diff --git a/envpool/minigrid/BUILD b/envpool/minigrid/BUILD
index 1ae60e13..d7d2795f 100644
--- a/envpool/minigrid/BUILD
+++ b/envpool/minigrid/BUILD
@@ -20,11 +20,14 @@ package(default_visibility = ["//visibility:public"])
 cc_library(
     name = "minigrid_env",
     srcs = [
+        "impl/minigrid_doorkey_env.cc",
         "impl/minigrid_empty_env.cc",
         "impl/minigrid_env.cc",
     ],
     hdrs = [
+        "doorkey.h",
         "empty.h",
+        "impl/minigrid_doorkey_env.h",
         "impl/minigrid_empty_env.h",
         "impl/minigrid_env.h",
         "impl/utils.h",
diff --git a/envpool/minigrid/doorkey.h b/envpool/minigrid/doorkey.h
new file mode 100644
index 00000000..dd57730d
--- /dev/null
+++ b/envpool/minigrid/doorkey.h
@@ -0,0 +1,92 @@
+/*
+ * Copyright 2023 Garena Online Private Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ENVPOOL_MINIGRID_DOORKEY_H_
+#define ENVPOOL_MINIGRID_DOORKEY_H_
+
+#include <utility>
+
+#include "envpool/core/async_envpool.h"
+#include "envpool/core/env.h"
+#include "envpool/minigrid/impl/minigrid_doorkey_env.h"
+#include "envpool/minigrid/impl/minigrid_env.h"
+
+namespace minigrid {
+
+class DoorKeyEnvFns {
+ public:
+  static decltype(auto) DefaultConfig() {
+    return MakeDict("size"_.Bind(8),
+                    "agent_start_pos"_.Bind(std::pair<int, int>(-1, -1)),
+                    "agent_start_dir"_.Bind(-1), "agent_view_size"_.Bind(7));
+  }
+  template <typename Config>
+  static decltype(auto) StateSpec(const Config& conf) {
+    int agent_view_size = conf["agent_view_size"_];
+    int size = conf["size"_];
+    return MakeDict("obs:direction"_.Bind(Spec<int>({-1}, {0, 3})),
+                    "obs:image"_.Bind(Spec<uint8_t>(
+                        {agent_view_size, agent_view_size, 3}, {0, 255})),
+                    "info:agent_pos"_.Bind(Spec<int>({2}, {0, size})));
+  }
+  template <typename Config>
+  static decltype(auto) ActionSpec(const Config& conf) {
+    return MakeDict("action"_.Bind(Spec<int>({-1}, {0, 6})));
+  }
+};
+
+using DoorKeyEnvSpec = EnvSpec<DoorKeyEnvFns>;
+using FrameSpec = Spec<uint8_t>;
+
+class DoorKeyEnv : public Env<DoorKeyEnvSpec>, public MiniGridDoorKeyEnv {
+ public:
+  DoorKeyEnv(const Spec& spec, int env_id)
+      : Env<DoorKeyEnvSpec>(spec, env_id),
+        MiniGridDoorKeyEnv(
+            spec.config["size"_], spec.config["agent_start_pos"_],
+            spec.config["agent_start_dir"_], spec.config["max_episode_steps"_],
+            spec.config["agent_view_size"_]) {
+    gen_ref_ = &gen_;
+  }
+
+  bool IsDone() override { return done_; }
+
+  void Reset() override {
+    MiniGridReset();
+    WriteState(0.0);
+  }
+
+  void Step(const Action& action) override {
+    int act = action["action"_];
+    WriteState(MiniGridStep(static_cast<Act>(act)));
+  }
+
+ private:
+  void WriteState(float reward) {
+    State state = Allocate();
+    GenImage(state["obs:image"_]);
+    state["obs:direction"_] = agent_dir_;
+    state["reward"_] = reward;
+    state["info:agent_pos"_](0) = agent_pos_.first;
+    state["info:agent_pos"_](1) = agent_pos_.second;
