Repository: DLR-RM/rl-baselines3-zoo (language: python)

Issue:
Commit message of utils.push_to_hub is always "Initial commit"
**Describe the bug**
The commit message of the hugginface upload is always "Initial commit" even when an upload is run multiple times. This can be confusing when looking at the commit history of the HF repo.

**Code example**
Run this command twice and then look at the resulting HF repo:
```
python -m utils.push_to_hub --algo ppo --env <some_env> -orga <some_orga>
```


Discussion / hints:
good point adding a `-m` argument should solve this issue.

Fix patch:
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 3de7cd337..512bbbd13 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -14,6 +14,7 @@ pytest:
   # MKL_THREADING_LAYER=GNU to avoid MKL_THREADING_LAYER=INTEL incompatibility error
   # tmp fix to have RecurrentPPO, will be fixed with new image
   - pip install git+https://github.com/Stable-Baselines-Team/stable-baselines3-contrib
+  - pip install git+https://github.com/huggingface/huggingface_sb3
   - MKL_THREADING_LAYER=GNU make pytest
   coverage: '/^TOTAL.+?(\d+\%)$/'
 
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 1b00e57e5..4828362d9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,7 @@
 - Added `vec_env_wrapper` support in the config (works the same as `env_wrapper`)
 - Added Huggingface hub integration
 - Added `RecurrentPPO` support (aka `ppo_lstm`)
+- Added autodownload for "official" sb3 models from the hub
 
 ### Bug fixes
 - Fix `Reacher-v3` name in PPO hyperparameter file
diff --git a/README.md b/README.md
index 991288065..e71ba417a 100644
--- a/README.md
+++ b/README.md
@@ -148,8 +148,9 @@ python enjoy.py --algo algo_name --env env_id -f logs/ --exp-id 1 --load-last-ch
 
 Upload model to hub (same syntax as for `enjoy.py`):
 ```
-python -m utils.push_to_hub --algo ppo --env CartPole-v1 -f logs/ -orga sb3
+python -m utils.push_to_hub --algo ppo --env CartPole-v1 -f logs/ -orga sb3 -m "Initial commit"
 ```
+you can choose custom `repo-name` (default: `{algo}-{env_id}`) by passing a `--repo-name` argument.
 
 Download model from hub:
 ```
@@ -334,6 +335,8 @@ python -m utils.record_training --algo ppo --env CartPole-v1 -n 1000 -f logs --d
 
 Final performance of the trained agents can be found in [`benchmark.md`](./benchmark.md). To compute them, simply run `python -m utils.benchmark`.
 
+List and videos of trained agents can be found on our Huggingface page: https://huggingface.co/sb3
+
 *NOTE: this is not a quantitative benchmark as it corresponds to only one run (cf [issue #38](https://github.com/araffin/rl-baselines-zoo/issues/38)). This benchmark is meant to check algorithm (maximal) performance, find potential bugs and also allow users to have access to pretrained agents.*
 
 ### Atari Games
diff --git a/benchmark.md b/benchmark.md
index d50f5c1d7..61c5239ac 100644
--- a/benchmark.md
+++ b/benchmark.md
@@ -8,6 +8,9 @@ during this evaluation.
 
 It uses the deterministic policy except for Atari games.
 
+You can view each model card (it includes video and hyperparameters)
+on our Huggingface page: https://huggingface.co/sb3
+
 *NOTE: this is not a quantitative benchmark as it corresponds to only one run
 (cf [issue #38](https://github.com/araffin/rl-baselines-zoo/issues/38)).
 This benchmark is meant to check algorithm (maximal) performance, find potential bugs
@@ -15,181 +18,185 @@ and also allow users to have access to pretrained agents.*
 
 "M" stands for Million (1e6)
 
-|algo |          env_id           |mean_reward|std_reward|n_timesteps|eval_timesteps|eval_episodes|
-|-----|---------------------------|----------:|---------:|-----------|-------------:|------------:|
-|a2c  |Acrobot-v1                 |    -83.353|    17.213|500k       |        149979|         1778|
-|a2c  |AntBulletEnv-v0            |   2497.147|    37.359|2M         |        150000|          150|
-|a2c  |AsteroidsNoFrameskip-v4    |   1286.550|   423.750|10M        |        614138|          258|
-|a2c  |BeamRiderNoFrameskip-v4    |   2890.298|  1379.137|10M        |        591104|           47|
-|a2c  |BipedalWalker-v3           |    299.754|    23.459|5M         |        149287|          208|
-|a2c  |BipedalWalkerHardcore-v3   |     96.171|   122.943|200M       |        149704|          113|
-|a2c  |BreakoutNoFrameskip-v4     |    279.793|   122.177|10M        |        604115|           82|
-|a2c  |CartPole-v1                |    500.000|     0.000|500k       |        150000|          300|
-|a2c  |EnduroNoFrameskip-v4       |      0.000|     0.000|10M        |        599040|           45|
-|a2c  |HalfCheetah-v3             |   3041.174|   157.265|1M         |        150000|          150|
-|a2c  |HalfCheetahBulletEnv-v0    |   2107.384|    36.008|2M         |        150000|          150|
-|a2c  |Hopper-v3                  |    733.454|   376.574|1M         |        149987|          580|
-|a2c  |HopperBulletEnv-v0         |    815.355|   313.798|2M         |        149541|          254|
-|a2c  |LunarLander-v2             |    155.751|    80.419|200k       |        149443|          297|
-|a2c  |LunarLanderContinuous-v2   |     84.225|   145.906|5M         |        149305|          256|
-|a2c  |MountainCar-v0             |   -111.263|    24.087|1M         |        149982|         1348|
-|a2c  |MountainCarContinuous-v0   |     91.166|     0.255|100k       |        149923|         1659|
-|a2c  |Pendulum-v1                |   -162.965|   103.210|1M         |        150000|          750|
-|a2c  |PongNoFrameskip-v4         |     17.292|     3.214|10M        |        594910|           65|
-|a2c  |QbertNoFrameskip-v4        |   3882.345|  1223.327|10M        |        610670|          194|
-|a2c  |ReacherBulletEnv-v0        |     14.968|    10.978|2M         |        150000|         1000|
-|a2c  |RoadRunnerNoFrameskip-v4   |  31671.512|  6364.085|10M        |        606710|          172|
-|a2c  |SeaquestNoFrameskip-v4     |   1721.493|   105.339|10M        |        599691|           67|
-|a2c  |SpaceInvadersNoFrameskip-v4|    627.160|   201.974|10M        |        604848|          162|
-|a2c  |Swimmer-v3                 |    200.627|     2.544|1M         |        150000|          150|
-|a2c  |Walker2DBulletEnv-v0       |    858.209|   333.116|2M         |        149156|          173|
-|ars  |Acrobot-v1                 |    -82.884|    23.825|500k       |        149985|         1788|
-|ars  |Ant-v3                     |   2333.773|    20.597|75M        |        150000|          150|
-|ars  |CartPole-v1                |    500.000|     0.000|50k        |        150000|          300|
-|ars  |HalfCheetah-v3             |   4815.192|  1340.752|12M        |        150000|          150|
-|ars  |Hopper-v3                  |   3343.919|     5.730|7M         |        150000|          150|
-|ars  |LunarLanderContinuous-v2   |    167.959|   147.071|2M         |        149883|          562|
-|ars  |MountainCar-v0             |   -122.000|    33.456|500k       |        149938|         1229|
-|ars  |MountainCarContinuous-v0   |     96.672|     0.784|500k       |        149990|          621|
-|ars  |Pendulum-v1                |   -212.540|   160.444|2M         |        150000|          750|
-|ars  |Swimmer-v3                 |    355.267|    12.796|2M         |        150000|          150|
-|ars  |Walker2d-v3                |   2993.582|   166.289|75M        |        149821|          152|
-|ddpg |AntBulletEnv-v0            |   2399.147|    75.410|1M         |        150000|          150|
-|ddpg |BipedalWalker-v3           |    197.486|   141.580|1M         |        149237|          227|
-|ddpg |HalfCheetahBulletEnv-v0    |   2078.325|   208.379|1M         |        150000|          150|
-|ddpg |HopperBulletEnv-v0         |   1157.065|   448.695|1M         |        149565|          346|
-|ddpg |LunarLanderContinuous-v2   |    230.217|    92.372|300k       |        149862|          556|
-|ddpg |MountainCarContinuous-v0   |     93.512|     0.048|300k       |        149965|         2260|
-|ddpg |Pendulum-v1                |   -152.099|    94.282|20k        |        150000|          750|
-|ddpg |ReacherBulletEnv-v0        |     15.582|     9.606|300k       |        150000|         1000|
-|ddpg |Walker2DBulletEnv-v0       |   1387.591|   736.955|1M         |        149051|          208|
-|dqn  |Acrobot-v1                 |    -76.639|    11.752|100k       |        149998|         1932|
-|dqn  |AsteroidsNoFrameskip-v4    |    782.687|   259.247|10M        |        607962|          134|
-|dqn  |BeamRiderNoFrameskip-v4    |   4295.946|  1790.458|10M        |        600832|           37|
-|dqn  |BreakoutNoFrameskip-v4     |    358.327|    61.981|10M        |        601461|           55|
-|dqn  |CartPole-v1                |    500.000|     0.000|50k        |        150000|          300|
-|dqn  |EnduroNoFrameskip-v4       |    830.929|   194.544|10M        |        599040|           14|
-|dqn  |LunarLander-v2             |    154.382|    79.241|100k       |        149373|          200|
-|dqn  |MountainCar-v0             |   -100.849|     9.925|120k       |        149962|         1487|
-|dqn  |PongNoFrameskip-v4         |     20.602|     0.613|10M        |        598998|           88|
-|dqn  |QbertNoFrameskip-v4        |   9496.774|  5399.633|10M        |        605844|          124|
-|dqn  |RoadRunnerNoFrameskip-v4   |  40396.350|  7069.131|10M        |        603257|          137|
-|dqn  |SeaquestNoFrameskip-v4     |   2000.290|   606.644|10M        |        599505|           69|
-|dqn  |SpaceInvadersNoFrameskip-v4|    622.742|   201.564|10M        |        604311|          155|
-|ppo  |Acrobot-v1                 |    -73.506|    18.201|1M         |        149979|         2013|
-|ppo  |Ant-v3                     |   1327.158|   451.577|1M         |        149572|          175|
-|ppo  |AntBulletEnv-v0            |   2865.922|    56.468|2M         |        150000|          150|
-|ppo  |AsteroidsNoFrameskip-v4    |   2156.174|   744.640|10M        |        602092|          149|
-|ppo  |BeamRiderNoFrameskip-v4    |   3397.000|  1662.368|10M        |        598926|           46|
-|ppo  |BipedalWalker-v3           |    213.299|   129.490|5M         |        149826|          233|
-|ppo  |BipedalWalkerHardcore-v3   |    122.374|   117.605|100M       |        148036|          105|
-|ppo  |BreakoutNoFrameskip-v4     |    398.033|    33.328|10M        |        600418|           60|
-|ppo  |CartPole-v1                |    500.000|     0.000|100k       |        150000|          300|
-|ppo  |EnduroNoFrameskip-v4       |    996.364|   176.090|10M        |        572416|           11|
-|ppo  |HalfCheetah-v3             |   5819.099|   663.530|1M         |        150000|          150|
-|ppo  |HalfCheetahBulletEnv-v0    |   2924.721|    64.465|2M         |        150000|          150|
-|ppo  |Hopper-v3                  |   2410.435|    10.026|1M         |        150000|          150|
-|ppo  |HopperBulletEnv-v0         |   2575.054|   223.301|2M         |        149094|          152|
-|ppo  |LunarLander-v2             |    242.119|    31.823|1M         |        149636|          369|
-|ppo  |LunarLanderContinuous-v2   |    270.863|    32.072|1M         |        149956|          526|
-|ppo  |MountainCar-v0             |   -110.423|    19.473|1M         |        149954|         1358|
-|ppo  |MountainCarContinuous-v0   |     88.343|     2.572|20k        |        149983|          633|
-|ppo  |Pendulum-v1                |   -172.225|   104.159|100k       |        150000|          750|
-|ppo  |PongNoFrameskip-v4         |     20.989|     0.105|10M        |        599902|           90|
-|ppo  |QbertNoFrameskip-v4        |  15627.108|  3313.538|10M        |        600248|           83|
-|ppo  |ReacherBulletEnv-v0        |     17.091|    11.048|1M         |        150000|         1000|
-|ppo  |RoadRunnerNoFrameskip-v4   |  40680.645|  6675.058|10M        |        605786|          155|
-|ppo  |SeaquestNoFrameskip-v4     |   1783.636|    34.096|10M        |        598243|           66|
-|ppo  |SpaceInvadersNoFrameskip-v4|    960.331|   425.355|10M        |        603771|          136|
-|ppo  |Swimmer-v3                 |    281.561|     9.671|1M         |        150000|          150|
-|ppo  |Walker2DBulletEnv-v0       |   2109.992|    13.899|2M         |        150000|          150|
-|ppo  |Walker2d-v3                |   3478.798|   821.708|1M         |        149343|          171|
-|qrdqn|Acrobot-v1                 |    -69.135|     9.967|100k       |        149949|         2138|
-|qrdqn|AsteroidsNoFrameskip-v4    |   2185.303|  1097.172|10M        |        599784|           66|
-|qrdqn|BeamRiderNoFrameskip-v4    |  17122.941| 10769.997|10M        |        596483|           17|
-|qrdqn|BreakoutNoFrameskip-v4     |    393.600|    79.828|10M        |        579711|           40|
