diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/__init__.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py
new file mode 100644
index 000000000..c258a30c7
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py
@@ -0,0 +1,69 @@
+# Code adapted from https://github.com/araffin/rl-baselines-zoo
+# it requires stable-baselines to be installed
+# Colab Notebook:
+# Author: Antonin RAFFIN
+# MIT License
+
+# Add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+import os
+import inspect
+import argparse
+
+try:
+    import pybullet_envs
+except ImportError:
+    current_dir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+    parent_dir = os.path.dirname(os.path.dirname(current_dir))
+    os.sys.path.insert(0, parent_dir)
+
+import gym
+import numpy as np
+from stable_baselines import SAC, TD3
+from stable_baselines.common.noise import NormalActionNoise
+
+from utils import TimeFeatureWrapper, EvalCallback
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--algo', help='RL Algorithm (Soft Actor-Critic by default)', default='sac',
+                        type=str, required=False, choices=['sac', 'td3'])
+    parser.add_argument('--env', type=str, default='HalfCheetahBulletEnv-v0', help='environment ID')
+    parser.add_argument('-n', '--n-timesteps', help='Number of training timesteps', default=int(1e6),
+                        type=int)
+    args = parser.parse_args()
+
+    env_id = args.env
+    n_timesteps = args.n_timesteps
+    save_path = '{}_{}'.format(args.algo, env_id)
+
+    # Instantiate and wrap the environment
+    env = TimeFeatureWrapper(gym.make(env_id))
+
+    # Create the evaluation environment and callback
+    eval_env = TimeFeatureWrapper(gym.make(env_id))
+    callback = EvalCallback(eval_env, best_model_save_path=save_path + '_best')
+
+    algo = {
+        'sac': SAC,
+        'td3': TD3
+    }[args.algo]
+
+    n_actions = env.action_space.shape[0]
+
+    # Tuned hyperparameters from https://github.com/araffin/rl-baselines-zoo
+    hyperparams = {
+        'sac': dict(batch_size=256, gamma=0.98, policy_kwargs=dict(layers=[256, 256]),
+                    learning_starts=10000, buffer_size=int(1e6), tau=0.01),
+
+        'td3': dict(batch_size=100, policy_kwargs=dict(layers=[400, 300]),
+                    learning_rate=1e-3, learning_starts=10000, buffer_size=int(1e6),
+                    train_freq=1000, gradient_steps=1000,
+                    action_noise=NormalActionNoise(mean=np.zeros(n_actions), sigma=0.1 * np.ones(n_actions)))
+    }[args.algo]
+
+    model = algo('MlpPolicy', env, verbose=1, **hyperparams)
+    model.learn(n_timesteps, callback=callback)
+
+    print("Saving to {}.zip".format(save_path))
+    model.save(save_path)
diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py
new file mode 100644
index 000000000..1e2c054c8
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py
@@ -0,0 +1,114 @@
+# Code adapted from https://github.com/araffin/rl-baselines-zoo
+# it requires stable-baselines to be installed
+# Author: Antonin RAFFIN
+# MIT License
+import gym
+import numpy as np
+from gym.wrappers import TimeLimit
+
+from stable_baselines.common.evaluation import evaluate_policy
+
+
+class TimeFeatureWrapper(gym.Wrapper):
+    """
+    Add remaining time to observation space for fixed length episodes.
+    See https://arxiv.org/abs/1712.00378 and https://github.com/aravindr93/mjrl/issues/13.
+
+    :param env: (gym.Env)
+    :param max_steps: (int) Max number of steps of an episode
+        if it is not wrapped in a TimeLimit object.
+    :param test_mode: (bool) In test mode, the time feature is constant,
+        equal to zero. This allow to check that the agent did not overfit this feature,
+        learning a deterministic pre-defined sequence of actions.
+    """
+    def __init__(self, env, max_steps=1000, test_mode=False):
+        assert isinstance(env.observation_space, gym.spaces.Box)
+        # Add a time feature to the observation
+        low, high = env.observation_space.low, env.observation_space.high
+        low, high= np.concatenate((low, [0])), np.concatenate((high, [1.]))
+        env.observation_space = gym.spaces.Box(low=low, high=high, dtype=np.float32)
+
+        super(TimeFeatureWrapper, self).__init__(env)
+
+        if isinstance(env, TimeLimit):
+            self._max_steps = env._max_episode_steps
+        else:
+            self._max_steps = max_steps
+        self._current_step = 0
+        self._test_mode = test_mode
+
+    def reset(self):
+        self._current_step = 0
+        return self._get_obs(self.env.reset())
+
+    def step(self, action):
+        self._current_step += 1
+        obs, reward, done, info = self.env.step(action)
+        return self._get_obs(obs), reward, done, info
+
+    def _get_obs(self, obs):
+        """
+        Concatenate the time feature to the current observation.
+
+        :param obs: (np.ndarray)
+        :return: (np.ndarray)
+        """
+        # Remaining time is more general
+        time_feature = 1 - (self._current_step / self._max_steps)
+        if self._test_mode:
+            time_feature = 1.0
+        # Optionnaly: concatenate [time_feature, time_feature ** 2]
+        return np.concatenate((obs, [time_feature]))
+
+
+class EvalCallback(object):
+    """
+    Callback for evaluating an agent.
+
+    :param eval_env: (gym.Env) The environment used for initialization
+    :param n_eval_episodes: (int) The number of episodes to test the agent
+    :param eval_freq: (int) Evaluate the agent every eval_freq call of the callback.
+    :param deterministic: (bool)
+    :param best_model_save_path: (str)
+    :param verbose: (int)
+    """
+    def __init__(self, eval_env, n_eval_episodes=5, eval_freq=10000,
+                 deterministic=True, best_model_save_path=None, verbose=1):
+        super(EvalCallback, self).__init__()
+        self.n_eval_episodes = n_eval_episodes
+        self.eval_freq = eval_freq
+        self.best_mean_reward = -np.inf
+        self.deterministic = deterministic
+        self.eval_env = eval_env
+        self.verbose = verbose
+        self.model, self.num_timesteps = None, 0
+        self.best_model_save_path = best_model_save_path
+        self.n_calls = 0
+
+    def __call__(self, locals_, globals_):
+        """
+        :param locals_: (dict)
+        :param globals_: (dict)
+        :return: (bool)
+        """
+        self.n_calls += 1
+        self.model = locals_['self']
+        self.num_timesteps = self.model.num_timesteps
+
+        if self.n_calls % self.eval_freq == 0:
+            episode_rewards, _ = evaluate_policy(self.model, self.eval_env, n_eval_episodes=self.n_eval_episodes,
+                                                 deterministic=self.deterministic, return_episode_rewards=True)
+
+
+            mean_reward, std_reward = np.mean(episode_rewards), np.std(episode_rewards)
+            if self.verbose > 0:
+                print("Eval num_timesteps={}, "
+                      "episode_reward={:.2f} +/- {:.2f}".format(self.num_timesteps, mean_reward, std_reward))
+
+            if mean_reward > self.best_mean_reward:
+                if self.best_model_save_path is not None:
+                    print("Saving best model")
+                    self.model.save(self.best_model_save_path)
+                self.best_mean_reward = mean_reward
+
+        return True