+  }
+};
+
+using DoorKeyEnvPool = AsyncEnvPool<DoorKeyEnv>;
+
+}  // namespace minigrid
+
+#endif  // ENVPOOL_MINIGRID_DOORKEY_H_
diff --git a/envpool/minigrid/impl/minigrid_doorkey_env.cc b/envpool/minigrid/impl/minigrid_doorkey_env.cc
new file mode 100644
index 00000000..0f473365
--- /dev/null
+++ b/envpool/minigrid/impl/minigrid_doorkey_env.cc
@@ -0,0 +1,75 @@
+// Copyright 2023 Garena Online Private Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//      http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "envpool/minigrid/impl/minigrid_doorkey_env.h"
+
+#include <utility>
+#include <vector>
+
+namespace minigrid {
+
+MiniGridDoorKeyEnv::MiniGridDoorKeyEnv(int size,
+                                       std::pair<int, int> agent_start_pos,
+                                       int agent_start_dir, int max_steps,
+                                       int agent_view_size) {
+  width_ = size;
+  height_ = size;
+  agent_start_pos_ = agent_start_pos;
+  agent_start_dir_ = agent_start_dir;
+  see_through_walls_ = false;
+  max_steps_ = max_steps;
+  agent_view_size_ = agent_view_size;
+}
+
+void MiniGridDoorKeyEnv::GenGrid() {
+  grid_.clear();
+  for (int i = 0; i < height_; ++i) {
+    std::vector<WorldObj> temp_vec(width_);
+    for (int j = 0; j < width_; ++j) {
+      temp_vec[j] = WorldObj(kEmpty);
+    }
+    grid_.emplace_back(temp_vec);
+  }
+  // generate the surrounding walls
+  for (int i = 0; i < width_; ++i) {
+    grid_[0][i] = WorldObj(kWall, kGrey);
+    grid_[height_ - 1][i] = WorldObj(kWall, kGrey);
+  }
+  for (int i = 0; i < height_; ++i) {
+    grid_[i][0] = WorldObj(kWall, kGrey);
+    grid_[i][width_ - 1] = WorldObj(kWall, kGrey);
+  }
+  // place a goal square in the bottom-right corner
+  grid_[height_ - 2][width_ - 2] = WorldObj(kGoal, kGreen);
+  // generate a vertical splitting wall
+  std::uniform_int_distribution<> x_dist(2, width_ - 3);
+  int x = x_dist(*gen_ref_);
+  for (int y = 0; y < height_; ++y) {
+    grid_[y][x] = WorldObj(kWall, kGrey);
+  }
+  // place the agent at a random position and orientation
+  // on the left side of the splitting wall
+  PlaceAgent(1, 1, x - 1, height_ - 2);
+  // place a door in the wall
+  std::uniform_int_distribution<> y_dist(1, height_ - 3);
+  int door_idx = y_dist(*gen_ref_);
+  grid_[door_idx][x] = WorldObj(kDoor, kYellow);
+  grid_[door_idx][x].SetDoorLocked(true);
+  grid_[door_idx][x].SetDoorOpen(false);
+  // place a yellow key on the left side
+  auto pos = PlaceObject(1, 1, x - 1, height_ - 2);
+  grid_[pos.second][pos.first] = WorldObj(kKey, kYellow);
+}
+
+}  // namespace minigrid
diff --git a/envpool/minigrid/impl/minigrid_doorkey_env.h b/envpool/minigrid/impl/minigrid_doorkey_env.h
new file mode 100644
index 00000000..4f5b091b
--- /dev/null
+++ b/envpool/minigrid/impl/minigrid_doorkey_env.h
@@ -0,0 +1,35 @@
+/*
+ * Copyright 2023 Garena Online Private Limited
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef ENVPOOL_MINIGRID_IMPL_MINIGRID_DOORKEY_ENV_H_
+#define ENVPOOL_MINIGRID_IMPL_MINIGRID_DOORKEY_ENV_H_
+
+#include <utility>