-|qrdqn|CartPole-v1                |    500.000|     0.000|50k        |        150000|          300|
-|qrdqn|EnduroNoFrameskip-v4       |   3231.200|  1311.801|10M        |        585728|            5|
-|qrdqn|LunarLander-v2             |     70.236|   225.491|100k       |        149957|          522|
-|qrdqn|MountainCar-v0             |   -106.042|    15.536|120k       |        149943|         1414|
-|qrdqn|PongNoFrameskip-v4         |     20.492|     0.687|10M        |        597443|           63|
-|qrdqn|QbertNoFrameskip-v4        |  14799.728|  2917.629|10M        |        600773|           92|
-|qrdqn|RoadRunnerNoFrameskip-v4   |  42325.424|  8361.161|10M        |        591016|           59|
-|qrdqn|SeaquestNoFrameskip-v4     |   2557.576|    76.951|10M        |        596275|           66|
-|qrdqn|SpaceInvadersNoFrameskip-v4|   1899.928|   823.488|10M        |        597218|           69|
-|sac  |Ant-v3                     |   4615.791|  1354.111|1M         |        149074|          165|
-|sac  |AntBulletEnv-v0            |   3073.114|   175.148|1M         |        150000|          150|
-|sac  |BipedalWalker-v3           |    297.668|    33.060|500k       |        149530|          136|
-|sac  |BipedalWalkerHardcore-v3   |      4.423|   103.910|10M        |        149794|           88|
-|sac  |HalfCheetah-v3             |   9535.451|   100.470|1M         |        150000|          150|
-|sac  |HalfCheetahBulletEnv-v0    |   2792.170|    12.088|1M         |        150000|          150|
-|sac  |Hopper-v3                  |   2325.547|  1129.676|1M         |        149841|          236|
-|sac  |HopperBulletEnv-v0         |   2603.494|   164.322|1M         |        149724|          151|
-|sac  |Humanoid-v3                |   6232.287|   279.885|2M         |        149460|          150|
-|sac  |LunarLanderContinuous-v2   |    260.390|    65.467|500k       |        149634|          672|
-|sac  |MountainCarContinuous-v0   |     94.679|     1.134|50k        |        149966|         1443|
-|sac  |Pendulum-v1                |   -156.995|    88.714|20k        |        150000|          750|
-|sac  |ReacherBulletEnv-v0        |     18.062|     9.729|300k       |        150000|         1000|
-|sac  |Swimmer-v3                 |    345.568|     3.084|1M         |        150000|          150|
-|sac  |Walker2DBulletEnv-v0       |   2292.266|    13.970|1M         |        149983|          150|
-|sac  |Walker2d-v3                |   3863.203|   254.347|1M         |        149309|          150|
-|td3  |Ant-v3                     |   5813.274|   589.773|1M         |        149393|          151|
-|td3  |AntBulletEnv-v0            |   3300.026|    54.640|1M         |        150000|          150|
-|td3  |BipedalWalker-v3           |    305.990|    56.886|1M         |        149999|          224|
-|td3  |BipedalWalkerHardcore-v3   |    -98.116|    16.087|10M        |        150000|           75|
-|td3  |HalfCheetah-v3             |   9655.666|   969.916|1M         |        150000|          150|
-|td3  |HalfCheetahBulletEnv-v0    |   2821.641|    19.722|1M         |        150000|          150|
-|td3  |Hopper-v3                  |   3606.390|     4.027|1M         |        150000|          150|
-|td3  |HopperBulletEnv-v0         |   2681.609|    27.806|1M         |        149486|          150|
-|td3  |Humanoid-v3                |   5566.687|    14.544|2M         |        150000|          150|
-|td3  |LunarLanderContinuous-v2   |    207.451|    67.562|300k       |        149488|          337|
-|td3  |MountainCarContinuous-v0   |     93.483|     0.075|300k       |        149976|         2275|
-|td3  |Pendulum-v1                |   -151.855|    90.227|20k        |        150000|          750|
-|td3  |ReacherBulletEnv-v0        |     17.114|     9.750|300k       |        150000|         1000|
-|td3  |Swimmer-v3                 |    359.127|     1.244|1M         |        150000|          150|
-|td3  |Walker2DBulletEnv-v0       |   2213.672|   230.558|1M         |        149800|          152|
-|td3  |Walker2d-v3                |   4717.823|    46.303|1M         |        150000|          150|
-|tqc  |Ant-v3                     |   3339.362|  1969.906|1M         |        149583|          202|
-|tqc  |AntBulletEnv-v0            |   3456.717|   248.733|1M         |        150000|          150|
-|tqc  |BipedalWalker-v3           |    329.808|    45.083|500k       |        149682|          254|
-|tqc  |BipedalWalkerHardcore-v3   |    235.226|   110.569|2M         |        149032|          131|
-|tqc  |FetchPickAndPlace-v1       |     -9.331|     6.850|1M         |        150000|         3000|
-|tqc  |FetchPush-v1               |     -8.799|     5.438|1M         |        150000|         3000|
-|tqc  |FetchReach-v1              |     -1.659|     0.873|20k        |        150000|         3000|
-|tqc  |FetchSlide-v1              |    -29.210|    11.387|3M         |        150000|         3000|
-|tqc  |HalfCheetah-v3             |  12089.939|   127.440|1M         |        150000|          150|
-|tqc  |HalfCheetahBulletEnv-v0    |   3675.299|    17.681|1M         |        150000|          150|
-|tqc  |Hopper-v3                  |   3754.199|     8.276|1M         |        150000|          150|
-|tqc  |HopperBulletEnv-v0         |   2662.373|   206.210|1M         |        149881|          151|
-|tqc  |Humanoid-v3                |   7239.320|  1647.498|2M         |        149508|          165|
-|tqc  |LunarLanderContinuous-v2   |    277.956|    25.466|500k       |        149928|          706|
-|tqc  |MountainCarContinuous-v0   |     63.641|    45.259|50k        |        149796|          186|
-|tqc  |PandaPickAndPlace-v1       |     -8.024|     6.674|1M         |        150000|         3000|
-|tqc  |PandaPush-v1               |     -6.405|     6.400|1M         |        150000|         3000|
-|tqc  |PandaReach-v1              |     -1.768|     0.858|20k        |        150000|         3000|
-|tqc  |PandaSlide-v1              |    -27.497|     9.868|3M         |        150000|         3000|
-|tqc  |PandaStack-v1              |    -96.915|    17.240|1M         |        150000|         1500|
-|tqc  |Pendulum-v1                |   -151.340|    87.893|20k        |        150000|          750|
-|tqc  |ReacherBulletEnv-v0        |     18.255|     9.543|300k       |        150000|         1000|
-|tqc  |Swimmer-v3                 |    339.423|     1.486|1M         |        150000|          150|
-|tqc  |Walker2DBulletEnv-v0       |   2508.934|   614.624|1M         |        149572|          159|
-|tqc  |Walker2d-v3                |   4380.720|   500.489|1M         |        149606|          152|
-|tqc  |parking-v0                 |     -6.762|     2.690|100k       |        149983|         7528|
-|trpo |Acrobot-v1                 |    -83.114|    18.648|100k       |        149976|         1783|
-|trpo |Ant-v3                     |   4982.301|   663.761|1M         |        149909|          153|
-|trpo |AntBulletEnv-v0            |   2560.621|    52.064|2M         |        150000|          150|
-|trpo |BipedalWalker-v3           |    182.339|   145.570|1M         |        148440|          148|
-|trpo |CartPole-v1                |    500.000|     0.000|100k       |        150000|          300|
-|trpo |HalfCheetah-v3             |   1785.476|    68.672|1M         |        150000|          150|
-|trpo |HalfCheetahBulletEnv-v0    |   2758.752|   327.032|2M         |        150000|          150|
-|trpo |Hopper-v3                  |   3618.386|   356.768|1M         |        149575|          152|
-|trpo |HopperBulletEnv-v0         |   2565.416|   410.298|1M         |        149640|          154|
-|trpo |LunarLander-v2             |    133.166|   112.173|200k       |        149088|          230|
-|trpo |LunarLanderContinuous-v2   |    262.387|    21.428|200k       |        149925|          501|
-|trpo |MountainCar-v0             |   -107.278|    13.231|100k       |        149974|         1398|
-|trpo |MountainCarContinuous-v0   |     92.489|     0.355|50k        |        149971|         1732|
-|trpo |Pendulum-v1                |   -174.631|   127.577|100k       |        150000|          750|
-|trpo |ReacherBulletEnv-v0        |     14.741|    11.559|300k       |        150000|         1000|
-|trpo |Swimmer-v3                 |    365.663|     2.087|1M         |        150000|          150|
-|trpo |Walker2DBulletEnv-v0       |   1483.467|   823.468|2M         |        149860|          197|
-|trpo |Walker2d-v3                |   4933.148|  1452.538|1M         |        149054|          163|
+|  algo  |           env_id            |mean_reward|std_reward|n_timesteps|eval_timesteps|eval_episodes|
+|--------|-----------------------------|----------:|---------:|-----------|-------------:|------------:|
+|a2c     |Acrobot-v1                   |    -83.353|    17.213|500k       |        149979|         1778|
+|a2c     |AntBulletEnv-v0              |   2497.147|    37.359|2M         |        150000|          150|
+|a2c     |AsteroidsNoFrameskip-v4      |   1286.550|   423.750|10M        |        614138|          258|
+|a2c     |BeamRiderNoFrameskip-v4      |   2890.298|  1379.137|10M        |        591104|           47|
+|a2c     |BipedalWalker-v3             |    299.754|    23.459|5M         |        149287|          208|
+|a2c     |BipedalWalkerHardcore-v3     |     96.171|   122.943|200M       |        149704|          113|
+|a2c     |BreakoutNoFrameskip-v4       |    279.793|   122.177|10M        |        604115|           82|
+|a2c     |CartPole-v1                  |    500.000|     0.000|500k       |        150000|          300|
+|a2c     |EnduroNoFrameskip-v4         |      0.000|     0.000|10M        |        599040|           45|
+|a2c     |HalfCheetah-v3               |   3041.174|   157.265|1M         |        150000|          150|
+|a2c     |HalfCheetahBulletEnv-v0      |   2107.384|    36.008|2M         |        150000|          150|
+|a2c     |Hopper-v3                    |    733.454|   376.574|1M         |        149987|          580|
+|a2c     |HopperBulletEnv-v0           |    815.355|   313.798|2M         |        149541|          254|
+|a2c     |LunarLander-v2               |    155.751|    80.419|200k       |        149443|          297|
+|a2c     |LunarLanderContinuous-v2     |     84.225|   145.906|5M         |        149305|          256|
+|a2c     |MountainCar-v0               |   -111.263|    24.087|1M         |        149982|         1348|
+|a2c     |MountainCarContinuous-v0     |     91.166|     0.255|100k       |        149923|         1659|
+|a2c     |Pendulum-v1                  |   -162.965|   103.210|1M         |        150000|          750|
+|a2c     |PongNoFrameskip-v4           |     17.292|     3.214|10M        |        594910|           65|
+|a2c     |QbertNoFrameskip-v4          |   3882.345|  1223.327|10M        |        610670|          194|
+|a2c     |ReacherBulletEnv-v0          |     14.968|    10.978|2M         |        150000|         1000|
+|a2c     |RoadRunnerNoFrameskip-v4     |  31671.512|  6364.085|10M        |        606710|          172|
+|a2c     |SeaquestNoFrameskip-v4       |   1721.493|   105.339|10M        |        599691|           67|
+|a2c     |SpaceInvadersNoFrameskip-v4  |    627.160|   201.974|10M        |        604848|          162|
+|a2c     |Swimmer-v3                   |    200.627|     2.544|1M         |        150000|          150|
+|a2c     |Walker2DBulletEnv-v0         |    858.209|   333.116|2M         |        149156|          173|
+|ars     |Acrobot-v1                   |    -82.884|    23.825|500k       |        149985|         1788|
+|ars     |Ant-v3                       |   2333.773|    20.597|75M        |        150000|          150|
+|ars     |CartPole-v1                  |    500.000|     0.000|50k        |        150000|          300|
+|ars     |HalfCheetah-v3               |   4815.192|  1340.752|12M        |        150000|          150|
+|ars     |Hopper-v3                    |   3343.919|     5.730|7M         |        150000|          150|
+|ars     |LunarLanderContinuous-v2     |    167.959|   147.071|2M         |        149883|          562|
+|ars     |MountainCar-v0               |   -122.000|    33.456|500k       |        149938|         1229|
+|ars     |MountainCarContinuous-v0     |     96.672|     0.784|500k       |        149990|          621|
+|ars     |Pendulum-v1                  |   -212.540|   160.444|2M         |        150000|          750|
+|ars     |Swimmer-v3                   |    355.267|    12.796|2M         |        150000|          150|
+|ars     |Walker2d-v3                  |   2993.582|   166.289|75M        |        149821|          152|
+|ddpg    |AntBulletEnv-v0              |   2399.147|    75.410|1M         |        150000|          150|
+|ddpg    |BipedalWalker-v3             |    197.486|   141.580|1M         |        149237|          227|
