diff --git a/examples/gym/cartpole/linear_bo.py b/examples/gym/cartpole/linear_bo.py
new file mode 100644
index 0000000..cf245c3
--- /dev/null
+++ b/examples/gym/cartpole/linear_bo.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python
+"""Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using a linear policy trained with
+the Bayesian Optimization algorithm.
+"""
+
+import matplotlib.pyplot as plt
+
+from pyrobolearn.envs import gym
+from pyrobolearn.policies import LinearPolicy
+from pyrobolearn.tasks import RLTask
+from pyrobolearn.algos import BO
+
+
+# create env, state, and action from gym
+env = gym.make('CartPole-v1')
+state, action = env.state, env.action
+print("State and action space: {} and {}".format(state.space, action.space))
+
+# create policy
+policy = LinearPolicy(state, action)
+
+# create task and run it
+task = RLTask(env, policy)
+task.run(num_steps=1000, use_terminating_condition=True, render=True)
+
+# create RL algo
+algo = BO(task, policy)
+rewards = algo.train(num_steps=1000, num_episodes=30, verbose=True)
+
+# plot
+plt.figure()
+plt.plot(rewards)
+plt.show()
+
+# test optimized policy
+reward = algo.test(num_steps=1000, use_terminating_condition=True, render=True)
+print("Final reward obtained on the test: {}".format(reward))
diff --git a/examples/gym/cartpole/linear_cem.py b/examples/gym/cartpole/linear_cem.py
new file mode 100644
index 0000000..2f6dbaf
--- /dev/null
+++ b/examples/gym/cartpole/linear_cem.py
@@ -0,0 +1,39 @@
+#!/usr/bin/env python
+"""Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using a linear policy trained with
+the Cross-Entropy Method algorithm.
+"""
+
+import matplotlib.pyplot as plt
+
+from pyrobolearn.envs import gym
+from pyrobolearn.policies import LinearPolicy
+from pyrobolearn.tasks import RLTask
+from pyrobolearn.algos import CEM
+
+
+# create env, state, and action from gym
+env = gym.make('CartPole-v1')
+state, action = env.state, env.action
+print("State and action space: {} and {}".format(state.space, action.space))
+
+# create policy
+policy = LinearPolicy(state, action)
+
+# create task and run it
+task = RLTask(env, policy)
+task.run(num_steps=1000, use_terminating_condition=True, render=True)
+
+# create RL algo
+algo = CEM(task, policy, population_size=20, elite_fraction=0.2)
+avg_rewards, max_rewards = algo.train(num_steps=1000, num_episodes=30, verbose=True)
+
+# plot
+plt.figure()
+plt.plot(avg_rewards, label='avg')
+plt.plot(max_rewards, label='max')
+plt.legend()
+plt.show()
+
+# test optimized policy
+reward = algo.test(num_steps=1000, use_terminating_condition=True, render=True)
+print("Final reward obtained on the test: {}".format(reward))
diff --git a/examples/gym/cartpole/linear_cmaes.py b/examples/gym/cartpole/linear_cmaes.py
new file mode 100644
index 0000000..3d941b3
--- /dev/null
+++ b/examples/gym/cartpole/linear_cmaes.py
@@ -0,0 +1,39 @@
+#!/usr/bin/env python
+"""Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using a linear policy trained with
+the CMA-ES algorithm.
+"""
+
+import matplotlib.pyplot as plt
+
+from pyrobolearn.envs import gym
+from pyrobolearn.policies import LinearPolicy
+from pyrobolearn.tasks import RLTask
+from pyrobolearn.algos import CMAES
+
+
+# create env, state, and action from gym
+env = gym.make('CartPole-v1')
+state, action = env.state, env.action
+print("State and action space: {} and {}".format(state.space, action.space))
+
+# create policy
+policy = LinearPolicy(state, action)
+
+# create task and run it
+task = RLTask(env, policy)
+task.run(num_steps=1000, use_terminating_condition=True, render=True)
+
+# create RL algo
+algo = CMAES(task, policy, population_size=20)
+avg_rewards, max_rewards = algo.train(num_steps=1000, num_episodes=30, verbose=True)
+
+# plot
+plt.figure()
+plt.plot(avg_rewards, label='avg')
+plt.plot(max_rewards, label='max')
+plt.legend()
+plt.show()
+
+# test optimized policy
+reward = algo.test(num_steps=1000, use_terminating_condition=True, render=True)
+print("Final reward obtained on the test: {}".format(reward))
diff --git a/examples/gym/cartpole/linear_fd.py b/examples/gym/cartpole/linear_fd.py
new file mode 100644
index 0000000..778af3f
--- /dev/null
+++ b/examples/gym/cartpole/linear_fd.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+"""Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using a linear policy trained with
+the finite difference algorithm.
+"""
+
+import matplotlib.pyplot as plt
+
+from pyrobolearn.envs import gym
+from pyrobolearn.policies import LinearPolicy
+from pyrobolearn.tasks import RLTask
+from pyrobolearn.algos import FD
+
+
+# create env, state, and action from gym
+env = gym.make('CartPole-v1')
+state, action = env.state, env.action
+print("State and action space: {} and {}".format(state.space, action.space))
+
+# create policy
+policy = LinearPolicy(state, action)
+
+# create task and run it
+task = RLTask(env, policy)
+task.run(num_steps=1000, use_terminating_condition=True, render=True)
+
+# create RL algo
+# Note: the hyperparameters can be a little bit tricky to optimize...
