diff --git a/gymnasium/envs/mujoco/walker2d_v4.py b/gymnasium/envs/mujoco/walker2d_v4.py
index 204f17644..34238c195 100644
--- a/gymnasium/envs/mujoco/walker2d_v4.py
+++ b/gymnasium/envs/mujoco/walker2d_v4.py
@@ -270,6 +270,9 @@ def step(self, action):
         reward = rewards - costs
         terminated = self.terminated
         info = {
+            "reward_forward": forward_reward,
+            "reward_ctrl": -ctrl_cost,
+            "reward_survive": healthy_reward,
             "x_position": x_position_after,
             "x_velocity": x_velocity,
         }