+|ddpg    |HalfCheetahBulletEnv-v0      |   2078.325|   208.379|1M         |        150000|          150|
+|ddpg    |HopperBulletEnv-v0           |   1157.065|   448.695|1M         |        149565|          346|
+|ddpg    |LunarLanderContinuous-v2     |    230.217|    92.372|300k       |        149862|          556|
+|ddpg    |MountainCarContinuous-v0     |     93.512|     0.048|300k       |        149965|         2260|
+|ddpg    |Pendulum-v1                  |   -152.099|    94.282|20k        |        150000|          750|
+|ddpg    |ReacherBulletEnv-v0          |     15.582|     9.606|300k       |        150000|         1000|
+|ddpg    |Walker2DBulletEnv-v0         |   1387.591|   736.955|1M         |        149051|          208|
+|dqn     |Acrobot-v1                   |    -76.639|    11.752|100k       |        149998|         1932|
+|dqn     |AsteroidsNoFrameskip-v4      |    782.687|   259.247|10M        |        607962|          134|
+|dqn     |BeamRiderNoFrameskip-v4      |   4295.946|  1790.458|10M        |        600832|           37|
+|dqn     |BreakoutNoFrameskip-v4       |    358.327|    61.981|10M        |        601461|           55|
+|dqn     |CartPole-v1                  |    500.000|     0.000|50k        |        150000|          300|
+|dqn     |EnduroNoFrameskip-v4         |    830.929|   194.544|10M        |        599040|           14|
+|dqn     |LunarLander-v2               |    154.382|    79.241|100k       |        149373|          200|
+|dqn     |MountainCar-v0               |   -100.849|     9.925|120k       |        149962|         1487|
+|dqn     |PongNoFrameskip-v4           |     20.602|     0.613|10M        |        598998|           88|
+|dqn     |QbertNoFrameskip-v4          |   9496.774|  5399.633|10M        |        605844|          124|
+|dqn     |RoadRunnerNoFrameskip-v4     |  40396.350|  7069.131|10M        |        603257|          137|
+|dqn     |SeaquestNoFrameskip-v4       |   2000.290|   606.644|10M        |        599505|           69|
+|dqn     |SpaceInvadersNoFrameskip-v4  |    622.742|   201.564|10M        |        604311|          155|
+|ppo     |Acrobot-v1                   |    -73.506|    18.201|1M         |        149979|         2013|
+|ppo     |Ant-v3                       |   1327.158|   451.577|1M         |        149572|          175|
+|ppo     |AntBulletEnv-v0              |   2865.922|    56.468|2M         |        150000|          150|
+|ppo     |AsteroidsNoFrameskip-v4      |   2156.174|   744.640|10M        |        602092|          149|
+|ppo     |BeamRiderNoFrameskip-v4      |   3397.000|  1662.368|10M        |        598926|           46|
+|ppo     |BipedalWalker-v3             |    287.939|     2.448|5M         |        149589|          123|
+|ppo     |BipedalWalkerHardcore-v3     |    122.374|   117.605|100M       |        148036|          105|
+|ppo     |BreakoutNoFrameskip-v4       |    398.033|    33.328|10M        |        600418|           60|
+|ppo     |CartPole-v1                  |    500.000|     0.000|100k       |        150000|          300|
+|ppo     |EnduroNoFrameskip-v4         |    996.364|   176.090|10M        |        572416|           11|
+|ppo     |HalfCheetah-v3               |   5819.099|   663.530|1M         |        150000|          150|
+|ppo     |HalfCheetahBulletEnv-v0      |   2924.721|    64.465|2M         |        150000|          150|
+|ppo     |Hopper-v3                    |   2410.435|    10.026|1M         |        150000|          150|
+|ppo     |HopperBulletEnv-v0           |   2575.054|   223.301|2M         |        149094|          152|
+|ppo     |LunarLander-v2               |    242.119|    31.823|1M         |        149636|          369|
+|ppo     |LunarLanderContinuous-v2     |    270.863|    32.072|1M         |        149956|          526|
+|ppo     |MountainCar-v0               |   -110.423|    19.473|1M         |        149954|         1358|
+|ppo     |MountainCarContinuous-v0     |     88.343|     2.572|20k        |        149983|          633|
+|ppo     |Pendulum-v1                  |   -172.225|   104.159|100k       |        150000|          750|
+|ppo     |PongNoFrameskip-v4           |     20.989|     0.105|10M        |        599902|           90|
+|ppo     |QbertNoFrameskip-v4          |  15627.108|  3313.538|10M        |        600248|           83|
+|ppo     |ReacherBulletEnv-v0          |     17.091|    11.048|1M         |        150000|         1000|
+|ppo     |RoadRunnerNoFrameskip-v4     |  40680.645|  6675.058|10M        |        605786|          155|
+|ppo     |SeaquestNoFrameskip-v4       |   1783.636|    34.096|10M        |        598243|           66|
+|ppo     |SpaceInvadersNoFrameskip-v4  |    960.331|   425.355|10M        |        603771|          136|
+|ppo     |Swimmer-v3                   |    281.561|     9.671|1M         |        150000|          150|
+|ppo     |Walker2DBulletEnv-v0         |   2109.992|    13.899|2M         |        150000|          150|
+|ppo     |Walker2d-v3                  |   3478.798|   821.708|1M         |        149343|          171|
+|ppo_lstm|CarRacing-v0                 |    862.549|    97.342|4M         |        149588|          156|
+|ppo_lstm|CartPoleNoVel-v1             |    500.000|     0.000|100k       |        150000|          300|
+|ppo_lstm|MountainCarContinuousNoVel-v0|     91.469|     1.776|300k       |        149882|         1340|
+|ppo_lstm|PendulumNoVel-v1             |   -217.933|   140.094|100k       |        150000|          750|
+|qrdqn   |Acrobot-v1                   |    -69.135|     9.967|100k       |        149949|         2138|
+|qrdqn   |AsteroidsNoFrameskip-v4      |   2185.303|  1097.172|10M        |        599784|           66|
+|qrdqn   |BeamRiderNoFrameskip-v4      |  17122.941| 10769.997|10M        |        596483|           17|
+|qrdqn   |BreakoutNoFrameskip-v4       |    393.600|    79.828|10M        |        579711|           40|
+|qrdqn   |CartPole-v1                  |    500.000|     0.000|50k        |        150000|          300|
+|qrdqn   |EnduroNoFrameskip-v4         |   3231.200|  1311.801|10M        |        585728|            5|
+|qrdqn   |LunarLander-v2               |     70.236|   225.491|100k       |        149957|          522|
+|qrdqn   |MountainCar-v0               |   -106.042|    15.536|120k       |        149943|         1414|
+|qrdqn   |PongNoFrameskip-v4           |     20.492|     0.687|10M        |        597443|           63|
+|qrdqn   |QbertNoFrameskip-v4          |  14799.728|  2917.629|10M        |        600773|           92|
+|qrdqn   |RoadRunnerNoFrameskip-v4     |  42325.424|  8361.161|10M        |        591016|           59|
+|qrdqn   |SeaquestNoFrameskip-v4       |   2557.576|    76.951|10M        |        596275|           66|
+|qrdqn   |SpaceInvadersNoFrameskip-v4  |   1899.928|   823.488|10M        |        597218|           69|
+|sac     |Ant-v3                       |   4615.791|  1354.111|1M         |        149074|          165|
+|sac     |AntBulletEnv-v0              |   3073.114|   175.148|1M         |        150000|          150|
+|sac     |BipedalWalker-v3             |    297.668|    33.060|500k       |        149530|          136|
+|sac     |BipedalWalkerHardcore-v3     |      4.423|   103.910|10M        |        149794|           88|
+|sac     |HalfCheetah-v3               |   9535.451|   100.470|1M         |        150000|          150|
+|sac     |HalfCheetahBulletEnv-v0      |   2792.170|    12.088|1M         |        150000|          150|
+|sac     |Hopper-v3                    |   2325.547|  1129.676|1M         |        149841|          236|
+|sac     |HopperBulletEnv-v0           |   2603.494|   164.322|1M         |        149724|          151|
+|sac     |Humanoid-v3                  |   6232.287|   279.885|2M         |        149460|          150|
+|sac     |LunarLanderContinuous-v2     |    260.390|    65.467|500k       |        149634|          672|
+|sac     |MountainCarContinuous-v0     |     94.679|     1.134|50k        |        149966|         1443|
+|sac     |Pendulum-v1                  |   -156.995|    88.714|20k        |        150000|          750|
+|sac     |ReacherBulletEnv-v0          |     18.062|     9.729|300k       |        150000|         1000|
+|sac     |Swimmer-v3                   |    345.568|     3.084|1M         |        150000|          150|
+|sac     |Walker2DBulletEnv-v0         |   2292.266|    13.970|1M         |        149983|          150|
+|sac     |Walker2d-v3                  |   3863.203|   254.347|1M         |        149309|          150|
+|td3     |Ant-v3                       |   5813.274|   589.773|1M         |        149393|          151|
+|td3     |AntBulletEnv-v0              |   3300.026|    54.640|1M         |        150000|          150|
+|td3     |BipedalWalker-v3             |    305.990|    56.886|1M         |        149999|          224|
+|td3     |BipedalWalkerHardcore-v3     |    -98.116|    16.087|10M        |        150000|           75|
+|td3     |HalfCheetah-v3               |   9655.666|   969.916|1M         |        150000|          150|
+|td3     |HalfCheetahBulletEnv-v0      |   2821.641|    19.722|1M         |        150000|          150|
+|td3     |Hopper-v3                    |   3606.390|     4.027|1M         |        150000|          150|
+|td3     |HopperBulletEnv-v0           |   2681.609|    27.806|1M         |        149486|          150|
+|td3     |Humanoid-v3                  |   5566.687|    14.544|2M         |        150000|          150|
+|td3     |LunarLanderContinuous-v2     |    207.451|    67.562|300k       |        149488|          337|
+|td3     |MountainCarContinuous-v0     |     93.483|     0.075|300k       |        149976|         2275|
+|td3     |Pendulum-v1                  |   -151.855|    90.227|20k        |        150000|          750|
+|td3     |ReacherBulletEnv-v0          |     17.114|     9.750|300k       |        150000|         1000|
+|td3     |Swimmer-v3                   |    359.127|     1.244|1M         |        150000|          150|
+|td3     |Walker2DBulletEnv-v0         |   2213.672|   230.558|1M         |        149800|          152|
+|td3     |Walker2d-v3                  |   4717.823|    46.303|1M         |        150000|          150|
+|tqc     |Ant-v3                       |   3339.362|  1969.906|1M         |        149583|          202|
+|tqc     |AntBulletEnv-v0              |   3456.717|   248.733|1M         |        150000|          150|
+|tqc     |BipedalWalker-v3             |    329.808|    45.083|500k       |        149682|          254|
+|tqc     |BipedalWalkerHardcore-v3     |    235.226|   110.569|2M         |        149032|          131|
+|tqc     |FetchPickAndPlace-v1         |     -9.331|     6.850|1M         |        150000|         3000|
+|tqc     |FetchPush-v1                 |     -8.799|     5.438|1M         |        150000|         3000|
+|tqc     |FetchReach-v1                |     -1.659|     0.873|20k        |        150000|         3000|
+|tqc     |FetchSlide-v1                |    -29.210|    11.387|3M         |        150000|         3000|
+|tqc     |HalfCheetah-v3               |  12089.939|   127.440|1M         |        150000|          150|
+|tqc     |HalfCheetahBulletEnv-v0      |   3675.299|    17.681|1M         |        150000|          150|
+|tqc     |Hopper-v3                    |   3754.199|     8.276|1M         |        150000|          150|
+|tqc     |HopperBulletEnv-v0           |   2662.373|   206.210|1M         |        149881|          151|
+|tqc     |Humanoid-v3                  |   7239.320|  1647.498|2M         |        149508|          165|
+|tqc     |LunarLanderContinuous-v2     |    277.956|    25.466|500k       |        149928|          706|
+|tqc     |MountainCarContinuous-v0     |     63.641|    45.259|50k        |        149796|          186|
+|tqc     |PandaPickAndPlace-v1         |     -8.024|     6.674|1M         |        150000|         3000|
+|tqc     |PandaPush-v1                 |     -6.405|     6.400|1M         |        150000|         3000|
+|tqc     |PandaReach-v1                |     -1.768|     0.858|20k        |        150000|         3000|
+|tqc     |PandaSlide-v1                |    -27.497|     9.868|3M         |        150000|         3000|
+|tqc     |PandaStack-v1                |    -96.915|    17.240|1M         |        150000|         1500|
+|tqc     |Pendulum-v1                  |   -151.340|    87.893|20k        |        150000|          750|
+|tqc     |ReacherBulletEnv-v0          |     18.255|     9.543|300k       |        150000|         1000|
+|tqc     |Swimmer-v3                   |    339.423|     1.486|1M         |        150000|          150|
+|tqc     |Walker2DBulletEnv-v0         |   2508.934|   614.624|1M         |        149572|          159|
+|tqc     |Walker2d-v3                  |   4380.720|   500.489|1M         |        149606|          152|
