diff --git a/examples/extending/algorithm/README.md b/examples/extending/algorithm/README.md
index 3cf4323a..64b99df6 100644
--- a/examples/extending/algorithm/README.md
+++ b/examples/extending/algorithm/README.md
@@ -6,13 +6,17 @@ created for this example in [`custom_agorithm.py`](custom_algorithm.py).
 
 1. Create your `CustomAlgorithm` and `CustomAlgorithmConfig` following the example
 in [`custom_agorithm.py`](custom_algorithm.py). These will be the algorithm code
-and a associated dataclass to validate loaded configs.
+and an associated dataclass to validate loaded configs.
 2. Create a `customalgorithm.yaml` with the configuration parameters you defined 
 in your script. Make sure it has `customalgorithm_config` within its defaults at 
 the top of the file to let hydra know which python dataclass it is 
 associated to. You can see [`customiqlalgorithm.yaml`](customiqlalgorithm.yaml)
-for an example
+for an example.
 3. Place your algorithm script in [`benchmarl/algorithms`](../../../benchmarl/algorithms) and 
 your config in [`benchmarl/conf/algorithm`](../../../benchmarl/conf/algorithm) (or any other place you want to 
 override from)
 4. Add `{"custom_agorithm": CustomAlgorithmConfig}` to the [`benchmarl.algorithm.algorithm_config_registry`](../../../benchmarl/algorithms/__init__.py)
+5. Load it with
+```bash
+python benchmarl/run.py algorithm=customalgorithm task=...
+```
diff --git a/examples/extending/algorithm/custom_algorithm.py b/examples/extending/algorithm/custom_algorithm.py
index 79ca4bb8..baaeb0de 100644
--- a/examples/extending/algorithm/custom_algorithm.py
+++ b/examples/extending/algorithm/custom_algorithm.py
@@ -201,6 +201,13 @@ def process_batch(self, group: str, batch: TensorDictBase) -> TensorDictBase:
 
         return batch
 
+    def process_loss_vals(
+        self, group: str, loss_vals: TensorDictBase
+    ) -> TensorDictBase:
+        # Here you can modify the loss_vals tensordict containing entries loss_name->loss_value
+        # For example you can sum two entries in a new entry to optimize them together.
+        return loss_vals
+
     #####################
     # Custom new methods
     #####################
diff --git a/examples/extending/algorithm/customiqlalgorithm.yaml b/examples/extending/algorithm/customiqlalgorithm.yaml
index a5a2e12b..e8f3b864 100644
--- a/examples/extending/algorithm/customiqlalgorithm.yaml
+++ b/examples/extending/algorithm/customiqlalgorithm.yaml
@@ -2,6 +2,6 @@ defaults:
   - customalgorithm_config
   - _self_
 
