diff --git a/examples/mujoco/config/logger.yml b/examples/mujoco/config/logger.yml
new file mode 100644
index 0000000..16fe055
--- /dev/null
+++ b/examples/mujoco/config/logger.yml
@@ -0,0 +1,5 @@
+# Default logger config, keep in sync with LoggerConfig dataclass
+
+logger: tensorboard
+logdir: log
+wandb_project: mujoco.benchmark
diff --git a/examples/mujoco/config/sampling.yml b/examples/mujoco/config/sampling.yml
new file mode 100644
index 0000000..87ee291
--- /dev/null
+++ b/examples/mujoco/config/sampling.yml
@@ -0,0 +1,10 @@
+# Default config for sampling, epochs, parallelization, buffers, collectors, and batching.
+# Keep in sync with RLSamplingConfig dataclass.
+epoch: 100
+step_per_epoch: 30000
+batch_size: 64
+training_num: 64
+test_num: 10
+buffer_size: 4096
+step_per_collect: 2048
+repeat_per_collect: 10
diff --git a/examples/mujoco/default_config.yml b/examples/mujoco/default_config.yml
new file mode 100644
index 0000000..6fdb01e
--- /dev/null
+++ b/examples/mujoco/default_config.yml
@@ -0,0 +1,45 @@
+# General config
+logger: "tensorboard"
+wandb_project: "mujoco.benchmark"
+seed: 24
+logdir: "log"
+device: "cpu"
+watch: false
+render: 0.0
+resume_path: null
+resume_id: null
+
+# Training: NN
+lr: 3e-4
+hidden_sizes: [64, 64]
+lr_decay: true
+
+# Training: sampling
+training_num: 64
+test_num: 10
+repeat_per_collect: 10
+batch_size: 64
+epoch: 100
+step_per_epoch: 30000
+step_per_collect: 2048
+buffer_size: 4096
+
+# Training: RL modelling
+gamma: 0.99
+rew_norm: true
+dual_clip: null
+value_clip: false
+norm_adv: false
+recompute_adv: true
+gae_lambda: 0.95
+
+# Training: PPO specifics
+ent_coef: 0.0
+vf_coef: 0.25
+bound_action_method: "clip"
+max_grad_norm: 0.5
+eps_clip: 0.2
+
+
+# Mujoco
+task: "Ant-v3"
diff --git a/examples/mujoco/mujoco_env.py b/examples/mujoco/mujoco_env.py
index bb84629..430a14b 100644
--- a/examples/mujoco/mujoco_env.py
+++ b/examples/mujoco/mujoco_env.py
@@ -10,7 +10,9 @@ except ImportError:
     envpool = None
 
 
-def make_mujoco_env(task, seed, training_num, test_num, obs_norm):
+def make_mujoco_env(
+    task: str, seed: int, num_train_envs: int, num_test_envs: int, obs_norm: bool
+):
     """Wrapper function for Mujoco env.
 
     If EnvPool is installed, it will automatically switch to EnvPool's Mujoco env.
@@ -18,17 +20,16 @@ def make_mujoco_env(task, seed, training_num, test_num, obs_norm):
     :return: a tuple of (single env, training envs, test envs).
