diff --git a/d3rlpy/dataset/transition_pickers.py b/d3rlpy/dataset/transition_pickers.py
index 146a413e..c40533d2 100644
--- a/d3rlpy/dataset/transition_pickers.py
+++ b/d3rlpy/dataset/transition_pickers.py
@@ -1,6 +1,9 @@
+import dataclasses
+
 import numpy as np
 from typing_extensions import Protocol
 
+from ..types import Float32NDArray
 from .components import EpisodeBase, Transition
 from .utils import (
     create_zero_observation,
@@ -11,6 +14,7 @@
 __all__ = [
     "TransitionPickerProtocol",
     "BasicTransitionPicker",
+    "SparseRewardTransitionPicker",
     "FrameStackTransitionPicker",
     "MultiStepTransitionPicker",
 ]
@@ -65,6 +69,37 @@ def __call__(self, episode: EpisodeBase, index: int) -> Transition:
         )
 
 
+class SparseRewardTransitionPicker(TransitionPickerProtocol):
+    r"""Sparse reward transition picker.
+
+    This class extends BasicTransitionPicker to handle special returns_to_go
+    calculation mainly used in AntMaze environments.
+
+    Args:
+        horizon_length (int): Length to repeat rewards_to_go.
+        step_reward (float): Immediate step reward value in sparse reward
+            setting.
+    """
+
+    def __init__(self, horizon_length: int, step_reward: float = 0.0):
+        self._horizon_length = horizon_length
+        self._step_reward = step_reward
+        self._transition_picker = BasicTransitionPicker()
+
+    def __call__(self, episode: EpisodeBase, index: int) -> Transition:
+        transition = self._transition_picker(episode, index)
+        if np.all(transition.rewards_to_go == self._step_reward):
+            extended_rewards_to_go: Float32NDArray = np.array(
+                [[self._step_reward]] * self._horizon_length,
+                dtype=np.float32,
+            )
+            transition = dataclasses.replace(
+                transition,
+                rewards_to_go=extended_rewards_to_go,
+            )
+        return transition
+
+
 class FrameStackTransitionPicker(TransitionPickerProtocol):
     r"""Frame-stacking transition picker.
 
diff --git a/reproductions/finetuning/cal_ql_finetune.py b/reproductions/finetuning/cal_ql_finetune.py
index 3e5beb90..7e9f0077 100644
--- a/reproductions/finetuning/cal_ql_finetune.py
+++ b/reproductions/finetuning/cal_ql_finetune.py
@@ -12,7 +12,13 @@ def main() -> None:
     parser.add_argument("--gpu", type=int)
     args = parser.parse_args()
 
-    dataset, env = d3rlpy.datasets.get_d4rl(args.dataset)
+    dataset, env = d3rlpy.datasets.get_d4rl(
+        args.dataset,
+        transition_picker=d3rlpy.dataset.SparseRewardTransitionPicker(
+            horizon_length=100,
+            step_reward=0,
+        ),
+    )
 
     # fix seed
     d3rlpy.seed(args.seed)
diff --git a/tests/dataset/test_transition_pickers.py b/tests/dataset/test_transition_pickers.py
index c7c88bc9..7944c9ea 100644
--- a/tests/dataset/test_transition_pickers.py
+++ b/tests/dataset/test_transition_pickers.py
@@ -1,3 +1,5 @@
+import dataclasses
+
 import numpy as np
 import pytest
 
@@ -5,6 +7,7 @@
     BasicTransitionPicker,
     FrameStackTransitionPicker,
     MultiStepTransitionPicker,
+    SparseRewardTransitionPicker,
 )
 from d3rlpy.types import Shape
 
@@ -185,3 +188,40 @@ def test_multi_step_transition_picker(
     assert np.allclose(transition.rewards_to_go, episode.rewards[-n_steps:])
     assert transition.interval == n_steps
     assert transition.terminal == 1.0
+
+
+@pytest.mark.parametrize("observation_shape", [(4,), ((4,), (8,))])
+@pytest.mark.parametrize("action_size", [2])
+@pytest.mark.parametrize("length", [100])
+@pytest.mark.parametrize("horizon_length", [1000])
+@pytest.mark.parametrize("step_reward", [0.0])
+@pytest.mark.parametrize("success", [False, True])
+def test_sparse_reward_transition_picker(
+    observation_shape: Shape,
+    action_size: int,
+    length: int,
+    horizon_length: int,
+    step_reward: float,
+    success: bool,
+) -> None:
+    episode = create_episode(
+        observation_shape, action_size, length, terminated=True
+    )
+    if not success:
+        episode = dataclasses.replace(
+            episode,
+            rewards=np.zeros_like(episode.rewards),
+        )
+
+    picker = SparseRewardTransitionPicker(
+        horizon_length=horizon_length,
+        step_reward=step_reward,
+    )
+
+    transition = picker(episode, 0)
+
+    if success:
+        assert np.all(transition.rewards_to_go == episode.rewards)
+    else:
+        assert transition.rewards_to_go.shape == (horizon_length, 1)
+        assert np.all(transition.rewards_to_go == 0)