command: |
               while [ ! -f ./cuda_installed ]; do sleep 2; done # wait for CUDA
-              export PATH=$HOME/miniconda/bin:$PATH
+              export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
               . activate habitat; cd habitat-sim
               python examples/example.py --scene data/scene_datasets/habitat-test-scenes/van-gogh-room.glb --silent --test_fps_regression $FPS_THRESHOLD
       - save_cache:
@@ -173,7 +173,7 @@ jobs:
           name: Install api
           no_output_timeout: 20m
           command: |
-              export PATH=$HOME/miniconda/bin:$PATH
+              export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
               . activate habitat; cd habitat-api
               while [ ! -f ~/miniconda/pytorch_installed ]; do sleep 2; done # wait for Pytorch
               ln -s ../habitat-sim/data data
@@ -187,7 +187,7 @@ jobs:
       - run:
           name: Run api tests
           command: |
-              export PATH=$HOME/miniconda/bin:$PATH
+              export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
               . activate habitat; cd habitat-api
               python setup.py develop --all
               python setup.py test
diff --git a/habitat_baselines/agents/ppo_agents.py b/habitat_baselines/agents/ppo_agents.py
index d4bc64666a425b59d66d7c62be99b7ea5b7b3627..a4d39079bec1b07aba163ed1f7ea3f1b63b8664b 100644
--- a/habitat_baselines/agents/ppo_agents.py
+++ b/habitat_baselines/agents/ppo_agents.py
@@ -121,7 +121,12 @@ class PPOAgent(Agent):
             batch[sensor] = batch[sensor].to(self.device)
 
         with torch.no_grad():
-            _, actions, _, self.test_recurrent_hidden_states = self.actor_critic.act(
+            (
+                _,
+                actions,
+                _,
+                self.test_recurrent_hidden_states,
+            ) = self.actor_critic.act(
                 batch,
                 self.test_recurrent_hidden_states,
                 self.prev_actions,
diff --git a/habitat_baselines/rl/ppo/ppo_trainer.py b/habitat_baselines/rl/ppo/ppo_trainer.py
index 79dbfe6bb866c3c8f7b698a5467f274e3866ed92..c9bf606de11033e5a8f4bd0516240d9fb57ca2b3 100644
--- a/habitat_baselines/rl/ppo/ppo_trainer.py
+++ b/habitat_baselines/rl/ppo/ppo_trainer.py
@@ -272,7 +272,11 @@ class PPOTrainer(BaseRLTrainer):
                     )
 
                 for step in range(ppo_cfg.num_steps):
-                    delta_pth_time, delta_env_time, delta_steps = self._collect_rollout_step(
+                    (
+                        delta_pth_time,
+                        delta_env_time,
+                        delta_steps,
+                    ) = self._collect_rollout_step(
                         rollouts,
                         current_episode_reward,
                         episode_rewards,
@@ -282,9 +286,12 @@ class PPOTrainer(BaseRLTrainer):
                     env_time += delta_env_time
                     count_steps += delta_steps
 
-                delta_pth_time, value_loss, action_loss, dist_entropy = self._update_agent(
-                    ppo_cfg, rollouts
-                )
+                (
+                    delta_pth_time,
+                    value_loss,
+                    action_loss,
+                    dist_entropy,
+                ) = self._update_agent(ppo_cfg, rollouts)
                 pth_time += delta_pth_time
 
                 window_episode_reward.append(episode_rewards.clone())
@@ -442,7 +449,12 @@ class PPOTrainer(BaseRLTrainer):
             current_episodes = self.envs.current_episodes()
 
             with torch.no_grad():
-                _, actions, _, test_recurrent_hidden_states = self.actor_critic.act(
+                (
+                    _,
+                    actions,
+                    _,
+                    test_recurrent_hidden_states,
+                ) = self.actor_critic.act(
                     batch,
                     test_recurrent_hidden_states,
                     prev_actions,