diff --git a/source/isaaclab/isaaclab/envs/mdp/events.py b/source/isaaclab/isaaclab/envs/mdp/events.py
index 17c5f582d1e..5a6ec632d08 100644
--- a/source/isaaclab/isaaclab/envs/mdp/events.py
+++ b/source/isaaclab/isaaclab/envs/mdp/events.py
@@ -596,14 +596,16 @@ def randomize(data: torch.Tensor, params: tuple[float, float]) -> torch.Tensor:
                 actuator_indices = slice(None)
                 if isinstance(actuator.joint_indices, slice):
                     global_indices = slice(None)
+                elif isinstance(actuator.joint_indices, torch.Tensor):
+                    global_indices = actuator.joint_indices.to(self.asset.device)
                 else:
-                    global_indices = torch.tensor(actuator.joint_indices, device=self.asset.device)
+                    raise TypeError("Actuator joint indices must be a slice or a torch.Tensor.")
             elif isinstance(actuator.joint_indices, slice):
                 # we take the joints defined in the asset config
-                global_indices = actuator_indices = torch.tensor(self.asset_cfg.joint_ids, device=self.asset.device)
+                global_indices = torch.tensor(self.asset_cfg.joint_ids, device=self.asset.device)
             else:
                 # we take the intersection of the actuator joints and the asset config joints
-                actuator_joint_indices = torch.tensor(actuator.joint_indices, device=self.asset.device)
+                actuator_joint_indices = actuator.joint_indices
                 asset_joint_ids = torch.tensor(self.asset_cfg.joint_ids, device=self.asset.device)
                 # the indices of the joints in the actuator that have to be randomized
                 actuator_indices = torch.nonzero(torch.isin(actuator_joint_indices, asset_joint_ids)).view(-1)