+|tqc     |parking-v0                   |     -6.762|     2.690|100k       |        149983|         7528|
+|trpo    |Acrobot-v1                   |    -83.114|    18.648|100k       |        149976|         1783|
+|trpo    |Ant-v3                       |   4982.301|   663.761|1M         |        149909|          153|
+|trpo    |AntBulletEnv-v0              |   2560.621|    52.064|2M         |        150000|          150|
+|trpo    |BipedalWalker-v3             |    182.339|   145.570|1M         |        148440|          148|
+|trpo    |CartPole-v1                  |    500.000|     0.000|100k       |        150000|          300|
+|trpo    |HalfCheetah-v3               |   1785.476|    68.672|1M         |        150000|          150|
+|trpo    |HalfCheetahBulletEnv-v0      |   2758.752|   327.032|2M         |        150000|          150|
+|trpo    |Hopper-v3                    |   3618.386|   356.768|1M         |        149575|          152|
+|trpo    |HopperBulletEnv-v0           |   2565.416|   410.298|1M         |        149640|          154|
+|trpo    |LunarLander-v2               |    133.166|   112.173|200k       |        149088|          230|
+|trpo    |LunarLanderContinuous-v2     |    262.387|    21.428|200k       |        149925|          501|
+|trpo    |MountainCar-v0               |   -107.278|    13.231|100k       |        149974|         1398|
+|trpo    |MountainCarContinuous-v0     |     92.489|     0.355|50k        |        149971|         1732|
+|trpo    |Pendulum-v1                  |   -174.631|   127.577|100k       |        150000|          750|
+|trpo    |ReacherBulletEnv-v0          |     14.741|    11.559|300k       |        150000|         1000|
+|trpo    |Swimmer-v3                   |    365.663|     2.087|1M         |        150000|          150|
+|trpo    |Walker2DBulletEnv-v0         |   1483.467|   823.468|2M         |        149860|          197|
+|trpo    |Walker2d-v3                  |   4933.148|  1452.538|1M         |        149054|          163|
diff --git a/enjoy.py b/enjoy.py
index d4b672c14..777b814e9 100644
--- a/enjoy.py
+++ b/enjoy.py
@@ -11,6 +11,7 @@
 import utils.import_envs  # noqa: F401 pylint: disable=unused-import
 from utils import ALGOS, create_test_env, get_saved_hyperparams
 from utils.exp_manager import ExperimentManager
+from utils.load_from_hub import download_from_hub
 from utils.utils import StoreDict, get_model_path
 
 
@@ -70,15 +71,43 @@ def main():  # noqa: C901
     algo = args.algo
     folder = args.folder
 
-    _, model_path, log_path = get_model_path(
-        args.exp_id,
-        folder,
-        algo,
-        env_id,
-        args.load_best,
-        args.load_checkpoint,
-        args.load_last_checkpoint,
-    )
+    try:
+        _, model_path, log_path = get_model_path(
+            args.exp_id,
+            folder,
+            algo,
+            env_id,
+            args.load_best,
+            args.load_checkpoint,
+            args.load_last_checkpoint,
+        )
+    except (AssertionError, ValueError) as e:
+        # Special case for rl-trained agents
+        # auto-download from the hub
+        if "rl-trained-agents" not in folder:
+            raise e
+        else:
+            print("Pretrained model not found, trying to download it from sb3 Huggingface hub: https://huggingface.co/sb3")
+            # Auto-download
+            download_from_hub(
+                algo=algo,
+                env_id=env_id,
+                exp_id=args.exp_id,
+                folder=folder,
+                organization="sb3",
+                repo_name=None,
+                force=False,
+            )
+            # Try again
+            _, model_path, log_path = get_model_path(
+                args.exp_id,
+                folder,
+                algo,
+                env_id,
+                args.load_best,
+                args.load_checkpoint,
+                args.load_last_checkpoint,
+            )
 
     print(f"Loading {model_path}")
 
diff --git a/hyperparams/ppo.yml b/hyperparams/ppo.yml
index 0f3e09d8a..1532953d5 100644
--- a/hyperparams/ppo.yml
+++ b/hyperparams/ppo.yml
@@ -85,17 +85,17 @@ Acrobot-v1:
 
 BipedalWalker-v3:
   normalize: true
-  n_envs: 16
+  n_envs: 32
   n_timesteps: !!float 5e6
   policy: 'MlpPolicy'
   n_steps: 2048
   batch_size: 64
   gae_lambda: 0.95
-  gamma: 0.99
+  gamma: 0.999
   n_epochs: 10
-  ent_coef: 0.001
-  learning_rate: !!float 2.5e-4
-  clip_range: 0.2
+  ent_coef: 0.0
+  learning_rate: !!float 3e-4
+  clip_range: 0.18
 
 BipedalWalkerHardcore-v3:
   normalize: true
diff --git a/hyperparams/ppo_lstm.yml b/hyperparams/ppo_lstm.yml
index eb6079f28..52fffe32f 100644
--- a/hyperparams/ppo_lstm.yml
+++ b/hyperparams/ppo_lstm.yml
@@ -110,17 +110,24 @@ Acrobot-v1:
 
 BipedalWalker-v3:
   normalize: true
-  n_envs: 16
+  n_envs: 32
   n_timesteps: !!float 5e6
   policy: 'MlpLstmPolicy'
-  n_steps: 2048
-  batch_size: 64
+  n_steps: 256
+  batch_size: 256
   gae_lambda: 0.95
-  gamma: 0.99
+  gamma: 0.999
   n_epochs: 10
-  ent_coef: 0.001
-  learning_rate: !!float 2.5e-4
-  clip_range: 0.2
+  ent_coef: 0.0
+  learning_rate: !!float 3e-4
+  clip_range: 0.18
+  policy_kwargs: "dict(
+                    ortho_init=False,
+                    activation_fn=nn.ReLU,
+                    lstm_hidden_size=64,
+                    enable_critic_lstm=True,
+                    net_arch=[dict(pi=[64], vf=[64])]
+                  )"
 
 # TO BE TUNED
 BipedalWalkerHardcore-v3:
@@ -128,20 +135,24 @@ BipedalWalkerHardcore-v3:
   #   - utils.wrappers.FrameSkip:
   #       skip: 2
   normalize: true
-  n_envs: 16
+  n_envs: 32
   n_timesteps: !!float 10e7
   policy: 'MlpLstmPolicy'
-  n_steps: 512
-  batch_size: 64
+  n_steps: 256
+  batch_size: 256
   gae_lambda: 0.95
-  gamma: 0.99
+  gamma: 0.999
   n_epochs: 10
   ent_coef: 0.001
-  learning_rate: lin_2.5e-4
+  learning_rate: lin_3e-4
   clip_range: lin_0.2
-  policy_kwargs: "dict(enable_critic_lstm=False,
-                       lstm_hidden_size=256,
-                       )"
+  policy_kwargs: "dict(
+                    ortho_init=False,
+                    activation_fn=nn.ReLU,
+                    lstm_hidden_size=64,
+                    enable_critic_lstm=True,
+                    net_arch=[dict(pi=[64], vf=[64])]
+                  )"
 
 # Tuned
 LunarLanderNoVel-v2: &lunar-defaults
diff --git a/logs/benchmark/benchmark.md b/logs/benchmark/benchmark.md
index 0642269c3..61c5239ac 100644
--- a/logs/benchmark/benchmark.md
+++ b/logs/benchmark/benchmark.md
@@ -8,6 +8,9 @@ during this evaluation.
 
 It uses the deterministic policy except for Atari games.
 
+You can view each model card (it includes video and hyperparameters)
+on our Huggingface page: https://huggingface.co/sb3
+
 *NOTE: this is not a quantitative benchmark as it corresponds to only one run
 (cf [issue #38](https://github.com/araffin/rl-baselines-zoo/issues/38)).
 This benchmark is meant to check algorithm (maximal) performance, find potential bugs
@@ -15,181 +18,185 @@ and also allow users to have access to pretrained agents.*
 
 "M" stands for Million (1e6)
 
-|algo |          env_id           |mean_reward|std_reward|n_timesteps|eval_timesteps|eval_episodes|
-|-----|---------------------------|----------:|---------:|-----------|-------------:|------------:|
-|a2c  |Acrobot-v1                 |    -83.353|    17.213|500k       |        149979|         1778|
-|a2c  |AntBulletEnv-v0            |   2497.147|    37.359|2M         |        150000|          150|
-|a2c  |AsteroidsNoFrameskip-v4    |   1286.550|   423.750|10M        |        614138|          258|
-|a2c  |BeamRiderNoFrameskip-v4    |   2890.298|  1379.137|10M        |        591104|           47|
-|a2c  |BipedalWalker-v3           |    299.754|    23.459|5M         |        149287|          208|
-|a2c  |BipedalWalkerHardcore-v3   |     96.171|   122.943|200M       |        149704|          113|
-|a2c  |BreakoutNoFrameskip-v4     |    279.793|   122.177|10M        |        604115|           82|
-|a2c  |CartPole-v1                |    500.000|     0.000|500k       |        150000|          300|
-|a2c  |EnduroNoFrameskip-v4       |      0.000|     0.000|10M        |        599040|           45|
-|a2c  |HalfCheetah-v3             |   3041.174|   157.265|1M         |        150000|          150|
-|a2c  |HalfCheetahBulletEnv-v0    |   2107.384|    36.008|2M         |        150000|          150|
-|a2c  |Hopper-v3                  |    733.454|   376.574|1M         |        149987|          580|
-|a2c  |HopperBulletEnv-v0         |    815.355|   313.798|2M         |        149541|          254|
-|a2c  |LunarLander-v2             |    155.751|    80.419|200k       |        149443|          297|
-|a2c  |LunarLanderContinuous-v2   |     84.225|   145.906|5M         |        149305|          256|
-|a2c  |MountainCar-v0             |   -111.263|    24.087|1M         |        149982|         1348|
-|a2c  |MountainCarContinuous-v0   |     91.166|     0.255|100k       |        149923|         1659|
-|a2c  |Pendulum-v0                |   -162.965|   103.210|1M         |        150000|          750|
-|a2c  |PongNoFrameskip-v4         |     17.292|     3.214|10M        |        594910|           65|
-|a2c  |QbertNoFrameskip-v4        |   3882.345|  1223.327|10M        |        610670|          194|
-|a2c  |ReacherBulletEnv-v0        |     14.968|    10.978|2M         |        150000|         1000|
-|a2c  |RoadRunnerNoFrameskip-v4   |  31671.512|  6364.085|10M        |        606710|          172|
-|a2c  |SeaquestNoFrameskip-v4     |   1721.493|   105.339|10M        |        599691|           67|
-|a2c  |SpaceInvadersNoFrameskip-v4|    627.160|   201.974|10M        |        604848|          162|
-|a2c  |Swimmer-v3                 |    200.627|     2.544|1M         |        150000|          150|
-|a2c  |Walker2DBulletEnv-v0       |    858.209|   333.116|2M         |        149156|          173|
-|ars  |Acrobot-v1                 |    -82.884|    23.825|500k       |        149985|         1788|
-|ars  |Ant-v3                     |   2333.773|    20.597|75M        |        150000|          150|
-|ars  |CartPole-v1                |    500.000|     0.000|50k        |        150000|          300|
-|ars  |HalfCheetah-v3             |   4815.192|  1340.752|12M        |        150000|          150|
-|ars  |Hopper-v3                  |   3343.919|     5.730|7M         |        150000|          150|
-|ars  |LunarLanderContinuous-v2   |    167.959|   147.071|2M         |        149883|          562|
-|ars  |MountainCar-v0             |   -122.000|    33.456|500k       |        149938|         1229|
-|ars  |MountainCarContinuous-v0   |     96.672|     0.784|500k       |        149990|          621|
-|ars  |Pendulum-v0                |   -212.540|   160.444|2M         |        150000|          750|
-|ars  |Swimmer-v3                 |    355.267|    12.796|2M         |        150000|          150|
-|ars  |Walker2d-v3                |   2993.582|   166.289|75M        |        149821|          152|
-|ddpg |AntBulletEnv-v0            |   2399.147|    75.410|1M         |        150000|          150|
-|ddpg |BipedalWalker-v3           |    197.486|   141.580|1M         |        149237|          227|
-|ddpg |HalfCheetahBulletEnv-v0    |   2078.325|   208.379|1M         |        150000|          150|
-|ddpg |HopperBulletEnv-v0         |   1157.065|   448.695|1M         |        149565|          346|
-|ddpg |LunarLanderContinuous-v2   |    230.217|    92.372|300k       |        149862|          556|
-|ddpg |MountainCarContinuous-v0   |     93.512|     0.048|300k       |        149965|         2260|
-|ddpg |Pendulum-v0                |   -152.099|    94.282|20k        |        150000|          750|
-|ddpg |ReacherBulletEnv-v0        |     15.582|     9.606|300k       |        150000|         1000|
-|ddpg |Walker2DBulletEnv-v0       |   1387.591|   736.955|1M         |        149051|          208|
-|dqn  |Acrobot-v1                 |    -76.639|    11.752|100k       |        149998|         1932|
-|dqn  |AsteroidsNoFrameskip-v4    |    782.687|   259.247|10M        |        607962|          134|
-|dqn  |BeamRiderNoFrameskip-v4    |   4295.946|  1790.458|10M        |        600832|           37|
-|dqn  |BreakoutNoFrameskip-v4     |    358.327|    61.981|10M        |        601461|           55|
-|dqn  |CartPole-v1                |    500.000|     0.000|50k        |        150000|          300|
-|dqn  |EnduroNoFrameskip-v4       |    830.929|   194.544|10M        |        599040|           14|
-|dqn  |LunarLander-v2             |    154.382|    79.241|100k       |        149373|          200|
-|dqn  |MountainCar-v0             |   -100.849|     9.925|120k       |        149962|         1487|
-|dqn  |PongNoFrameskip-v4         |     20.602|     0.613|10M        |        598998|           88|