     """
     if envpool is not None:
-        train_envs = env = envpool.make_gymnasium(task, num_envs=training_num, seed=seed)
-        test_envs = envpool.make_gymnasium(task, num_envs=test_num, seed=seed)
+        train_envs = env = envpool.make_gymnasium(task, num_envs=num_train_envs, seed=seed)
+        test_envs = envpool.make_gymnasium(task, num_envs=num_test_envs, seed=seed)
     else:
         warnings.warn(
             "Recommend using envpool (pip install envpool) "
             "to run Mujoco environments more efficiently.",
         )
         env = gym.make(task)
-        train_envs = ShmemVectorEnv([lambda: gym.make(task) for _ in range(training_num)])
-        test_envs = ShmemVectorEnv([lambda: gym.make(task) for _ in range(test_num)])
-        env.seed(seed)
+        train_envs = ShmemVectorEnv([lambda: gym.make(task) for _ in range(num_train_envs)])
+        test_envs = ShmemVectorEnv([lambda: gym.make(task) for _ in range(num_test_envs)])
         train_envs.seed(seed)
         test_envs.seed(seed)
     if obs_norm:
diff --git a/examples/mujoco/mujoco_ppo_cfg.py b/examples/mujoco/mujoco_ppo_cfg.py
new file mode 100644
index 0000000..bd4628a
--- /dev/null
+++ b/examples/mujoco/mujoco_ppo_cfg.py
@@ -0,0 +1,359 @@
+#!/usr/bin/env python3
+
+import argparse
+import datetime
+import os
+import pprint
+from collections.abc import Sequence
+from typing import Literal, Optional, Tuple, Union
+
+import gymnasium as gym
+import numpy as np
+import torch
+from jsonargparse import CLI
+from torch import nn
+from torch.distributions import Independent, Normal
+from torch.optim.lr_scheduler import LambdaLR
+from torch.utils.tensorboard import SummaryWriter
+
+from mujoco_env import make_mujoco_env
+from tianshou.config import (
+    BasicExperimentConfig,
+    LoggerConfig,
+    NNConfig,
+    PGConfig,
+    PPOConfig,
+    RLAgentConfig,
+    RLSamplingConfig,
+)
+from tianshou.config.utils import collect_configs
+from tianshou.data import Collector, ReplayBuffer, VectorReplayBuffer
+from tianshou.env import VectorEnvNormObs
+from tianshou.policy import BasePolicy, PPOPolicy
+from tianshou.trainer import OnpolicyTrainer
+from tianshou.utils import TensorboardLogger, WandbLogger
+from tianshou.utils.net.common import ActorCritic, Net
+from tianshou.utils.net.continuous import ActorProb, Critic
+
+
+def set_seed(seed=42):
+    np.random.seed(seed)
+    torch.manual_seed(seed)
+
+
+def get_logger_for_run(
+    algo_name: str,
+    task: str,
+    logger_config: LoggerConfig,
+    config: dict,
+    seed: int,
+    resume_id: Optional[Union[str, int]],
+) -> Tuple[str, Union[WandbLogger, TensorboardLogger]]:
+    """
+
+    :param algo_name:
+    :param task:
+    :param logger_config:
+    :param config: the experiment config
+    :param seed:
+    :param resume_id: used as run_id by wandb, unused for tensorboard
+    :return:
+    """
+    """Returns the log_path and logger."""
+    now = datetime.datetime.now().strftime("%y%m%d-%H%M%S")
+    log_name = os.path.join(task, algo_name, str(seed), now)
+    log_path = os.path.join(logger_config.logdir, log_name)
+
+    logger = get_logger(
+        logger_config.logger,
+        log_path,
+        log_name=log_name,
+        run_id=resume_id,
+        config=config,
+        wandb_project=logger_config.wandb_project,
+    )
+    return log_path, logger
+
+
+def get_continuous_env_info(
+    env: gym.Env,
+) -> Tuple[Tuple[int, ...], Tuple[int, ...], float]:
+    if not isinstance(env.action_space, gym.spaces.Box):
+        raise ValueError(
+            "Only environments with continuous action space are supported here. "
+            f"But got env with action space: {env.action_space.__class__}."
+        )
+    state_shape = env.observation_space.shape or env.observation_space.n
+    if not state_shape:
+        raise ValueError("Observation space shape is not defined")
+    action_shape = env.action_space.shape
+    max_action = env.action_space.high[0]
+    return state_shape, action_shape, max_action
+
+
+def resume_from_checkpoint(
+    path: str,
+    policy: BasePolicy,
+    train_envs: VectorEnvNormObs | None = None,
+    test_envs: VectorEnvNormObs | None = None,
+    device: str | int | torch.device | None = None,
+):
+    ckpt = torch.load(path, map_location=device)
+    policy.load_state_dict(ckpt["model"])
+    if train_envs:
+        train_envs.set_obs_rms(ckpt["obs_rms"])
+    if test_envs:
+        test_envs.set_obs_rms(ckpt["obs_rms"])
+    print("Loaded agent and obs. running means from: ", path)
+
+
+def watch_agent(n_episode, policy: BasePolicy, test_collector: Collector, render=0.0):
+    policy.eval()
+    test_collector.reset()
+    result = test_collector.collect(n_episode=n_episode, render=render)
+    print(f'Final reward: {result["rews"].mean()}, length: {result["lens"].mean()}')
+
+
+def get_train_test_collector(
+    buffer_size: int,
+    policy: BasePolicy,
+    train_envs: VectorEnvNormObs,
+    test_envs: VectorEnvNormObs,
+):
+    if len(train_envs) > 1:
+        buffer = VectorReplayBuffer(buffer_size, len(train_envs))
+    else:
+        buffer = ReplayBuffer(buffer_size)
+    train_collector = Collector(policy, train_envs, buffer, exploration_noise=True)
+    test_collector = Collector(policy, test_envs)
+    return test_collector, train_collector
+
+
+TShape = Union[int, Sequence[int]]
+
+
+def get_actor_critic(
+    state_shape: TShape,
+    hidden_sizes: Sequence[int],
+    action_shape: TShape,
+    device: str | int | torch.device = "cpu",
+):
+    net_a = Net(
+        state_shape, hidden_sizes=hidden_sizes, activation=nn.Tanh, device=device
+    )
+    actor = ActorProb(net_a, action_shape, unbounded=True, device=device).to(device)
+    net_c = Net(
+        state_shape, hidden_sizes=hidden_sizes, activation=nn.Tanh, device=device
+    )
+    # TODO: twice device?