-delay_value: bool = True
-loss_function: str = "l2"
-my_custom_arg: int = 3
+delay_value: True
+loss_function: "l2"
+my_custom_arg: 3
diff --git a/examples/extending/model/README.md b/examples/extending/model/README.md
new file mode 100644
index 00000000..c087aa29
--- /dev/null
+++ b/examples/extending/model/README.md
@@ -0,0 +1,20 @@
+
+# Creating a new model
+
+Here are the steps to create a new model. 
+
+1. Create your `CustomModel` and `CustomModelConfig` following the example
+in [`custom_model.py`](custom_model.py). These will be the model code
+and an associated dataclass to validate loaded configs.
+2. Create a `custommodel.yaml` with the configuration parameters you defined 
+in your script. Make sure it has a `name` entry equal to `custom_model` to let hydra know which python dataclass it is 
+associated to. You can see [`custommodel.yaml`](custommodel.yaml)
+for an example.
+3. Place your model script in [`benchmarl/models`](../../../benchmarl/models) and 
+your config in [`benchmarl/conf/model/layers`](../../../benchmarl/conf/model/layers) (or any other place you want to 
+override from)
+4. Add `{"custom_model": CustomModelConfig}` to the [`benchmarl.models.model_config_registry`](../../../benchmarl/models/__init__.py)
+5. Load it with
+```bash
+python benchmarl/run.py model=layers/custommodel algorithm=... task=...
+```
diff --git a/examples/extending/model/custom_model.py b/examples/extending/model/custom_model.py
index e69de29b..f4cc3172 100644
--- a/examples/extending/model/custom_model.py
+++ b/examples/extending/model/custom_model.py
@@ -0,0 +1,182 @@
+from __future__ import annotations
+
+from dataclasses import dataclass, MISSING
+from typing import Optional, Type
+
+import torch
+
+from benchmarl.models.common import Model, ModelConfig, parse_model_config
+from benchmarl.utils import read_yaml_config
+from tensordict import TensorDictBase
+from torch import nn
+from torchrl.modules import MLP, MultiAgentMLP
+
+
+class CustomModel(Model):
+    def __init__(
+        self,
+        custom_param: int,
+        activation_function: Type[nn.Module],
+        **kwargs,
+    ):
+        # Models in BenchMARL are instantiated per agent group.
+        # This means that each model will process the inputs for a whole group of agents
+        # There are some core attributes that models are created with,
+        # which we are now going to illustrate
+
+        # Remember the kwargs to the super() class
+        super().__init__(**kwargs)
+
+        # You can create your custom attributes
+        self.custom_param = custom_param
+        self.activation_function = activation_function
+
+        # And access some of the ones already available to your module
+        _ = self.input_spec  # Like its input_spec
+        _ = self.output_spec  # or output_spec
+        _ = self.agent_group  # the name of the agent group the model is for
+        _ = self.n_agents  # or the number of agents this module is for
+
+        # The following are some of the most important attributes of the model.
+        # They decide how the model should be used.
+        # Since models can be used for actors and critics, the model will behave differently
+        # depending on how these attributes are set.
+        # BenchMARL will take care of setting these attributes for you, but your role when making
+        # a custom model is making sure that all cases are handled properly
+
+        # This tells the model if the input will have a multi-agent dimension or not.
+        # For example, the input of policies will always have this set to true,
+        # but critics that use a global state have this set to false as the state
+        # is shared by all agents
+        _ = self.input_has_agent_dim
+
+        # This tells the model if it should have only one set of parameters
+        # or a different set of parameters for each agent.
+        # This is independent of the other options as it is possible to have different parameters
+        # for centralized critics with global input
+        _ = self.share_params
+
+        # This tells the model if it has full observability
+        # This will always be true when self.input_has_agent_dim==False
+        # but in cases where the input has the agent dimension, this parameter is
+        # used to distinguish between a decentralised model (where each agent's data
+        # is processed separately) and a centralized model, where the model pools all data together
+        _ = self.centralised
+
+        # This is a dynamically computed attribute that indicates if the output will have the agent dimension.
+        # This will be false when share_params==True and centralised==True, and true in all other cases.
+        # When output_has_agent_dim is true, your model's output should contain the multiagent dimension,
+        # and the dimension should be absent otherwise
+        _ = self.output_has_agent_dim
+
+        self.input_features = self.input_leaf_spec.shape[-1]
+        self.output_features = self.output_leaf_spec.shape[-1]
+
+        if self.input_has_agent_dim and not self.centralised:
+            # Instantiate a model for this scenario
+            # This code will be executed for a policy or for a decentralized critic for example
+            self.mlp = MultiAgentMLP(
+                n_agent_inputs=self.input_features,
+                n_agent_outputs=self.output_features,
+                n_agents=self.n_agents,
+                centralised=self.centralised,
+                share_params=self.share_params,
+                device=self.device,
+                activation_function=self.activation_function,
+            )
+        elif self.input_has_agent_dim and self.centralised:
+            # Instantiate a model for this scenario
+            # This code will be executed for a centralized critic that takes local inputs
+            self.mlp = MultiAgentMLP(
+                n_agent_inputs=self.input_features,
+                n_agent_outputs=self.output_features,
+                n_agents=self.n_agents,
+                centralised=self.centralised,
+                share_params=self.share_params,
+                device=self.device,
+                activation_function=self.activation_function,
+            )
+        else:
+            # Instantiate a model for this scenario
+            # This code will be executed for a centralized critic that takes global inputs
+            self.mlp = nn.ModuleList(
+                [
+                    MLP(
+                        in_features=self.input_features,
+                        out_features=self.output_features,
+                        device=self.device,
+                        activation_function=self.activation_function,
+                    )
+                    for _ in range(self.n_agents if not self.share_params else 1)
+                ]
+            )
+
+    def _perform_checks(self):
+        super()._perform_checks()
+
+        # Run some checks
+        if self.input_has_agent_dim and self.input_leaf_spec.shape[-2] != self.n_agents:
+            raise ValueError(
+                "If the MLP input has the agent dimension,"
+                " the second to last spec dimension should be the number of agents"
+            )
+        if (
+            self.output_has_agent_dim
+            and self.output_leaf_spec.shape[-2] != self.n_agents
+        ):
+            raise ValueError(
+                "If the MLP output has the agent dimension,"
+                " the second to last spec dimension should be the number of agents"
+            )
+
+    def _forward(self, tensordict: TensorDictBase) -> TensorDictBase:
+        # Gather in_key
+        input = tensordict.get(self.in_key)
+
+        # Input has multi-agent input dimension
+        if self.input_has_agent_dim:
+            res = self.mlp.forward(input)
+            if not self.output_has_agent_dim:
+                # If we are here the module is centralised and parameter shared.
+                # Thus the multi-agent dimension has been expanded,
+                # We remove it without loss of data
+                res = res[..., 0, :]
+
+        # Input does not have multi-agent input dimension
+        else:
+            if not self.share_params:
+                res = torch.stack(
+                    [net(input) for net in self.mlp],
+                    dim=-2,
+                )
+            else:
+                res = self.mlp[0](input)
+
+        tensordict.set(self.out_key, res)
+        return tensordict
+
+
+@dataclass
+class CustomModelConfig(ModelConfig):
+    # The config parameters for this class, these will be loaded from yaml
+    custom_param: int = MISSING
+    activation_function: Type[nn.Module] = MISSING
+
+    @staticmethod
+    def associated_class():
+        # The associated algorithm class
+        return CustomModel
+
+    @staticmethod
+    def get_from_yaml(path: Optional[str] = None) -> CustomModelConfig:
+        if path is None:
+            # If get_from_yaml is called without a path,
+            # we load from benchmarl/conf/algorithm/{CustomModelConfig.associated_class().__name__}
+            return CustomModelConfig(
+                **ModelConfig._load_from_yaml(
+                    name=CustomModelConfig.associated_class().__name__,
+                )
+            )
+        else:
+            # Otherwise, we load it from the given absolute path
+            return CustomModelConfig(**parse_model_config(read_yaml_config(path)))
diff --git a/examples/extending/model/custommodel.yaml b/examples/extending/model/custommodel.yaml
new file mode 100644
index 00000000..ed641488
--- /dev/null
+++ b/examples/extending/model/custommodel.yaml
@@ -0,0 +1,4 @@
+
+name: custom_model
+custom_param: 3
+activation_function: torch.nn.Tanh
diff --git a/examples/extending/task/README.md b/examples/extending/task/README.md
index e4ecd9e0..81c82beb 100644
--- a/examples/extending/task/README.md
+++ b/examples/extending/task/README.md
@@ -1,16 +1,23 @@
 