-|dqn  |QbertNoFrameskip-v4        |   9496.774|  5399.633|10M        |        605844|          124|
-|dqn  |RoadRunnerNoFrameskip-v4   |  40396.350|  7069.131|10M        |        603257|          137|
-|dqn  |SeaquestNoFrameskip-v4     |   2000.290|   606.644|10M        |        599505|           69|
-|dqn  |SpaceInvadersNoFrameskip-v4|    622.742|   201.564|10M        |        604311|          155|
-|ppo  |Acrobot-v1                 |    -73.506|    18.201|1M         |        149979|         2013|
-|ppo  |Ant-v3                     |   1327.158|   451.577|1M         |        149572|          175|
-|ppo  |AntBulletEnv-v0            |   2865.922|    56.468|2M         |        150000|          150|
-|ppo  |AsteroidsNoFrameskip-v4    |   2156.174|   744.640|10M        |        602092|          149|
-|ppo  |BeamRiderNoFrameskip-v4    |   3397.000|  1662.368|10M        |        598926|           46|
-|ppo  |BipedalWalker-v3           |    213.299|   129.490|5M         |        149826|          233|
-|ppo  |BipedalWalkerHardcore-v3   |    122.374|   117.605|100M       |        148036|          105|
-|ppo  |BreakoutNoFrameskip-v4     |    398.033|    33.328|10M        |        600418|           60|
-|ppo  |CartPole-v1                |    500.000|     0.000|100k       |        150000|          300|
-|ppo  |EnduroNoFrameskip-v4       |    996.364|   176.090|10M        |        572416|           11|
-|ppo  |HalfCheetah-v3             |   5819.099|   663.530|1M         |        150000|          150|
-|ppo  |HalfCheetahBulletEnv-v0    |   2924.721|    64.465|2M         |        150000|          150|
-|ppo  |Hopper-v3                  |   2410.435|    10.026|1M         |        150000|          150|
-|ppo  |HopperBulletEnv-v0         |   2575.054|   223.301|2M         |        149094|          152|
-|ppo  |LunarLander-v2             |    242.119|    31.823|1M         |        149636|          369|
-|ppo  |LunarLanderContinuous-v2   |    270.863|    32.072|1M         |        149956|          526|
-|ppo  |MountainCar-v0             |   -110.423|    19.473|1M         |        149954|         1358|
-|ppo  |MountainCarContinuous-v0   |     88.343|     2.572|20k        |        149983|          633|
-|ppo  |Pendulum-v0                |   -172.225|   104.159|100k       |        150000|          750|
-|ppo  |PongNoFrameskip-v4         |     20.989|     0.105|10M        |        599902|           90|
-|ppo  |QbertNoFrameskip-v4        |  15627.108|  3313.538|10M        |        600248|           83|
-|ppo  |ReacherBulletEnv-v0        |     17.091|    11.048|1M         |        150000|         1000|
-|ppo  |RoadRunnerNoFrameskip-v4   |  40680.645|  6675.058|10M        |        605786|          155|
-|ppo  |SeaquestNoFrameskip-v4     |   1783.636|    34.096|10M        |        598243|           66|
-|ppo  |SpaceInvadersNoFrameskip-v4|    960.331|   425.355|10M        |        603771|          136|
-|ppo  |Swimmer-v3                 |    281.561|     9.671|1M         |        150000|          150|
-|ppo  |Walker2DBulletEnv-v0       |   2109.992|    13.899|2M         |        150000|          150|
-|ppo  |Walker2d-v3                |   3478.798|   821.708|1M         |        149343|          171|
-|qrdqn|Acrobot-v1                 |    -69.135|     9.967|100k       |        149949|         2138|
-|qrdqn|AsteroidsNoFrameskip-v4    |   2185.303|  1097.172|10M        |        599784|           66|
-|qrdqn|BeamRiderNoFrameskip-v4    |  17122.941| 10769.997|10M        |        596483|           17|
-|qrdqn|BreakoutNoFrameskip-v4     |    393.600|    79.828|10M        |        579711|           40|
-|qrdqn|CartPole-v1                |    500.000|     0.000|50k        |        150000|          300|
-|qrdqn|EnduroNoFrameskip-v4       |   3231.200|  1311.801|10M        |        585728|            5|
-|qrdqn|LunarLander-v2             |     70.236|   225.491|100k       |        149957|          522|
-|qrdqn|MountainCar-v0             |   -106.042|    15.536|120k       |        149943|         1414|
-|qrdqn|PongNoFrameskip-v4         |     20.492|     0.687|10M        |        597443|           63|
-|qrdqn|QbertNoFrameskip-v4        |  14799.728|  2917.629|10M        |        600773|           92|
-|qrdqn|RoadRunnerNoFrameskip-v4   |  42325.424|  8361.161|10M        |        591016|           59|
-|qrdqn|SeaquestNoFrameskip-v4     |   2557.576|    76.951|10M        |        596275|           66|
-|qrdqn|SpaceInvadersNoFrameskip-v4|   1899.928|   823.488|10M        |        597218|           69|
-|sac  |Ant-v3                     |   4615.791|  1354.111|1M         |        149074|          165|
-|sac  |AntBulletEnv-v0            |   3073.114|   175.148|1M         |        150000|          150|
-|sac  |BipedalWalker-v3           |    297.668|    33.060|500k       |        149530|          136|
-|sac  |BipedalWalkerHardcore-v3   |      4.423|   103.910|10M        |        149794|           88|
-|sac  |HalfCheetah-v3             |   9535.451|   100.470|1M         |        150000|          150|
-|sac  |HalfCheetahBulletEnv-v0    |   2792.170|    12.088|1M         |        150000|          150|
-|sac  |Hopper-v3                  |   2325.547|  1129.676|1M         |        149841|          236|
-|sac  |HopperBulletEnv-v0         |   2603.494|   164.322|1M         |        149724|          151|
-|sac  |Humanoid-v3                |   6232.287|   279.885|2M         |        149460|          150|
-|sac  |LunarLanderContinuous-v2   |    260.390|    65.467|500k       |        149634|          672|
-|sac  |MountainCarContinuous-v0   |     94.679|     1.134|50k        |        149966|         1443|
-|sac  |Pendulum-v0                |   -156.995|    88.714|20k        |        150000|          750|
-|sac  |ReacherBulletEnv-v0        |     18.062|     9.729|300k       |        150000|         1000|
-|sac  |Swimmer-v3                 |    345.568|     3.084|1M         |        150000|          150|
-|sac  |Walker2DBulletEnv-v0       |   2292.266|    13.970|1M         |        149983|          150|
-|sac  |Walker2d-v3                |   3863.203|   254.347|1M         |        149309|          150|
-|td3  |Ant-v3                     |   5813.274|   589.773|1M         |        149393|          151|
-|td3  |AntBulletEnv-v0            |   3300.026|    54.640|1M         |        150000|          150|
-|td3  |BipedalWalker-v3           |    305.990|    56.886|1M         |        149999|          224|
-|td3  |BipedalWalkerHardcore-v3   |    -98.116|    16.087|10M        |        150000|           75|
-|td3  |HalfCheetah-v3             |   9655.666|   969.916|1M         |        150000|          150|
-|td3  |HalfCheetahBulletEnv-v0    |   2821.641|    19.722|1M         |        150000|          150|
-|td3  |Hopper-v3                  |   3606.390|     4.027|1M         |        150000|          150|
-|td3  |HopperBulletEnv-v0         |   2681.609|    27.806|1M         |        149486|          150|
-|td3  |Humanoid-v3                |   5566.687|    14.544|2M         |        150000|          150|
-|td3  |LunarLanderContinuous-v2   |    207.451|    67.562|300k       |        149488|          337|
-|td3  |MountainCarContinuous-v0   |     93.483|     0.075|300k       |        149976|         2275|
-|td3  |Pendulum-v0                |   -151.855|    90.227|20k        |        150000|          750|
-|td3  |ReacherBulletEnv-v0        |     17.114|     9.750|300k       |        150000|         1000|
-|td3  |Swimmer-v3                 |    359.127|     1.244|1M         |        150000|          150|
-|td3  |Walker2DBulletEnv-v0       |   2213.672|   230.558|1M         |        149800|          152|
-|td3  |Walker2d-v3                |   4717.823|    46.303|1M         |        150000|          150|
-|tqc  |Ant-v3                     |   3339.362|  1969.906|1M         |        149583|          202|
-|tqc  |AntBulletEnv-v0            |   3456.717|   248.733|1M         |        150000|          150|
-|tqc  |BipedalWalker-v3           |    329.808|    45.083|500k       |        149682|          254|
-|tqc  |BipedalWalkerHardcore-v3   |    235.226|   110.569|2M         |        149032|          131|
-|tqc  |FetchPickAndPlace-v1       |     -9.331|     6.850|1M         |        150000|         3000|
-|tqc  |FetchPush-v1               |     -8.799|     5.438|1M         |        150000|         3000|
-|tqc  |FetchReach-v1              |     -1.659|     0.873|20k        |        150000|         3000|
-|tqc  |FetchSlide-v1              |    -29.210|    11.387|3M         |        150000|         3000|
-|tqc  |HalfCheetah-v3             |  12089.939|   127.440|1M         |        150000|          150|
-|tqc  |HalfCheetahBulletEnv-v0    |   3675.299|    17.681|1M         |        150000|          150|
-|tqc  |Hopper-v3                  |   3754.199|     8.276|1M         |        150000|          150|
-|tqc  |HopperBulletEnv-v0         |   2662.373|   206.210|1M         |        149881|          151|
-|tqc  |Humanoid-v3                |   7239.320|  1647.498|2M         |        149508|          165|
-|tqc  |LunarLanderContinuous-v2   |    277.956|    25.466|500k       |        149928|          706|
-|tqc  |MountainCarContinuous-v0   |     63.641|    45.259|50k        |        149796|          186|
-|tqc  |PandaPickAndPlace-v1       |     -8.024|     6.674|1M         |        150000|         3000|
-|tqc  |PandaPush-v1               |     -6.405|     6.400|1M         |        150000|         3000|
-|tqc  |PandaReach-v1              |     -1.768|     0.858|20k        |        150000|         3000|
-|tqc  |PandaSlide-v1              |    -27.497|     9.868|3M         |        150000|         3000|
-|tqc  |PandaStack-v1              |    -96.915|    17.240|1M         |        150000|         1500|
-|tqc  |Pendulum-v0                |   -151.340|    87.893|20k        |        150000|          750|
-|tqc  |ReacherBulletEnv-v0        |     18.255|     9.543|300k       |        150000|         1000|
-|tqc  |Swimmer-v3                 |    339.423|     1.486|1M         |        150000|          150|
-|tqc  |Walker2DBulletEnv-v0       |   2508.934|   614.624|1M         |        149572|          159|
-|tqc  |Walker2d-v3                |   4380.720|   500.489|1M         |        149606|          152|
-|tqc  |parking-v0                 |     -6.762|     2.690|100k       |        149983|         7528|
-|trpo |Acrobot-v1                 |    -83.114|    18.648|100k       |        149976|         1783|
-|trpo |Ant-v3                     |   4982.301|   663.761|1M         |        149909|          153|
-|trpo |AntBulletEnv-v0            |   2560.621|    52.064|2M         |        150000|          150|
-|trpo |BipedalWalker-v3           |    182.339|   145.570|1M         |        148440|          148|
-|trpo |CartPole-v1                |    500.000|     0.000|100k       |        150000|          300|
-|trpo |HalfCheetah-v3             |   1785.476|    68.672|1M         |        150000|          150|
-|trpo |HalfCheetahBulletEnv-v0    |   2758.752|   327.032|2M         |        150000|          150|
-|trpo |Hopper-v3                  |   3618.386|   356.768|1M         |        149575|          152|
-|trpo |HopperBulletEnv-v0         |   2565.416|   410.298|1M         |        149640|          154|
-|trpo |LunarLander-v2             |    133.166|   112.173|200k       |        149088|          230|
-|trpo |LunarLanderContinuous-v2   |    262.387|    21.428|200k       |        149925|          501|
-|trpo |MountainCar-v0             |   -107.278|    13.231|100k       |        149974|         1398|
-|trpo |MountainCarContinuous-v0   |     92.489|     0.355|50k        |        149971|         1732|
-|trpo |Pendulum-v0                |   -174.631|   127.577|100k       |        150000|          750|
-|trpo |ReacherBulletEnv-v0        |     14.741|    11.559|300k       |        150000|         1000|
-|trpo |Swimmer-v3                 |    365.663|     2.087|1M         |        150000|          150|
-|trpo |Walker2DBulletEnv-v0       |   1483.467|   823.468|2M         |        149860|          197|
-|trpo |Walker2d-v3                |   4933.148|  1452.538|1M         |        149054|          163|
+|  algo  |           env_id            |mean_reward|std_reward|n_timesteps|eval_timesteps|eval_episodes|
+|--------|-----------------------------|----------:|---------:|-----------|-------------:|------------:|
+|a2c     |Acrobot-v1                   |    -83.353|    17.213|500k       |        149979|         1778|
+|a2c     |AntBulletEnv-v0              |   2497.147|    37.359|2M         |        150000|          150|
+|a2c     |AsteroidsNoFrameskip-v4      |   1286.550|   423.750|10M        |        614138|          258|
+|a2c     |BeamRiderNoFrameskip-v4      |   2890.298|  1379.137|10M        |        591104|           47|
+|a2c     |BipedalWalker-v3             |    299.754|    23.459|5M         |        149287|          208|