+    critic = Critic(net_c, device=device).to(device)
+    return actor, critic
+
+
+def get_logger(
+    kind: Literal["wandb", "tensorboard"],
+    log_path: str,
+    log_name="",
+    run_id: Optional[Union[str, int]] = None,
+    config: Optional[Union[dict, argparse.Namespace]] = None,
+    wandb_project: Optional[str] = None,
+):
+    writer = SummaryWriter(log_path)
+    writer.add_text("args", str(config))
+    if kind == "wandb":
+        logger = WandbLogger(
+            save_interval=1,
+            name=log_name.replace(os.path.sep, "__"),
+            run_id=run_id,
+            config=config,
+            project=wandb_project,
+        )
+        logger.load(writer)
+    elif kind == "tensorboard":
+        logger = TensorboardLogger(writer)
+    else:
+        raise ValueError(f"Unknown logger: {kind}")
+    return logger
+
+
+def get_lr_scheduler(optim, step_per_epoch: int, step_per_collect: int, epochs: int):
+    """Decay learning rate to 0 linearly."""
+    max_update_num = np.ceil(step_per_epoch / step_per_collect) * epochs
+    lr_scheduler = LambdaLR(optim, lr_lambda=lambda epoch: 1 - epoch / max_update_num)
+    return lr_scheduler
+
+
+def init_and_get_optim(actor: nn.Module, critic: nn.Module, lr: float):
+    """Initializes layers of actor and critic.
+
+    :param actor:
+    :param critic:
+    :param lr:
+    :return:
+    """
+    actor_critic = ActorCritic(actor, critic)
+    torch.nn.init.constant_(actor.sigma_param, -0.5)
+    for m in actor_critic.modules():
+        if isinstance(m, torch.nn.Linear):
+            # orthogonal initialization
+            torch.nn.init.orthogonal_(m.weight, gain=np.sqrt(2))
+            torch.nn.init.zeros_(m.bias)
+    if hasattr(actor, "mu"):
+        # For continuous action spaces with Gaussian policies
+        # do last policy layer scaling, this will make initial actions have (close to)
+        # 0 mean and std, and will help boost performances,
+        # see https://arxiv.org/abs/2006.05990, Fig.24 for details
+        for m in actor.mu.modules():
+            # TODO: seems like biases are initialized twice for the actor
+            if isinstance(m, torch.nn.Linear):
+                torch.nn.init.zeros_(m.bias)
+                m.weight.data.copy_(0.01 * m.weight.data)
+    optim = torch.optim.Adam(actor_critic.parameters(), lr=lr)
+    return optim
+
+
+def main(
+    experiment_config: BasicExperimentConfig,
+    logger_config: LoggerConfig,
+    sampling_config: RLSamplingConfig,
+    general_config: RLAgentConfig,
+    pg_config: PGConfig,
+    ppo_config: PPOConfig,
+    nn_config: NNConfig,
+):
+    """
+    Run the PPO test on the provided parameters.
+
+    :param experiment_config: BasicExperimentConfig - not ML or RL specific
+    :param logger_config: LoggerConfig
+    :param sampling_config: SamplingConfig -
+        sampling, epochs, parallelization, buffers, collectors, and batching.