+
+#include "envpool/minigrid/impl/minigrid_env.h"
+
+namespace minigrid {
+
+class MiniGridDoorKeyEnv : public MiniGridEnv {
+ public:
+  MiniGridDoorKeyEnv(int size, std::pair<int, int> agent_start_pos,
+                     int agent_start_dir, int max_steps, int agent_view_size);
+  void GenGrid() override;
+};
+
+}  // namespace minigrid
+
+#endif  // ENVPOOL_MINIGRID_IMPL_MINIGRID_DOORKEY_ENV_H_
diff --git a/envpool/minigrid/impl/minigrid_env.cc b/envpool/minigrid/impl/minigrid_env.cc
index c2ac26e6..152af5f4 100644
--- a/envpool/minigrid/impl/minigrid_env.cc
+++ b/envpool/minigrid/impl/minigrid_env.cc
@@ -136,23 +136,41 @@ void MiniGridEnv::PlaceAgent(int start_x, int start_y, int end_x, int end_y) {
   end_x = (end_x == -1) ? width_ - 1 : end_x;
   end_y = (end_y == -1) ? height_ - 1 : end_y;
   CHECK(start_x <= end_x && start_y <= end_y);
+  agent_pos_.first = -1;
+  agent_pos_.second = -1;
+  auto pos = PlaceObject(start_x, start_y, end_x, end_y);
+  agent_pos_.first = pos.first;
+  agent_pos_.second = pos.second;
+  // Randomly select a direction
+  if (agent_start_dir_ == -1) {
+    std::uniform_int_distribution<> dir_dist(0, 3);
+    agent_dir_ = dir_dist(*gen_ref_);
+  }
+}
+
+// place an object where x-index in [start_x, end_x] and y-index in [start_y,
+// end_y] return the desired position (x, y)
+std::pair<int, int> MiniGridEnv::PlaceObject(int start_x, int start_y,
+                                             int end_x, int end_y) {
+  std::pair<int, int> result;
   std::uniform_int_distribution<> x_dist(start_x, end_x);
   std::uniform_int_distribution<> y_dist(start_y, end_y);
   while (true) {
     int x = x_dist(*gen_ref_);
     int y = y_dist(*gen_ref_);
+    // don't place the objwct on top of another object
     if (grid_[y][x].GetType() != kEmpty) {
       continue;
     }
-    agent_pos_.first = x;
-    agent_pos_.second = y;
+    // don't place the object where the agent is
+    if (agent_pos_.first == x && agent_pos_.second == y) {
+      continue;
+    }
+    result.first = x;
+    result.second = y;
     break;
   }
-  // Randomly select a direction
-  if (agent_start_dir_ == -1) {
-    std::uniform_int_distribution<> dir_dist(0, 3);
-    agent_dir_ = dir_dist(*gen_ref_);
-  }
+  return result;
 }
 
 void MiniGridEnv::GenImage(const Array& obs) {
@@ -213,8 +231,44 @@ void MiniGridEnv::GenImage(const Array& obs) {
     std::fill(row.begin(), row.end(), 0);
   }
   if (!see_through_walls_) {
-    // TODO(siping): Process_vis
     vis_mask[agent_pos_y][agent_pos_x] = true;
+    for (int j = agent_view_size_ - 1; j >= 0; --j) {
+      // left -> right
+      for (int i = 0; i <= agent_view_size_ - 2; ++i) {
+        if (!vis_mask[j][i]) {
+          continue;
+        }
+        if (!agent_view_grid[j][i].CanSeeBehind()) {
+          continue;
+        }
+        vis_mask[j][i + 1] = true;
+        if (j > 0) {
+          vis_mask[j - 1][i + 1] = true;
+          vis_mask[j - 1][i] = true;
+        }
+      }
+      // right -> left
+      for (int i = agent_view_size_ - 1; i >= 1; --i) {
+        if (!vis_mask[j][i]) {