+|a2c     |BipedalWalkerHardcore-v3     |     96.171|   122.943|200M       |        149704|          113|
+|a2c     |BreakoutNoFrameskip-v4       |    279.793|   122.177|10M        |        604115|           82|
+|a2c     |CartPole-v1                  |    500.000|     0.000|500k       |        150000|          300|
+|a2c     |EnduroNoFrameskip-v4         |      0.000|     0.000|10M        |        599040|           45|
+|a2c     |HalfCheetah-v3               |   3041.174|   157.265|1M         |        150000|          150|
+|a2c     |HalfCheetahBulletEnv-v0      |   2107.384|    36.008|2M         |        150000|          150|
+|a2c     |Hopper-v3                    |    733.454|   376.574|1M         |        149987|          580|
+|a2c     |HopperBulletEnv-v0           |    815.355|   313.798|2M         |        149541|          254|
+|a2c     |LunarLander-v2               |    155.751|    80.419|200k       |        149443|          297|
+|a2c     |LunarLanderContinuous-v2     |     84.225|   145.906|5M         |        149305|          256|
+|a2c     |MountainCar-v0               |   -111.263|    24.087|1M         |        149982|         1348|
+|a2c     |MountainCarContinuous-v0     |     91.166|     0.255|100k       |        149923|         1659|
+|a2c     |Pendulum-v1                  |   -162.965|   103.210|1M         |        150000|          750|
+|a2c     |PongNoFrameskip-v4           |     17.292|     3.214|10M        |        594910|           65|
+|a2c     |QbertNoFrameskip-v4          |   3882.345|  1223.327|10M        |        610670|          194|
+|a2c     |ReacherBulletEnv-v0          |     14.968|    10.978|2M         |        150000|         1000|
+|a2c     |RoadRunnerNoFrameskip-v4     |  31671.512|  6364.085|10M        |        606710|          172|
+|a2c     |SeaquestNoFrameskip-v4       |   1721.493|   105.339|10M        |        599691|           67|
+|a2c     |SpaceInvadersNoFrameskip-v4  |    627.160|   201.974|10M        |        604848|          162|
+|a2c     |Swimmer-v3                   |    200.627|     2.544|1M         |        150000|          150|
+|a2c     |Walker2DBulletEnv-v0         |    858.209|   333.116|2M         |        149156|          173|
+|ars     |Acrobot-v1                   |    -82.884|    23.825|500k       |        149985|         1788|
+|ars     |Ant-v3                       |   2333.773|    20.597|75M        |        150000|          150|
+|ars     |CartPole-v1                  |    500.000|     0.000|50k        |        150000|          300|
+|ars     |HalfCheetah-v3               |   4815.192|  1340.752|12M        |        150000|          150|
+|ars     |Hopper-v3                    |   3343.919|     5.730|7M         |        150000|          150|
+|ars     |LunarLanderContinuous-v2     |    167.959|   147.071|2M         |        149883|          562|
+|ars     |MountainCar-v0               |   -122.000|    33.456|500k       |        149938|         1229|
+|ars     |MountainCarContinuous-v0     |     96.672|     0.784|500k       |        149990|          621|
+|ars     |Pendulum-v1                  |   -212.540|   160.444|2M         |        150000|          750|
+|ars     |Swimmer-v3                   |    355.267|    12.796|2M         |        150000|          150|
+|ars     |Walker2d-v3                  |   2993.582|   166.289|75M        |        149821|          152|
+|ddpg    |AntBulletEnv-v0              |   2399.147|    75.410|1M         |        150000|          150|
+|ddpg    |BipedalWalker-v3             |    197.486|   141.580|1M         |        149237|          227|
+|ddpg    |HalfCheetahBulletEnv-v0      |   2078.325|   208.379|1M         |        150000|          150|
+|ddpg    |HopperBulletEnv-v0           |   1157.065|   448.695|1M         |        149565|          346|
+|ddpg    |LunarLanderContinuous-v2     |    230.217|    92.372|300k       |        149862|          556|
+|ddpg    |MountainCarContinuous-v0     |     93.512|     0.048|300k       |        149965|         2260|
+|ddpg    |Pendulum-v1                  |   -152.099|    94.282|20k        |        150000|          750|
+|ddpg    |ReacherBulletEnv-v0          |     15.582|     9.606|300k       |        150000|         1000|
+|ddpg    |Walker2DBulletEnv-v0         |   1387.591|   736.955|1M         |        149051|          208|
+|dqn     |Acrobot-v1                   |    -76.639|    11.752|100k       |        149998|         1932|
+|dqn     |AsteroidsNoFrameskip-v4      |    782.687|   259.247|10M        |        607962|          134|
+|dqn     |BeamRiderNoFrameskip-v4      |   4295.946|  1790.458|10M        |        600832|           37|
+|dqn     |BreakoutNoFrameskip-v4       |    358.327|    61.981|10M        |        601461|           55|
+|dqn     |CartPole-v1                  |    500.000|     0.000|50k        |        150000|          300|
+|dqn     |EnduroNoFrameskip-v4         |    830.929|   194.544|10M        |        599040|           14|
+|dqn     |LunarLander-v2               |    154.382|    79.241|100k       |        149373|          200|
+|dqn     |MountainCar-v0               |   -100.849|     9.925|120k       |        149962|         1487|
+|dqn     |PongNoFrameskip-v4           |     20.602|     0.613|10M        |        598998|           88|
+|dqn     |QbertNoFrameskip-v4          |   9496.774|  5399.633|10M        |        605844|          124|
+|dqn     |RoadRunnerNoFrameskip-v4     |  40396.350|  7069.131|10M        |        603257|          137|
+|dqn     |SeaquestNoFrameskip-v4       |   2000.290|   606.644|10M        |        599505|           69|
+|dqn     |SpaceInvadersNoFrameskip-v4  |    622.742|   201.564|10M        |        604311|          155|
+|ppo     |Acrobot-v1                   |    -73.506|    18.201|1M         |        149979|         2013|
+|ppo     |Ant-v3                       |   1327.158|   451.577|1M         |        149572|          175|
+|ppo     |AntBulletEnv-v0              |   2865.922|    56.468|2M         |        150000|          150|
+|ppo     |AsteroidsNoFrameskip-v4      |   2156.174|   744.640|10M        |        602092|          149|
+|ppo     |BeamRiderNoFrameskip-v4      |   3397.000|  1662.368|10M        |        598926|           46|
+|ppo     |BipedalWalker-v3             |    287.939|     2.448|5M         |        149589|          123|
+|ppo     |BipedalWalkerHardcore-v3     |    122.374|   117.605|100M       |        148036|          105|
+|ppo     |BreakoutNoFrameskip-v4       |    398.033|    33.328|10M        |        600418|           60|
+|ppo     |CartPole-v1                  |    500.000|     0.000|100k       |        150000|          300|
+|ppo     |EnduroNoFrameskip-v4         |    996.364|   176.090|10M        |        572416|           11|
+|ppo     |HalfCheetah-v3               |   5819.099|   663.530|1M         |        150000|          150|
+|ppo     |HalfCheetahBulletEnv-v0      |   2924.721|    64.465|2M         |        150000|          150|
+|ppo     |Hopper-v3                    |   2410.435|    10.026|1M         |        150000|          150|
+|ppo     |HopperBulletEnv-v0           |   2575.054|   223.301|2M         |        149094|          152|
+|ppo     |LunarLander-v2               |    242.119|    31.823|1M         |        149636|          369|
+|ppo     |LunarLanderContinuous-v2     |    270.863|    32.072|1M         |        149956|          526|
+|ppo     |MountainCar-v0               |   -110.423|    19.473|1M         |        149954|         1358|
+|ppo     |MountainCarContinuous-v0     |     88.343|     2.572|20k        |        149983|          633|
+|ppo     |Pendulum-v1                  |   -172.225|   104.159|100k       |        150000|          750|
+|ppo     |PongNoFrameskip-v4           |     20.989|     0.105|10M        |        599902|           90|
+|ppo     |QbertNoFrameskip-v4          |  15627.108|  3313.538|10M        |        600248|           83|
+|ppo     |ReacherBulletEnv-v0          |     17.091|    11.048|1M         |        150000|         1000|
+|ppo     |RoadRunnerNoFrameskip-v4     |  40680.645|  6675.058|10M        |        605786|          155|
+|ppo     |SeaquestNoFrameskip-v4       |   1783.636|    34.096|10M        |        598243|           66|
+|ppo     |SpaceInvadersNoFrameskip-v4  |    960.331|   425.355|10M        |        603771|          136|
+|ppo     |Swimmer-v3                   |    281.561|     9.671|1M         |        150000|          150|
+|ppo     |Walker2DBulletEnv-v0         |   2109.992|    13.899|2M         |        150000|          150|
+|ppo     |Walker2d-v3                  |   3478.798|   821.708|1M         |        149343|          171|
+|ppo_lstm|CarRacing-v0                 |    862.549|    97.342|4M         |        149588|          156|
+|ppo_lstm|CartPoleNoVel-v1             |    500.000|     0.000|100k       |        150000|          300|
+|ppo_lstm|MountainCarContinuousNoVel-v0|     91.469|     1.776|300k       |        149882|         1340|
+|ppo_lstm|PendulumNoVel-v1             |   -217.933|   140.094|100k       |        150000|          750|
+|qrdqn   |Acrobot-v1                   |    -69.135|     9.967|100k       |        149949|         2138|
+|qrdqn   |AsteroidsNoFrameskip-v4      |   2185.303|  1097.172|10M        |        599784|           66|
+|qrdqn   |BeamRiderNoFrameskip-v4      |  17122.941| 10769.997|10M        |        596483|           17|
+|qrdqn   |BreakoutNoFrameskip-v4       |    393.600|    79.828|10M        |        579711|           40|
+|qrdqn   |CartPole-v1                  |    500.000|     0.000|50k        |        150000|          300|
+|qrdqn   |EnduroNoFrameskip-v4         |   3231.200|  1311.801|10M        |        585728|            5|
+|qrdqn   |LunarLander-v2               |     70.236|   225.491|100k       |        149957|          522|
+|qrdqn   |MountainCar-v0               |   -106.042|    15.536|120k       |        149943|         1414|
+|qrdqn   |PongNoFrameskip-v4           |     20.492|     0.687|10M        |        597443|           63|
+|qrdqn   |QbertNoFrameskip-v4          |  14799.728|  2917.629|10M        |        600773|           92|
+|qrdqn   |RoadRunnerNoFrameskip-v4     |  42325.424|  8361.161|10M        |        591016|           59|
+|qrdqn   |SeaquestNoFrameskip-v4       |   2557.576|    76.951|10M        |        596275|           66|
+|qrdqn   |SpaceInvadersNoFrameskip-v4  |   1899.928|   823.488|10M        |        597218|           69|
+|sac     |Ant-v3                       |   4615.791|  1354.111|1M         |        149074|          165|
+|sac     |AntBulletEnv-v0              |   3073.114|   175.148|1M         |        150000|          150|
+|sac     |BipedalWalker-v3             |    297.668|    33.060|500k       |        149530|          136|
+|sac     |BipedalWalkerHardcore-v3     |      4.423|   103.910|10M        |        149794|           88|
+|sac     |HalfCheetah-v3               |   9535.451|   100.470|1M         |        150000|          150|
+|sac     |HalfCheetahBulletEnv-v0      |   2792.170|    12.088|1M         |        150000|          150|
+|sac     |Hopper-v3                    |   2325.547|  1129.676|1M         |        149841|          236|
+|sac     |HopperBulletEnv-v0           |   2603.494|   164.322|1M         |        149724|          151|
+|sac     |Humanoid-v3                  |   6232.287|   279.885|2M         |        149460|          150|
+|sac     |LunarLanderContinuous-v2     |    260.390|    65.467|500k       |        149634|          672|
+|sac     |MountainCarContinuous-v0     |     94.679|     1.134|50k        |        149966|         1443|
+|sac     |Pendulum-v1                  |   -156.995|    88.714|20k        |        150000|          750|
+|sac     |ReacherBulletEnv-v0          |     18.062|     9.729|300k       |        150000|         1000|
+|sac     |Swimmer-v3                   |    345.568|     3.084|1M         |        150000|          150|
+|sac     |Walker2DBulletEnv-v0         |   2292.266|    13.970|1M         |        149983|          150|
+|sac     |Walker2d-v3                  |   3863.203|   254.347|1M         |        149309|          150|
+|td3     |Ant-v3                       |   5813.274|   589.773|1M         |        149393|          151|
+|td3     |AntBulletEnv-v0              |   3300.026|    54.640|1M         |        150000|          150|
+|td3     |BipedalWalker-v3             |    305.990|    56.886|1M         |        149999|          224|
+|td3     |BipedalWalkerHardcore-v3     |    -98.116|    16.087|10M        |        150000|           75|
+|td3     |HalfCheetah-v3               |   9655.666|   969.916|1M         |        150000|          150|
+|td3     |HalfCheetahBulletEnv-v0      |   2821.641|    19.722|1M         |        150000|          150|
+|td3     |Hopper-v3                    |   3606.390|     4.027|1M         |        150000|          150|
