diff --git a/docs/.gitignore b/docs/.gitignore
new file mode 100644
index 0000000..539bbbf
--- /dev/null
+++ b/docs/.gitignore
@@ -0,0 +1,2 @@
+# auto-generated content
+/api/tianshou.highlevel
\ No newline at end of file
diff --git a/docs/autogen_rst.py b/docs/autogen_rst.py
new file mode 100644
index 0000000..3105b13
--- /dev/null
+++ b/docs/autogen_rst.py
@@ -0,0 +1,121 @@
+import logging
+import os
+import shutil
+from pathlib import Path
+
+log = logging.getLogger(os.path.basename(__file__))
+
+
+def module_template(module_qualname: str):
+    module_name = module_qualname.split(".")[-1]
+    title = module_name.replace("_", r"\_")
+    return f"""{title}
+{"="*len(title)}
+
+.. automodule:: {module_qualname}
+   :members:
+   :undoc-members:
+"""
+
+
+def package_template(package_qualname: str):
+    package_name = package_qualname.split(".")[-1]
+    title = package_name.replace("_", r"\_")
+    return f"""{title}
+{"="*len(title)}
+
+.. automodule:: {package_qualname}
+   :members:
+   :undoc-members:
+
+.. toctree::
+   :glob:
+
+   {package_name}/*
+"""
+
+
+def indexTemplate(package_name):
+    title = package_name
+    return f"""{title}
+{"="*len(title)}
+
+.. automodule:: {package_name}
+   :members:
+   :undoc-members:
+
+.. toctree::
+   :glob:
+
+   *
+"""
+
+
+def write_to_file(content: str, path: str):
+    os.makedirs(os.path.dirname(path), exist_ok=True)
+    with open(path, "w") as f:
+        f.write(content)
+    os.chmod(path, 0o666)
+
+
+def make_rst(src_root, rst_root, clean=False, overwrite=False, package_prefix=""):
+    """Creates/updates documentation in form of rst files for modules and packages.
+    Does not delete any existing rst files. Thus, rst files for packages or modules that have been removed or renamed
+    should be deleted by hand.
+
+    This method should be executed from the project's top-level directory
+
+    :param src_root: path to library base directory, typically "src/<library_name>"
+    :param clean: whether to completely clean the target directory beforehand, removing any existing .rst files
+    :param overwrite: whether to overwrite existing rst files. This should be used with caution as it will delete
+        all manual changes to documentation files
+    :package_prefix: a prefix to prepend to each module (for the case where the src_root is not the base package),
+        which, if not empty, should end with a "."
+    :return:
+    """
+    rst_root = os.path.abspath(rst_root)
+
+    if clean and os.path.isdir(rst_root):
+        shutil.rmtree(rst_root)
+
+    base_package_name = package_prefix + os.path.basename(src_root)
+    write_to_file(indexTemplate(base_package_name), os.path.join(rst_root, "index.rst"))
+
+    for root, dirnames, filenames in os.walk(src_root):
+        if os.path.basename(root).startswith("_"):
+            continue
+        base_package_relpath = os.path.relpath(root, start=src_root)
+        base_package_qualname = package_prefix + os.path.relpath(
+            root,
+            start=os.path.dirname(src_root),
+        ).replace(os.path.sep, ".")
+
+        for dirname in dirnames:
+            if not dirname.startswith("_"):
+                package_qualname = f"{base_package_qualname}.{dirname}"
+                package_rst_path = os.path.join(rst_root, base_package_relpath, f"{dirname}.rst")
+                log.info(f"Writing package documentation to {package_rst_path}")
+                write_to_file(package_template(package_qualname), package_rst_path)
+
+        for filename in filenames:
+            base_name, ext = os.path.splitext(filename)
+            if ext == ".py" and not filename.startswith("_"):
+                module_qualname = f"{base_package_qualname}.{filename[:-3]}"
+
+                module_rst_path = os.path.join(rst_root, base_package_relpath, f"{base_name}.rst")
+                if os.path.exists(module_rst_path) and not overwrite:
+                    log.debug(f"{module_rst_path} already exists, skipping it")
+
+                log.info(f"Writing module documentation to {module_rst_path}")
+                write_to_file(module_template(module_qualname), module_rst_path)
+
+
+if __name__ == "__main__":
+    logging.basicConfig(level=logging.INFO)
+    docs_root = Path(__file__).parent
+    make_rst(
+        docs_root / ".." / "tianshou" / "highlevel",
+        docs_root / "api" / "tianshou.highlevel",
+        clean=True,
+        package_prefix="tianshou.",
+    )
diff --git a/docs/index.rst b/docs/index.rst
index 758b4d4..8b5d215 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -118,6 +118,7 @@ Tianshou is still under development, you can also check out the documents in sta
    api/tianshou.trainer
    api/tianshou.exploration
    api/tianshou.utils
+   api/tianshou.highlevel/index
 
 
 .. toctree::
diff --git a/docs/spelling_wordlist.txt b/docs/spelling_wordlist.txt
index 1df4f2d..a19949a 100644
--- a/docs/spelling_wordlist.txt
+++ b/docs/spelling_wordlist.txt
@@ -181,3 +181,10 @@ inplace
 deepcopy
 Gaussian
 stdout
+parallelization
+minibatch
+minibatches
+MLP
+backpropagation
+dataclass
+superset
diff --git a/pyproject.toml b/pyproject.toml
index 13434bd..cab36b6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -173,8 +173,9 @@ lint = ["_black_check", "_ruff_check"]
 _poetry_install_sort_plugin = "poetry self add poetry-plugin-sort"
 _poery_sort = "poetry sort"
 format = ["_black_format", "_ruff_format", "_poetry_install_sort_plugin", "_poery_sort"]
+_autogen_rst = "python docs/autogen_rst.py"
 _spellcheck = "sphinx-build -W -b spelling docs docs/_build"
 _doc_build = "sphinx-build -W -b html docs docs/_build"
 doc-clean = "rm -rf docs/_build"
-doc-build = ["_spellcheck", "_doc_build"]
+doc-build = ["_autogen_rst", "_spellcheck", "_doc_build"]
 type-check = "mypy tianshou"