+          continue;
+        }
+        if (!agent_view_grid[j][i].CanSeeBehind()) {
+          continue;
+        }
+        vis_mask[j][i - 1] = true;
+        if (j > 0) {
+          vis_mask[j - 1][i - 1] = true;
+          vis_mask[j - 1][i] = true;
+        }
+      }
+    }
+    for (int j = 0; j < agent_view_size_; ++j) {
+      for (int i = 0; i < agent_view_size_; ++i) {
+        if (!vis_mask[j][i]) {
+          agent_view_grid[j][i] = WorldObj(kEmpty);
+        }
+      }
+    }
   } else {
     for (auto& row : vis_mask) {
       std::fill(row.begin(), row.end(), 1);
diff --git a/envpool/minigrid/impl/minigrid_env.h b/envpool/minigrid/impl/minigrid_env.h
index fadf8de0..e7dd6ff7 100644
--- a/envpool/minigrid/impl/minigrid_env.h
+++ b/envpool/minigrid/impl/minigrid_env.h
@@ -49,6 +49,8 @@ class MiniGridEnv {
   float MiniGridStep(Act act);
   void PlaceAgent(int start_x = 0, int start_y = 0, int end_x = -1,
                   int end_y = -1);
+  std::pair<int, int> PlaceObject(int start_x, int start_y, int end_x,
+                                  int end_y);
   void GenImage(const Array& obs);
   virtual void GenGrid() {}
 };
diff --git a/envpool/minigrid/impl/utils.h b/envpool/minigrid/impl/utils.h
index 328146fa..5ff25c79 100644
--- a/envpool/minigrid/impl/utils.h
+++ b/envpool/minigrid/impl/utils.h
@@ -125,7 +125,7 @@ class WorldObj {
   [[nodiscard]] bool GetDoorOpen() const { return door_open_; }
   void SetDoorOpen(bool flag) { door_open_ = flag; }
   [[nodiscard]] bool GetDoorLocked() const { return door_locked_; }
-  void SetDoorLocker(bool flag) { door_locked_ = flag; }
+  void SetDoorLocked(bool flag) { door_locked_ = flag; }
   Type GetType() { return type_; }
   Color GetColor() { return color_; }
   int GetState() {
diff --git a/envpool/minigrid/minigrid.cc b/envpool/minigrid/minigrid.cc
index d0af3d07..e035ba93 100644
--- a/envpool/minigrid/minigrid.cc
+++ b/envpool/minigrid/minigrid.cc
@@ -13,9 +13,16 @@
 // limitations under the License.
 
 #include "envpool/core/py_envpool.h"
+#include "envpool/minigrid/doorkey.h"
 #include "envpool/minigrid/empty.h"
 
 using EmptyEnvSpec = PyEnvSpec<minigrid::EmptyEnvSpec>;
 using EmptyEnvPool = PyEnvPool<minigrid::EmptyEnvPool>;
 
-PYBIND11_MODULE(minigrid_envpool, m) { REGISTER(m, EmptyEnvSpec, EmptyEnvPool) }
+using DoorKeyEnvSpec = PyEnvSpec<minigrid::DoorKeyEnvSpec>;
+using DoorKeyEnvPool = PyEnvPool<minigrid::DoorKeyEnvPool>;
+
+PYBIND11_MODULE(minigrid_envpool, m) {
+  REGISTER(m, EmptyEnvSpec, EmptyEnvPool)
+  REGISTER(m, DoorKeyEnvSpec, DoorKeyEnvPool)
+}
diff --git a/envpool/minigrid/registration.py b/envpool/minigrid/registration.py
index 03d586f8..43540b0e 100644
--- a/envpool/minigrid/registration.py
+++ b/envpool/minigrid/registration.py
@@ -84,3 +84,14 @@
   max_episode_steps=1024,
   size=16,
 )
+
+register(
+  task_id="MiniGrid-DoorKey-5x5-v0",
+  import_path="envpool.minigrid",
+  spec_cls="DoorKeyEnvSpec",
+  dm_cls="DoorKeyDMEnvPool",
+  gym_cls="DoorKeyGymEnvPool",
+  gymnasium_cls="DoorKeyGymnasiumEnvPool",
+  max_episode_steps=250,
+  size=5,
+)