+    :param general_config: RLAgentConfig - general RL agent config
+    :param pg_config: PGConfig: common to most policy gradient algorithms
+    :param ppo_config: PPOConfig - PPO specific config
+    :param nn_config: NNConfig - NN-training specific config
+
+    :return: None
+    """
+    full_config = collect_configs(*locals().values())
+    set_seed(experiment_config.seed)
+
+    # create test and train envs, add env info to config
+    env, train_envs, test_envs = make_mujoco_env(
+        task=experiment_config.task,
+        seed=experiment_config.seed,
+        num_train_envs=sampling_config.num_train_envs,
+        num_test_envs=sampling_config.num_test_envs,
+        obs_norm=True,
+    )
+
+    # adding env_info to logged config
+    state_shape, action_shape, max_action = get_continuous_env_info(env)
+    full_config["env_info"] = {
+        "state_shape": state_shape,
+        "action_shape": action_shape,
+        "max_action": max_action,
+    }
+    log_path, logger = get_logger_for_run(
+        "ppo",
+        experiment_config.task,
+        logger_config,
+        full_config,
+        experiment_config.seed,
+        experiment_config.resume_id,
+    )
+
+    # Setup NNs
+    actor, critic = get_actor_critic(
+        state_shape, nn_config.hidden_sizes, action_shape, experiment_config.device
+    )
+    optim = init_and_get_optim(actor, critic, nn_config.lr)
+
+    lr_scheduler = None
+    if nn_config.lr_decay:
+        lr_scheduler = get_lr_scheduler(
+            optim,
+            sampling_config.step_per_epoch,
+            sampling_config.step_per_collect,
+            sampling_config.num_epochs,
+        )
+
+    # Create policy
+    def dist_fn(*logits):
+        return Independent(Normal(*logits), 1)
+
+    policy = PPOPolicy(
+        # nn-stuff
+        actor,
+        critic,
+        optim,
+        dist_fn=dist_fn,
+        lr_scheduler=lr_scheduler,
+        # env-stuff
+        action_space=train_envs.action_space,
+        action_scaling=True,
+        # general_config
+        discount_factor=general_config.gamma,
+        gae_lambda=general_config.gae_lambda,
+        reward_normalization=general_config.rew_norm,
+        action_bound_method=general_config.action_bound_method,
+        # pg_config
+        max_grad_norm=pg_config.max_grad_norm,
+        vf_coef=pg_config.vf_coef,
+        ent_coef=pg_config.ent_coef,
+        # ppo_config
+        eps_clip=ppo_config.eps_clip,
+        value_clip=ppo_config.value_clip,
+        dual_clip=ppo_config.dual_clip,
+        advantage_normalization=ppo_config.norm_adv,
+        recompute_advantage=ppo_config.recompute_adv,
+    )
+
+    if experiment_config.resume_path:
+        resume_from_checkpoint(
+            experiment_config.resume_path,
+            policy,
+            train_envs=train_envs,
+            test_envs=test_envs,
+            device=experiment_config.device,
+        )
+
+    test_collector, train_collector = get_train_test_collector(
+        sampling_config.buffer_size, policy, test_envs, train_envs
+    )
+
+    # TODO: test num is the number of test envs but used as episode_per_test
+    #  here and in watch_agent
+    if not experiment_config.watch:
+        # RL training
+        def save_best_fn(pol: nn.Module):
+            state = {"model": pol.state_dict(), "obs_rms": train_envs.get_obs_rms()}
+            torch.save(state, os.path.join(log_path, "policy.pth"))
+
+        trainer = OnpolicyTrainer(
+            policy=policy,
+            train_collector=train_collector,
+            test_collector=test_collector,
+            max_epoch=sampling_config.num_epochs,
+            step_per_epoch=sampling_config.step_per_epoch,
+            repeat_per_collect=sampling_config.repeat_per_collect,
+            episode_per_test=sampling_config.num_test_envs,
+            batch_size=sampling_config.batch_size,
+            step_per_collect=sampling_config.step_per_collect,
+            save_best_fn=save_best_fn,
+            logger=logger,
+            test_in_train=False,
+        )
+        result = trainer.run()
+        pprint.pprint(result)
+
+    watch_agent(
+        sampling_config.num_test_envs,
+        policy,
+        test_collector,
+        render=experiment_config.render,
+    )
+
+
+if __name__ == "__main__":
+    CLI(main)
diff --git a/tianshou/config/__init__.py b/tianshou/config/__init__.py
new file mode 100644
index 0000000..27c9ec6
--- /dev/null
+++ b/tianshou/config/__init__.py
@@ -0,0 +1 @@
+from .config import *
diff --git a/tianshou/config/config.py b/tianshou/config/config.py
new file mode 100644
index 0000000..ed9fa26
--- /dev/null
+++ b/tianshou/config/config.py
@@ -0,0 +1,91 @@
+from dataclasses import dataclass
+from typing import Literal, Optional, Sequence
+
+import torch
+from jsonargparse import set_docstring_parse_options
+
+set_docstring_parse_options(attribute_docstrings=True)
+
+
+@dataclass
+class BasicExperimentConfig:
+    """Generic config for setting up the experiment, not RL or training specific."""
