diff --git a/cleanrl/ppo_continuous_action.py b/cleanrl/ppo_continuous_action.py
index 0845222c8..0f2f3b033 100644
--- a/cleanrl/ppo_continuous_action.py
+++ b/cleanrl/ppo_continuous_action.py
@@ -33,6 +33,12 @@ def parse_args():
         help="the entity (team) of wandb's project")
     parser.add_argument("--capture-video", type=lambda x: bool(strtobool(x)), default=False, nargs="?", const=True,
         help="whether to capture videos of the agent performances (check out `videos` folder)")
+    parser.add_argument("--save-model", type=lambda x: bool(strtobool(x)), default=False, nargs="?", const=True,
+        help="whether to save model into the `runs/{run_name}` folder")
+    parser.add_argument("--upload-model", type=lambda x: bool(strtobool(x)), default=False, nargs="?", const=True,
+        help="whether to upload the saved model to huggingface")
+    parser.add_argument("--hf-entity", type=str, default="",
+        help="the user or org name of the model repository from the Hugging Face Hub")
 
     # Algorithm specific arguments
     parser.add_argument("--env-id", type=str, default="HalfCheetah-v4",
@@ -319,5 +325,31 @@ def get_action_and_value(self, x, action=None):
         print("SPS:", int(global_step / (time.time() - start_time)))
         writer.add_scalar("charts/SPS", int(global_step / (time.time() - start_time)), global_step)
 
+    if args.save_model:
+        model_path = f"runs/{run_name}/{args.exp_name}.cleanrl_model"
+        torch.save(agent.state_dict(), model_path)
+        print(f"model saved to {model_path}")
+        from cleanrl_utils.evals.ppo_eval import evaluate
+
+        episodic_returns = evaluate(
+            model_path,
+            make_env,
+            args.env_id,
+            eval_episodes=10,
+            run_name=f"{run_name}-eval",
+            Model=Agent,
+            device=device,
+            gamma=args.gamma,
+        )
+        for idx, episodic_return in enumerate(episodic_returns):
+            writer.add_scalar("eval/episodic_return", episodic_return, idx)
+
+        if args.upload_model:
+            from cleanrl_utils.huggingface import push_to_hub
+
+            repo_name = f"{args.env_id}-{args.exp_name}-seed{args.seed}"
+            repo_id = f"{args.hf_entity}/{repo_name}" if args.hf_entity else repo_name
+            push_to_hub(args, episodic_returns, repo_id, "PPO", f"runs/{run_name}", f"videos/{run_name}-eval")
+
     envs.close()
     writer.close()
diff --git a/cleanrl_utils/evals/ppo_eval.py b/cleanrl_utils/evals/ppo_eval.py
new file mode 100644
index 000000000..05091f567
--- /dev/null
+++ b/cleanrl_utils/evals/ppo_eval.py
@@ -0,0 +1,56 @@
+from typing import Callable
+
+import gymnasium as gym
+import torch
+
+
+def evaluate(
+    model_path: str,
+    make_env: Callable,
+    env_id: str,
+    eval_episodes: int,
+    run_name: str,
+    Model: torch.nn.Module,
+    device: torch.device = torch.device("cpu"),
+    capture_video: bool = True,
+    gamma: float = 0.99,
+):
+    envs = gym.vector.SyncVectorEnv([make_env(env_id, 0, capture_video, run_name, gamma)])
+    agent = Model(envs).to(device)
+    agent.load_state_dict(torch.load(model_path, map_location=device))
+    agent.eval()
+
+    obs, _ = envs.reset()
+    episodic_returns = []
+    while len(episodic_returns) < eval_episodes:
+        actions, _, _, _ = agent.get_action_and_value(torch.Tensor(obs).to(device))
+        next_obs, _, _, _, infos = envs.step(actions.cpu().numpy())
+        if "final_info" in infos:
+            for info in infos["final_info"]:
+                if "episode" not in info:
+                    continue
+                print(f"eval_episode={len(episodic_returns)}, episodic_return={info['episode']['r']}")
+                episodic_returns += [info["episode"]["r"]]
+        obs = next_obs
+
+    return episodic_returns
+
+
+if __name__ == "__main__":
+    from huggingface_hub import hf_hub_download
+
+    from cleanrl.ppo_continuous_action import Agent, make_env
+
+    model_path = hf_hub_download(
+        repo_id="sdpkjc/Hopper-v4-ppo_continuous_action-seed1", filename="ppo_continuous_action.cleanrl_model"
+    )
+    evaluate(
+        model_path,
+        make_env,
+        "Hopper-v4",
+        eval_episodes=10,
+        run_name=f"eval",
+        Model=Agent,
+        device="cpu",
+        capture_video=False,
+    )