+algo = FD(task, policy, std_dev=0.01, learning_rate=0.01, difference_type='central', normalize_grad=True)
+rewards = algo.train(num_steps=1000, num_rollouts=5, num_episodes=50, verbose=True)
+
+# plot
+plt.figure()
+plt.plot(rewards)
+plt.show()
+
+# test optimized policy
+reward = algo.test(num_steps=1000, use_terminating_condition=True, render=True)
+print("Final reward obtained on the test: {}".format(reward))
diff --git a/examples/gym/cartpole/linear_power.py b/examples/gym/cartpole/linear_power.py
new file mode 100644
index 0000000..566c7ac
--- /dev/null
+++ b/examples/gym/cartpole/linear_power.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+"""Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using a linear policy trained with
+the PoWER RL algorithm.
+"""
+
+import matplotlib.pyplot as plt
+
+from pyrobolearn.envs import gym
+from pyrobolearn.policies import LinearPolicy
+from pyrobolearn.tasks import RLTask
+from pyrobolearn.algos import PoWER
+
+
+# create env, state, and action from gym
+env = gym.make('CartPole-v1')
+state, action = env.state, env.action
+print("State and action space: {} and {}".format(state.space, action.space))
+
+# create policy
+policy = LinearPolicy(state, action)
+
+# create task and run it
+task = RLTask(env, policy)
+task.run(num_steps=1000, use_terminating_condition=True, render=True)
+
+# create RL algo
+# Note: depends a lot on the initialization of the policy
+algo = PoWER(task, policy)
+rewards = algo.train(num_steps=1000, num_rollouts=10, num_episodes=300, verbose=True)
+
+# plot
+plt.figure()
+plt.plot(rewards)
+plt.show()
+
+# test optimized policy
+reward = algo.test(num_steps=1000, use_terminating_condition=True, render=True)
+print("Final reward obtained on the test: {}".format(reward))
diff --git a/examples/gym/cartpole/neat_neat.py b/examples/gym/cartpole/neat_neat.py
new file mode 100644
index 0000000..381fb6f
--- /dev/null
+++ b/examples/gym/cartpole/neat_neat.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+"""Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using NEAT.
+"""
+
+import matplotlib.pyplot as plt
+
+from pyrobolearn.envs import gym
+from pyrobolearn.policies import NEATPolicy
+from pyrobolearn.tasks import RLTask
+from pyrobolearn.algos import NEAT
+
+
+# create env, state, and action from gym
+env = gym.make('CartPole-v1')
+state, action = env.state, env.action
+print("State and action space: {} and {}".format(state.space, action.space))
+
+# create policy
+policy = NEATPolicy(state, action)
+
+# create task and run it
+task = RLTask(env, policy)
+task.run(num_steps=1000, use_terminating_condition=True, render=True)
+
+# create RL algo
+algo = NEAT(task, policy, population_size=20)
+avg_rewards, max_rewards = algo.train(num_steps=1000, num_episodes=30, verbose=True)
+
+# plot
+plt.figure()
+plt.plot(avg_rewards, label='avg')
+plt.plot(max_rewards, label='max')
+plt.legend()
+plt.show()
+
+# test optimized policy
+reward = algo.test(num_steps=1000, use_terminating_condition=True, render=True)
+print("Final reward obtained on the test: {}".format(reward))
diff --git a/examples/gym/cartpole/random_none.py b/examples/gym/cartpole/random_none.py
new file mode 100644
index 0000000..246d6f2
--- /dev/null
+++ b/examples/gym/cartpole/random_none.py
@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+"""Example on how to use the 'Cartpole' OpenAI Gym environments in PyRoboLearn using a random policy
+"""
+
+from pyrobolearn.envs import gym
+from pyrobolearn.policies import RandomPolicy
+from pyrobolearn.tasks import RLTask
+
+
+# create env, state, and action from gym
+env = gym.make('CartPole-v1')
+state, action = env.state, env.action
+print("State and action space: {} and {}".format(state.space, action.space))
+
+# create policy
+policy = RandomPolicy(state, action)
+
+# create task and run it
+task = RLTask(env, policy)
+task.run(num_steps=1000, dt=0.02, use_terminating_condition=False, render=True)
diff --git a/examples/robots/load_robot.py b/examples/robots/load_robot.py
new file mode 100644
index 0000000..6baa688
--- /dev/null
+++ b/examples/robots/load_robot.py
@@ -0,0 +1,33 @@
+# This file creates a basic world, load each robot that can be found in the PRL framework
+
+from pyrobolearn.simulators import BulletSim
+from pyrobolearn.worlds import BasicWorld
+from pyrobolearn.robots import implemented_robots
+
+robot_not_working = set(['icub'])
+
+print("All the robots (total number of robots = {}): {}".format(len(implemented_robots), implemented_robots))
+
+# create simulator
+sim = BulletSim()
+
+# create basic world with floor and gravity
+world = BasicWorld(sim)
+
+# create one robot at a time
+for i, robot_name in enumerate(implemented_robots):
+    if robot_name not in robot_not_working:
+        # instantiate the given robot
+        robot = world.loadRobot(robot_name)
+
+        # print info about the robot
+        print("Robot n{}: {}".format(i+1, robot))
+        # robot.printRobotInfo()
+
+        # run for few moments in the world
+        for t in range(250):
+            # run one step and sleep a bit
+            world.step(sleep_dt=1./240)
+
+        # remove the robot from the world
+        world.removeObject(robot)