+|td3     |HopperBulletEnv-v0           |   2681.609|    27.806|1M         |        149486|          150|
+|td3     |Humanoid-v3                  |   5566.687|    14.544|2M         |        150000|          150|
+|td3     |LunarLanderContinuous-v2     |    207.451|    67.562|300k       |        149488|          337|
+|td3     |MountainCarContinuous-v0     |     93.483|     0.075|300k       |        149976|         2275|
+|td3     |Pendulum-v1                  |   -151.855|    90.227|20k        |        150000|          750|
+|td3     |ReacherBulletEnv-v0          |     17.114|     9.750|300k       |        150000|         1000|
+|td3     |Swimmer-v3                   |    359.127|     1.244|1M         |        150000|          150|
+|td3     |Walker2DBulletEnv-v0         |   2213.672|   230.558|1M         |        149800|          152|
+|td3     |Walker2d-v3                  |   4717.823|    46.303|1M         |        150000|          150|
+|tqc     |Ant-v3                       |   3339.362|  1969.906|1M         |        149583|          202|
+|tqc     |AntBulletEnv-v0              |   3456.717|   248.733|1M         |        150000|          150|
+|tqc     |BipedalWalker-v3             |    329.808|    45.083|500k       |        149682|          254|
+|tqc     |BipedalWalkerHardcore-v3     |    235.226|   110.569|2M         |        149032|          131|
+|tqc     |FetchPickAndPlace-v1         |     -9.331|     6.850|1M         |        150000|         3000|
+|tqc     |FetchPush-v1                 |     -8.799|     5.438|1M         |        150000|         3000|
+|tqc     |FetchReach-v1                |     -1.659|     0.873|20k        |        150000|         3000|
+|tqc     |FetchSlide-v1                |    -29.210|    11.387|3M         |        150000|         3000|
+|tqc     |HalfCheetah-v3               |  12089.939|   127.440|1M         |        150000|          150|
+|tqc     |HalfCheetahBulletEnv-v0      |   3675.299|    17.681|1M         |        150000|          150|
+|tqc     |Hopper-v3                    |   3754.199|     8.276|1M         |        150000|          150|
+|tqc     |HopperBulletEnv-v0           |   2662.373|   206.210|1M         |        149881|          151|
+|tqc     |Humanoid-v3                  |   7239.320|  1647.498|2M         |        149508|          165|
+|tqc     |LunarLanderContinuous-v2     |    277.956|    25.466|500k       |        149928|          706|
+|tqc     |MountainCarContinuous-v0     |     63.641|    45.259|50k        |        149796|          186|
+|tqc     |PandaPickAndPlace-v1         |     -8.024|     6.674|1M         |        150000|         3000|
+|tqc     |PandaPush-v1                 |     -6.405|     6.400|1M         |        150000|         3000|
+|tqc     |PandaReach-v1                |     -1.768|     0.858|20k        |        150000|         3000|
+|tqc     |PandaSlide-v1                |    -27.497|     9.868|3M         |        150000|         3000|
+|tqc     |PandaStack-v1                |    -96.915|    17.240|1M         |        150000|         1500|
+|tqc     |Pendulum-v1                  |   -151.340|    87.893|20k        |        150000|          750|
+|tqc     |ReacherBulletEnv-v0          |     18.255|     9.543|300k       |        150000|         1000|
+|tqc     |Swimmer-v3                   |    339.423|     1.486|1M         |        150000|          150|
+|tqc     |Walker2DBulletEnv-v0         |   2508.934|   614.624|1M         |        149572|          159|
+|tqc     |Walker2d-v3                  |   4380.720|   500.489|1M         |        149606|          152|
+|tqc     |parking-v0                   |     -6.762|     2.690|100k       |        149983|         7528|
+|trpo    |Acrobot-v1                   |    -83.114|    18.648|100k       |        149976|         1783|
+|trpo    |Ant-v3                       |   4982.301|   663.761|1M         |        149909|          153|
+|trpo    |AntBulletEnv-v0              |   2560.621|    52.064|2M         |        150000|          150|
+|trpo    |BipedalWalker-v3             |    182.339|   145.570|1M         |        148440|          148|
+|trpo    |CartPole-v1                  |    500.000|     0.000|100k       |        150000|          300|
+|trpo    |HalfCheetah-v3               |   1785.476|    68.672|1M         |        150000|          150|
+|trpo    |HalfCheetahBulletEnv-v0      |   2758.752|   327.032|2M         |        150000|          150|
+|trpo    |Hopper-v3                    |   3618.386|   356.768|1M         |        149575|          152|
+|trpo    |HopperBulletEnv-v0           |   2565.416|   410.298|1M         |        149640|          154|
+|trpo    |LunarLander-v2               |    133.166|   112.173|200k       |        149088|          230|
+|trpo    |LunarLanderContinuous-v2     |    262.387|    21.428|200k       |        149925|          501|
+|trpo    |MountainCar-v0               |   -107.278|    13.231|100k       |        149974|         1398|
+|trpo    |MountainCarContinuous-v0     |     92.489|     0.355|50k        |        149971|         1732|
+|trpo    |Pendulum-v1                  |   -174.631|   127.577|100k       |        150000|          750|
+|trpo    |ReacherBulletEnv-v0          |     14.741|    11.559|300k       |        150000|         1000|
+|trpo    |Swimmer-v3                   |    365.663|     2.087|1M         |        150000|          150|
+|trpo    |Walker2DBulletEnv-v0         |   1483.467|   823.468|2M         |        149860|          197|
+|trpo    |Walker2d-v3                  |   4933.148|  1452.538|1M         |        149054|          163|
diff --git a/logs/benchmark/ppo-BipedalWalker-v3/0.monitor.csv b/logs/benchmark/ppo-BipedalWalker-v3/0.monitor.csv
index 65b44f3af..6a2bc3eca 100644
--- a/logs/benchmark/ppo-BipedalWalker-v3/0.monitor.csv
+++ b/logs/benchmark/ppo-BipedalWalker-v3/0.monitor.csv
@@ -1,235 +1,125 @@
-#{"t_start": 1614771346.3718872, "env_id": "BipedalWalker-v3"}
+#{"t_start": 1654205553.3965414, "env_id": "BipedalWalker-v3"}
 r,l,t
-302.352527,761,3.219014
-304.643791,747,3.818765
-118.656863,577,4.303263
-186.806605,791,4.924971
-302.92318,727,5.496392
-95.043446,526,5.913008
-304.071331,736,6.488454
-304.961145,742,7.067342
-305.404706,747,7.653983
-43.647549,413,7.977797
-305.786318,733,8.550616
--65.333118,166,8.681444
-300.446239,878,9.366114
-302.302039,756,9.955367
--63.398006,161,10.085125
-303.612975,709,10.647742
-301.85852,756,11.242622
-302.07473,754,11.829957
-302.562625,784,12.443302
-302.523438,773,13.046803
-304.049687,740,13.627153
-304.22878,791,14.251293
-301.844681,798,14.872318
-304.990141,727,15.439051
-303.951432,747,16.025128
-301.880788,764,16.623663
-302.835429,744,17.20378
--63.166425,240,17.392857
--19.553167,255,17.598439
-71.883582,459,17.96465
-171.700376,662,18.479113
-303.257497,755,19.065179
--31.888369,226,19.241292
-301.43717,821,19.880159
-302.191556,772,20.484396
--45.01458,317,20.733858
-184.726106,752,21.320945
-302.56233,759,21.909227
-303.76186,792,22.526143
-301.663292,739,23.103
-303.368805,742,23.679868
-302.449036,748,24.260264
-303.924373,751,24.844364
-303.955462,754,25.4316
-305.325247,738,26.004931
-305.033799,736,26.575473
-182.856283,707,27.126774
-302.0432,770,27.727888
-304.139851,732,28.296654
-303.16995,764,28.890888
-301.428877,755,29.481789
-303.415154,745,30.066476
-306.591512,727,30.635611
-304.58744,762,31.230929
-303.367456,763,31.826358
-305.595314,753,32.413927
-4.373387,304,32.651849
-193.166831,746,33.231313
-125.378329,552,33.665584
-13.381573,340,33.931804
-96.788857,505,34.321924
-39.350058,450,34.66974
-305.335492,746,35.251793
--52.636007,202,35.409539
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diff --git a/logs/benchmark/ppo_lstm-CarRacing-v0/0.monitor.csv b/logs/benchmark/ppo_lstm-CarRacing-v0/0.monitor.csv
new file mode 100644
index 000000000..147b6093c
--- /dev/null
+++ b/logs/benchmark/ppo_lstm-CarRacing-v0/0.monitor.csv
@@ -0,0 +1,158 @@
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diff --git a/logs/benchmark/ppo_lstm-CartPoleNoVel-v1/0.monitor.csv b/logs/benchmark/ppo_lstm-CartPoleNoVel-v1/0.monitor.csv
new file mode 100644
index 000000000..34af222c7
--- /dev/null
+++ b/logs/benchmark/ppo_lstm-CartPoleNoVel-v1/0.monitor.csv
@@ -0,0 +1,302 @@
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diff --git a/logs/benchmark/ppo_lstm-MountainCarContinuousNoVel-v0/0.monitor.csv b/logs/benchmark/ppo_lstm-MountainCarContinuousNoVel-v0/0.monitor.csv
new file mode 100644
index 000000000..894fd1bf5
--- /dev/null
+++ b/logs/benchmark/ppo_lstm-MountainCarContinuousNoVel-v0/0.monitor.csv
@@ -0,0 +1,1342 @@
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diff --git a/logs/benchmark/ppo_lstm-PendulumNoVel-v1/0.monitor.csv b/logs/benchmark/ppo_lstm-PendulumNoVel-v1/0.monitor.csv
new file mode 100644
index 000000000..55fff6aaa
--- /dev/null
+++ b/logs/benchmark/ppo_lstm-PendulumNoVel-v1/0.monitor.csv
@@ -0,0 +1,752 @@
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+-134.04704,200,92.274887
+-532.695581,200,92.425009
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+-3.079538,200,93.776158
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+-1.827868,200,94.377053
+-131.51911,200,94.527777
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+-133.101115,200,94.827924
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+-395.23312,200,95.428234
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+-261.022001,200,96.03028
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+-1.080245,200,100.084785
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+-560.090144,200,111.949756
+-249.87696,200,112.09988
+-513.023542,200,112.249848
+-261.979488,200,112.399794
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+-3.65569,200,112.851359
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+-125.928314,200,114.503546
+-128.023682,200,114.654358
+-126.836506,200,114.804574
+-264.384871,200,114.955343
+-129.339465,200,115.105539
diff --git a/scripts/migrate_to_hub.py b/scripts/migrate_to_hub.py
new file mode 100644
index 000000000..d2622a43a
--- /dev/null
+++ b/scripts/migrate_to_hub.py
@@ -0,0 +1,23 @@
+import subprocess
+
+from utils.utils import get_hf_trained_models, get_trained_models
+
+folder = "rl-trained-agents"
+orga = "sb3"
+trained_models_local = get_trained_models(folder)
+trained_models_hub = get_hf_trained_models(orga)
+remaining_models = set(trained_models_local.keys()) - set(trained_models_hub.keys())
+
+for trained_model in list(remaining_models):
+    algo, env_id = trained_models_local[trained_model]
+    args = ["-orga", orga, "-f", folder, "--algo", algo, "--env", env_id]
+
+    # Since SB3 >= 1.1.0, HER is no more an algorithm but a replay buffer class
+    if algo == "her":
+        continue
+
+    # if model doesn't exist already
+    repo_name = f"{algo}-{env_id}"
+    repo_id = f"{orga}/{repo_name}"
+
+    return_code = subprocess.call(["python", "-m", "utils.push_to_hub"] + args)
diff --git a/utils/benchmark.py b/utils/benchmark.py
index 9866f69f9..b53430fb2 100644
--- a/utils/benchmark.py
+++ b/utils/benchmark.py
@@ -9,7 +9,7 @@
 import pytablewriter
 from stable_baselines3.common.results_plotter import load_results, ts2xy
 
-from utils.utils import get_latest_run_id, get_saved_hyperparams, get_trained_models
+from utils.utils import get_hf_trained_models, get_latest_run_id, get_saved_hyperparams, get_trained_models
 
 parser = argparse.ArgumentParser()
 parser.add_argument("--log-dir", help="Root log folder", default="rl-trained-agents/", type=str)
@@ -20,10 +20,15 @@
 parser.add_argument("--seed", help="Random generator seed", type=int, default=0)
 parser.add_argument("--test-mode", action="store_true", default=False, help="Do only one experiment (useful for testing)")
 parser.add_argument("--with-mujoco", action="store_true", default=False, help="Run also MuJoCo envs")
+parser.add_argument("--no-hub", action="store_true", default=False, help="Do not download models from hub")
 parser.add_argument("--num-threads", help="Number of threads for PyTorch", default=2, type=int)
 args = parser.parse_args()
 
 trained_models = get_trained_models(args.log_dir)
+
+if not args.no_hub:
+    trained_models.update(get_hf_trained_models())
+
 n_experiments = len(trained_models)
 results = {
     "algo": [],
@@ -133,6 +138,10 @@
 results_df = pd.DataFrame(results)
 # Sort results
 results_df = results_df.sort_values(by=["algo", "env_id"])
+# Create links to Huggingface hub
+# links = [f"[{env_id}](https://huggingface.co/sb3/{algo}-{env_id})"
+#         for algo, env_id in zip(results_df["algo"], results_df["env_id"])]
+# results_df["env_id"] = links
 
 writer = pytablewriter.MarkdownTableWriter(max_precision=3)
 writer.from_dataframe(results_df)
@@ -147,6 +156,9 @@
 
 It uses the deterministic policy except for Atari games.