+
+    seed: int = 42
+    task: str = "Ant-v4"
+    """Mujoco specific"""
+    render: float = 0.0
+    """Milliseconds between rendered frames"""
+    device: str = "cuda" if torch.cuda.is_available() else "cpu"
+    resume_id: Optional[int] = None
+    """For restoring a model and running means of env-specifics from a checkpoint"""
+    resume_path: str = None
+    """For restoring a model and running means of env-specifics from a checkpoint"""
+    watch: bool = False
+    """If True, will not perform training and only watch the restored policy"""
+
+
+@dataclass
+class LoggerConfig:
+    """Logging config"""
+
+    logdir: str = "log"
+    logger: Literal["tensorboard", "wandb"] = "tensorboard"
+    wandb_project: str = "mujoco.benchmark"
+    """Only used if logger is wandb."""
+
+
+@dataclass
+class RLSamplingConfig:
+    """Sampling, epochs, parallelization, buffers, collectors, and batching."""
+
+    num_epochs: int = 100
+    step_per_epoch: int = 30000
+    batch_size: int = 64
+    num_train_envs: int = 64
+    num_test_envs: int = 10
+    buffer_size: int = 4096
+    step_per_collect: int = 2048
+    repeat_per_collect: int = 10
+
+
+@dataclass
+class RLAgentConfig:
+    """Config common to most RL algorithms"""
+
+    gamma: float = 0.99
+    """Discount factor"""
+    gae_lambda: float = 0.95
+    """For Generalized Advantage Estimate (equivalent to TD(lambda))"""
+    action_bound_method: Optional[Literal["clip", "tanh"]] = "clip"
+    """How to map original actions in range (-inf, inf) to [-1, 1]"""
+    rew_norm: bool = True
+    """Whether to normalize rewards"""
+
+
+@dataclass
+class PGConfig:
+    """Config of general policy-gradient algorithms"""
+
+    ent_coef: float = 0.0
+    vf_coef: float = 0.25
+    max_grad_norm: float = 0.5
+
+
+@dataclass
+class PPOConfig:
+    """PPO specific config"""
+
+    value_clip: bool = False
+    norm_adv: bool = False
+    """Whether to normalize advantages"""
+    eps_clip: float = 0.2
+    dual_clip: Optional[float] = None
+    recompute_adv: bool = True
+
+
+@dataclass
+class NNConfig:
+    hidden_sizes: Sequence[int] = (64, 64)
+    lr: float = 3e-4
+    lr_decay: bool = True
diff --git a/tianshou/config/utils.py b/tianshou/config/utils.py
new file mode 100644
index 0000000..e3a0998
--- /dev/null
+++ b/tianshou/config/utils.py
@@ -0,0 +1,25 @@
+from dataclasses import asdict, is_dataclass
+
+
+def collect_configs(*confs):
+    """
+    Collect instances of dataclasses to a single dict mapping the
+    classname to the values. If any of the passed objects is not a
+    dataclass or if two instances of the same config class are passed,
+    an error will be raised.
+
+    :param confs: dataclasses
+    :return: Dictionary mapping class names to their instances.
+    """
+    result = {}
+
+    for conf in confs:
+        if not is_dataclass(conf):
+            raise ValueError(f"Object {conf.__class__.__name__} is not a dataclass.")
+
+        if conf.__class__.__name__ in result:
+            raise ValueError(f"Duplicate instance of {conf.__class__.__name__} found.")
+
+        result[conf.__class__.__name__] = asdict(conf)
+
+    return result