diff --git a/README.md b/README.md
index cf21337e..74a9b6ca 100644
--- a/README.md
+++ b/README.md
@@ -9,3 +9,17 @@ conda env create -f environment.yaml
 conda activate lerobot
 ```
 
+**dev**
+
+```
+python setup.py develop
+```
+
+## Contribute
+
+**style**
+```
+isort .
+black .
+pylint lerobot
+```
diff --git a/lerobot/configs/default.yaml b/lerobot/configs/default.yaml
index 7c861d7b..f6202afa 100644
--- a/lerobot/configs/default.yaml
+++ b/lerobot/configs/default.yaml
@@ -1,2 +1,71 @@
 seed: 1337
 log_dir: logs/2024_01_26_train
+
+# env
+env: simxarm
+task: lift
+from_pixels: True
+pixels_only: False
+image_size: 84
+
+
+# pixels
+frame_stack: 1
+num_channels: 32
+img_size: 84
+
+
+# TDMPC
+
+# planning
+mpc: true
+iterations: 6
+num_samples: 512
+num_elites: 50
+mixture_coef: 0.1
+min_std: 0.05
+max_std: 2.0
+temperature: 0.5
+momentum: 0.1
+uncertainty_cost: 1
+
+# actor
+log_std_min: -10
+log_std_max: 2
+
+# learning
+batch_size: 256
+max_buffer_size: 10000
+horizon: 5
+reward_coef: 0.5
+value_coef: 0.1
+consistency_coef: 20
+rho: 0.5
+kappa: 0.1
+lr: 3e-4
+std_schedule: ${min_std}
+horizon_schedule: ${horizon}
+per: true
+per_alpha: 0.6
+per_beta: 0.4
+grad_clip_norm: 10
+seed_steps: 0
+update_freq: 2
+tau: 0.01
+utd: 1
+
+
+# architecture
+enc_dim: 256
+num_q: 5
+mlp_dim: 512
+latent_dim: 50
+
+
+# xarm_lift
+A_scaling: 3.0
+expectile: 0.9
+episode_length: 25
+modality: 'all'
+action_repeat: 2
+discount: 0.9
\ No newline at end of file
diff --git a/lerobot/scripts/eval.py b/lerobot/scripts/eval.py
index 3b0f61ef..0da0c60e 100644
--- a/lerobot/scripts/eval.py
+++ b/lerobot/scripts/eval.py
@@ -4,10 +4,12 @@ import hydra
 import imageio
 import numpy as np
 import torch
+from tensordict import TensorDict
 from termcolor import colored
 
-from ..lib.envs import make_env
-from ..lib.utils import set_seed
+from lerobot.lib.envs.factory import make_env
+from lerobot.lib.tdmpc import TDMPC
+from lerobot.lib.utils import set_seed
 
 
 def eval_agent(
@@ -21,32 +23,45 @@ def eval_agent(
     episode_successes = []
     episode_lengths = []
     for i in range(num_episodes):
-        obs, done, ep_reward, t = env.reset(), False, 0, 0
+        td = env.reset()
+        obs = {}
+        obs["rgb"] = td["observation"]["camera"]
+        obs["state"] = td["observation"]["robot_state"]
+
+        done = False
+        ep_reward = 0
+        t = 0
         ep_success = False
+
         if save_video:
             frames = []
         while not done:
-            action = agent.act(obs, t0=t == 0, eval_mode=True, step=step)
-            obs, reward, done, info = env.step(action.cpu().numpy())
+            action = agent.act(obs, t0=t == 0, eval_mode=True, step=100000)
+            td = TensorDict({"action": action}, batch_size=[])
+
+            td = env.step(td)
+
+            reward = td["next", "reward"].item()
+            success = td["next", "success"].item()
+            done = td["next", "done"].item()
+
+            obs = {}
+            obs["rgb"] = td["next", "observation"]["camera"]
+            obs["state"] = td["next", "observation"]["robot_state"]
+
             ep_reward += reward
-            if "success" in info and info["success"]:
+            if success:
                 ep_success = True
             if save_video:
-                frame = env.render(
-                    mode="rgb_array",
-                    # TODO(rcadene): make height, width, camera_id configurable
-                    height=384,
-                    width=384,
-                    camera_id=0,
-                )
+                frame = env.render()
                 frames.append(frame)
             t += 1
         episode_rewards.append(float(ep_reward))
         episode_successes.append(float(ep_success))
         episode_lengths.append(t)
         if save_video:
-            frames = np.stack(frames).transpose(0, 3, 1, 2)
             video_path.parent.mkdir(parents=True, exist_ok=True)
+            frames = np.stack(frames)  # .transpose(0, 3, 1, 2)
             # TODO(rcadene): make fps configurable
             imageio.mimsave(video_path, frames, fps=15)
     return {
@@ -63,8 +78,20 @@ def eval(cfg: dict):
     print(colored("Log dir:", "yellow", attrs=["bold"]), cfg.log_dir)
 
     env = make_env(cfg)
+    agent = TDMPC(cfg)
+    # ckpt_path = "/home/rcadene/code/fowm/logs/xarm_lift/all/default/2/models/offline.pt"
+    ckpt_path = "/home/rcadene/code/fowm/logs/xarm_lift/all/default/2/models/final.pt"
+    agent.load(ckpt_path)
 
-    eval_metrics = eval_agent(env, agent, num_episodes=10, save_video=True)
+    eval_metrics = eval_agent(
+        env,
+        agent,
+        num_episodes=10,
+        save_video=True,
+        video_path=Path("tmp/2023_01_29_xarm_lift_final/eval.mp4"),
+    )
+
+    print(eval_metrics)
 
 
 if __name__ == "__main__":
diff --git a/test/test_envs.py b/test/test_envs.py
index 49b1cae2..0968971b 100644
--- a/test/test_envs.py
+++ b/test/test_envs.py
@@ -31,6 +31,8 @@ def test_simxarm(task, from_pixels, pixels_only):
     print("observation_spec:", env.observation_spec)
     print("action_spec:", env.action_spec)
     print("reward_spec:", env.reward_spec)
+    print("done_spec:", env.done_spec)
+    print("success_spec:", env.success_spec)
 
     td = env.reset()
     print("reset tensordict", td)