 # Creating a new task (from a new environemnt)
 
-Here are the steps to create a new algorithm. You can find the custom IQL algorithm
-created for this example in [`custom_agorithm.py`](custom_algorithm.py).
+Here are the steps to create a new task. 
 
 1. Create your `CustomEnvTask` following the example in [`custom_task.py`](custom_task.py).
 This is an enum with task entries and some abstract functions you need to implement.
 
-2. Create a `customenv` folder with a yaml configuration file for each of your tasks
+2. Create a `customenv` folder with a yaml configuration file for each of your tasks.
 You can see [`customenv`](customenv) for an example.
 3. Place your task script in [`benchmarl/environments/customenv/common.py`](../../../benchmarl/environments) and 
 your config in [`benchmarl/conf/task`](../../../benchmarl/conf/task) (or any other place you want to 
 override from).
 4. Add `{"customenv/{task_name}": CustomEnvTask.TASK_NAME}` to the 
 [`benchmarl.environments.task_config_registry`](../../../benchmarl/environments/__init__.py) for all tasks.
+5. Load it with
+```bash
+python benchmarl/run.py task=customenv/task_name algorithm=...
+```
+
+6. (Optional) You can create python dataclasses to use as schemas for your tasks
+to validate their config. We are not going to illustrate this here, but if
+you want to see an example, check out [`benchmarl/environments/vmas`](../../../benchmarl/environments/vmas).
diff --git a/examples/extending/task/custom_task.py b/examples/extending/task/custom_task.py
index 860dcee3..91e57fd4 100644
--- a/examples/extending/task/custom_task.py
+++ b/examples/extending/task/custom_task.py
@@ -25,7 +25,7 @@ def get_env_fun(
     ) -> Callable[[], EnvBase]:
         return lambda: YourTorchRLEnvConstructor(
             scenario=self.name.lower(),
-            num_envs=num_envs,  # Number of vectorized envs (do not use this param if the env is not vecotrized)
+            num_envs=num_envs,  # Number of vectorized envs (do not use this param if the env is not vectorized)
             continuous_actions=continuous_actions,  # Ignore this param if your env does not have this choice
             seed=seed,
             device=device,