 
+You can view each model card (it includes video and hyperparameters)
+on our Huggingface page: https://huggingface.co/sb3
+
 *NOTE: this is not a quantitative benchmark as it corresponds to only one run
 (cf [issue #38](https://github.com/araffin/rl-baselines-zoo/issues/38)).
 This benchmark is meant to check algorithm (maximal) performance, find potential bugs
diff --git a/utils/load_from_hub.py b/utils/load_from_hub.py
index 689e6480e..490ef1f8f 100644
--- a/utils/load_from_hub.py
+++ b/utils/load_from_hub.py
@@ -3,38 +3,47 @@
 import shutil
 import zipfile
 from pathlib import Path
+from typing import Optional
 
 from huggingface_sb3 import load_from_hub
 from requests.exceptions import HTTPError
 
 from utils import ALGOS, get_latest_run_id
 
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser()
-    parser.add_argument("--env", help="environment ID", type=str, required=True)
-    parser.add_argument("-f", "--folder", help="Log folder", type=str, required=True)
-    parser.add_argument("-orga", "--organization", help="Huggingface hub organization", default="sb3")
-    parser.add_argument("-name", "--repo-name", help="Huggingface hub repository name, by default 'algo-env_id'", type=str)
-    parser.add_argument("--algo", help="RL Algorithm", type=str, required=True, choices=list(ALGOS.keys()))
-    parser.add_argument("--exp-id", help="Experiment ID (default: 0: latest, -1: no exp folder)", default=0, type=int)
-    parser.add_argument("--verbose", help="Verbose mode (0: no output, 1: INFO)", default=1, type=int)
-    parser.add_argument(
-        "--force", action="store_true", default=False, help="Allow overwritting exp folder if it already exist"
-    )
-    args = parser.parse_args()
 
-    algo = args.algo
-    env_id = args.env
-    folder = args.folder
-    exp_id = args.exp_id
+def download_from_hub(
+    algo: str,
+    env_id: str,
+    exp_id: int,
+    folder: str,
+    organization: str,
+    repo_name: Optional[str] = None,
+    force: bool = False,
+) -> None:
+    """
+    Try to load a model from the Huggingface hub
+    and save it following the RL Zoo structure.
+    Default repo name is {organization}/{algo}-{env_id}
+    where repo_name = {algo}-{env_id}
+
+    :param algo: Algorithm
+    :param env_id: Environment id
+    :param exp_id: Experiment id
+    :param folder: Log folder
+    :param organization: Huggingface organization
+    :param repo_name: Overwrite default repository name
+    :param force: Allow overwritting the folder
+        if it already exists.
+    """
 
-    if args.repo_name is None:
-        args.repo_name = f"{args.algo}-{env_id}"
+    if repo_name is None:
+        repo_name = f"{algo}-{env_id}"
 
-    repo_id = f"{args.organization}/{args.repo_name}"
+    repo_id = f"{organization}/{repo_name}"
     print(f"Downloading from https://huggingface.co/{repo_id}")
 
-    model_name = f"{args.algo}-{env_id}"
+    model_name = f"{algo}-{env_id}"
+
     checkpoint = load_from_hub(repo_id, f"{model_name}.zip")
     config_path = load_from_hub(repo_id, "config.yml")
 
@@ -60,7 +69,7 @@
     # Check that the folder does not exist
     log_folder = Path(log_path)
     if log_folder.is_dir():
-        if args.force:
+        if force:
             print(f"The folder {log_path} already exists, overwritting")
             # Delete the current one to avoid errors
             shutil.rmtree(log_path)
@@ -71,10 +80,12 @@
             )
 
     print(f"Saving to {log_path}")
+    # Create folder structure
     os.makedirs(log_path, exist_ok=True)
     config_folder = os.path.join(log_path, env_id)
     os.makedirs(config_folder, exist_ok=True)
 
+    # Copy config files and saved stats
     shutil.copy(checkpoint, os.path.join(log_path, f"{env_id}.zip"))
     shutil.copy(saved_args, os.path.join(config_folder, "args.yml"))
     shutil.copy(config_path, os.path.join(config_folder, "config.yml"))
@@ -85,3 +96,28 @@
     # Extract monitor file and evaluation file
     with zipfile.ZipFile(train_eval_metrics, "r") as zip_ref:
         zip_ref.extractall(log_path)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--env", help="environment ID", type=str, required=True)
+    parser.add_argument("-f", "--folder", help="Log folder", type=str, required=True)
+    parser.add_argument("-orga", "--organization", help="Huggingface hub organization", default="sb3")
+    parser.add_argument("-name", "--repo-name", help="Huggingface hub repository name, by default 'algo-env_id'", type=str)
+    parser.add_argument("--algo", help="RL Algorithm", type=str, required=True, choices=list(ALGOS.keys()))
+    parser.add_argument("--exp-id", help="Experiment ID (default: 0: latest, -1: no exp folder)", default=0, type=int)
+    parser.add_argument("--verbose", help="Verbose mode (0: no output, 1: INFO)", default=1, type=int)
+    parser.add_argument(
+        "--force", action="store_true", default=False, help="Allow overwritting exp folder if it already exist"
+    )
+    args = parser.parse_args()
+
+    download_from_hub(
+        algo=args.algo,
+        env_id=args.env,
+        exp_id=args.exp_id,
+        folder=args.folder,
+        organization=args.organization,
+        repo_name=args.repo_name,
+        force=args.force,
+    )
diff --git a/utils/push_to_hub.py b/utils/push_to_hub.py
index e9e6a683e..b2a9ca878 100644
--- a/utils/push_to_hub.py
+++ b/utils/push_to_hub.py
@@ -28,6 +28,7 @@
 
 def save_model_card(repo_dir: Path, generated_model_card: str, metadata: Dict[str, Any]) -> None:
     """Saves a model card for the repository.
+
     :param repo_dir: repository directory
     :param generated_model_card: model card generated by _generate_model_card()
     :param metadata: metadata
@@ -299,6 +300,7 @@ def package_to_hub(
     )
     parser.add_argument("-orga", "--organization", help="Huggingface hub organization", type=str, required=True)
     parser.add_argument("-name", "--repo-name", help="Huggingface hub repository name, by default 'algo-env_id'", type=str)
+    parser.add_argument("-m", "--commit-message", help="Commit message", default="Initial commit", type=str)
 
     args = parser.parse_args()
     env_id = args.env
@@ -391,7 +393,7 @@ def package_to_hub(
         env_id,
         eval_env,
         repo_id=repo_id,
-        commit_message="Initial Commit",
+        commit_message=args.commit_message,
         is_deterministic=deterministic,
         n_eval_episodes=10,
         token=None,
diff --git a/utils/utils.py b/utils/utils.py
index fdfad5539..f92fc8ae0 100644
--- a/utils/utils.py
+++ b/utils/utils.py
@@ -2,12 +2,14 @@
 import glob
 import importlib
 import os
+import re
 from typing import Any, Callable, Dict, List, Optional, Tuple, Union
 
 import gym
 import stable_baselines3 as sb3  # noqa: F401
 import torch as th  # noqa: F401
 import yaml
+from huggingface_hub import HfApi
 from sb3_contrib import ARS, QRDQN, TQC, TRPO, RecurrentPPO
 from stable_baselines3 import A2C, DDPG, DQN, PPO, SAC, TD3
 from stable_baselines3.common.callbacks import BaseCallback
@@ -291,6 +293,29 @@ def get_trained_models(log_folder: str) -> Dict[str, Tuple[str, str]]:
     return trained_models
 
 
+def get_hf_trained_models(organization: str = "sb3") -> Dict[str, Tuple[str, str]]:
+    """
+    Get pretrained models,
+    available on the Hugginface hub for a given organization.
+
+    :param organization:
+    :return: Dict representing the trained agents
+    """
+    api = HfApi()
+    models = api.list_models(author=organization)
+    regex = re.compile(r"^(?P<algo>[a-z_0-9]+)-(?P<env_id>[a-zA-Z0-9]+-v[0-9]+)$")
+    trained_models = {}
+    for model in models:
+        # Remove organization
+        repo_id = model.modelId.split(f"{organization}/")[1]
+        result = regex.match(repo_id)
+        # Skip demo repo that does not fit the pattern
+        if result is not None:
+            algo, env_id = result.group("algo"), result.group("env_id")
+            trained_models[f"{algo}-{env_id}"] = (algo, env_id)
+    return trained_models
+
+
 def get_latest_run_id(log_path: str, env_id: str) -> int:
     """
     Returns the latest run number for the given log name and log path,


Test patch:
diff --git a/tests/test_enjoy.py b/tests/test_enjoy.py
index c55e702b2..194530556 100644
--- a/tests/test_enjoy.py
+++ b/tests/test_enjoy.py
@@ -3,7 +3,7 @@
 
 import pytest
 
-from utils import get_trained_models
+from utils.utils import get_hf_trained_models, get_trained_models
 
 
 def _assert_eq(left, right):
@@ -12,8 +12,10 @@ def _assert_eq(left, right):
 
 FOLDER = "rl-trained-agents/"
 N_STEPS = 100
-
+# Use local models
 trained_models = get_trained_models(FOLDER)
+# Use huggingface models too
+trained_models.update(get_hf_trained_models())
 
 
 @pytest.mark.parametrize("trained_model", trained_models.keys())
@@ -26,6 +28,10 @@ def test_trained_agents(trained_model):
     if algo == "her":
         return
 
+    # skip car racing
+    if "CarRacing" in env_id:
+        return
+
     # Skip mujoco envs
     if "Fetch" in trained_model or "-v3" in trained_model:
         return
@@ -38,7 +44,7 @@ def test_trained_agents(trained_model):
 
 
 def test_benchmark(tmp_path):
-    args = ["-n", str(N_STEPS), "--benchmark-dir", tmp_path, "--test-mode"]
+    args = ["-n", str(N_STEPS), "--benchmark-dir", tmp_path, "--test-mode", "--no-hub"]
 
     return_code = subprocess.call(["python", "-m", "utils.benchmark"] + args)
     _assert_eq(return_code, 0)