diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9e79868dca..bdd1eca733 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,7 @@ Copy and pasting the git commit messages is __NOT__ enough.
 - Renamed `rllib/rllib.py` to `rllib/pg_pbt_example.py`.
 - Loosened constraint of `gymnasium` from `==0.27.0` to `>=0.26.3`.
 - `LaneFollowingController` now uses a different pole placement method to compute lateral/heading gains. Numerical behaviour is unchanged. Performance is slightly faster.
+- Upgraded Stable Baselines3 from v1.7.0 to v2.0.0, and switched to Gymnasium backend, in Drive and VehicleFollowing RL examples.
 ### Deprecated
 ### Fixed
 - Missing neighborhood vehicle state `'lane_id'` is now added to the `hiway-v1` formatted observations.
diff --git a/README.md b/README.md
index 6067a0eabb..de12e49dde 100644
--- a/README.md
+++ b/README.md
@@ -3,6 +3,8 @@
 [![SMARTS CI Format](https://github.com/huawei-noah/SMARTS/actions/workflows/ci-format.yml/badge.svg?branch=master)](https://github.com/huawei-noah/SMARTS/actions/workflows/ci-format.yml?query=branch%3Amaster)
 [![Documentation Status](https://readthedocs.org/projects/smarts/badge/?version=latest)](https://smarts.readthedocs.io/en/latest/?badge=latest)
 ![Code style](https://img.shields.io/badge/code%20style-black-000000.svg) 
+[![Pyversion](https://img.shields.io/pypi/pyversions/smarts.svg)](https://badge.fury.io/py/smarts)
+[![PyPI version](https://badge.fury.io/py/smarts.svg)](https://badge.fury.io/py/smarts)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 
 SMARTS (Scalable Multi-Agent Reinforcement Learning Training School) is a simulation platform for multi-agent reinforcement learning (RL) and research on autonomous driving. Its focus is on realistic and diverse interactions. It is part of the [XingTian](https://github.com/huawei-noah/xingtian/) suite of RL platforms from Huawei Noah's Ark Lab.
@@ -44,8 +46,8 @@ Several agent control policies and agent [action types](smarts/core/controllers/
 ### RL Model
 1. [Drive](examples/rl/drive). See [Driving SMARTS 2023.1 & 2023.2](https://smarts.readthedocs.io/en/latest/benchmarks/driving_smarts_2023_1.html) for more info.
 1. [VehicleFollowing](examples/rl/platoon). See [Driving SMARTS 2023.3](https://smarts.readthedocs.io/en/latest/benchmarks/driving_smarts_2023_3.html) for more info.
-1. [PG](examples/rl/rllib/pg_example.py). See [RLlib](https://smarts.readthedocs.io/en/latest/docs/ecosystem/rllib.html) for more info.
-1. [PG Population Based Training](examples/rl/rllib/pg_pbt_example.py). See [RLlib](https://smarts.readthedocs.io/en/latest/docs/ecosystem/rllib.html) for more info.
+1. [PG](examples/rl/rllib/pg_example.py). See [RLlib](https://smarts.readthedocs.io/en/latest/ecosystem/rllib.html) for more info.
+1. [PG Population Based Training](examples/rl/rllib/pg_pbt_example.py). See [RLlib](https://smarts.readthedocs.io/en/latest/ecosystem/rllib.html) for more info.
 
 ### RL Environment
 1. [ULTRA](https://github.com/smarts-project/smarts-project.rl/blob/master/ultra) provides a gym-based environment built upon SMARTS to tackle intersection navigation, specifically the unprotected left turn.
diff --git a/examples/rl/drive/inference/contrib_policy/filter_obs.py b/examples/rl/drive/inference/contrib_policy/filter_obs.py
index e366355c16..4be368171e 100644
--- a/examples/rl/drive/inference/contrib_policy/filter_obs.py
+++ b/examples/rl/drive/inference/contrib_policy/filter_obs.py
@@ -1,7 +1,7 @@
 import math
 from typing import Any, Dict, Sequence, Tuple
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 from smarts.core.agent_interface import RGB
diff --git a/examples/rl/drive/inference/contrib_policy/format_action.py b/examples/rl/drive/inference/contrib_policy/format_action.py
index 646f43f8f8..d1603d0862 100644
--- a/examples/rl/drive/inference/contrib_policy/format_action.py
+++ b/examples/rl/drive/inference/contrib_policy/format_action.py
@@ -1,6 +1,6 @@
 from typing import Callable, Tuple
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 from smarts.core.controllers import ActionSpaceType
diff --git a/examples/rl/drive/inference/contrib_policy/frame_stack.py b/examples/rl/drive/inference/contrib_policy/frame_stack.py
index 9da17cd193..8f7d8d7193 100644
--- a/examples/rl/drive/inference/contrib_policy/frame_stack.py
+++ b/examples/rl/drive/inference/contrib_policy/frame_stack.py
@@ -1,7 +1,7 @@
 import copy
 from collections import deque
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 
diff --git a/examples/rl/drive/inference/contrib_policy/make_dict.py b/examples/rl/drive/inference/contrib_policy/make_dict.py
index f995c93afc..599a79719f 100644
--- a/examples/rl/drive/inference/contrib_policy/make_dict.py
+++ b/examples/rl/drive/inference/contrib_policy/make_dict.py
@@ -1,6 +1,6 @@
 from typing import Dict
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 
diff --git a/examples/rl/drive/inference/contrib_policy/network.py b/examples/rl/drive/inference/contrib_policy/network.py
index 4ed514d1df..b1ae6bd98d 100644
--- a/examples/rl/drive/inference/contrib_policy/network.py
+++ b/examples/rl/drive/inference/contrib_policy/network.py
@@ -1,4 +1,4 @@
-import gym
+import gymnasium as gym
 import torch as th
 import torch.nn as nn
 from stable_baselines3.common.preprocessing import get_flattened_obs_dim
diff --git a/examples/rl/drive/inference/setup.cfg b/examples/rl/drive/inference/setup.cfg
index a5962664aa..3a48464cd7 100644
--- a/examples/rl/drive/inference/setup.cfg
+++ b/examples/rl/drive/inference/setup.cfg
@@ -17,7 +17,7 @@ zip_safe = True
 python_requires = == 3.8.*
 install_requires = 
     setuptools==65.4.0
-    stable-baselines3==1.7.0
+    stable-baselines3==2.0.0
     tensorboard==2.12.0
     torch==1.13.1
     torchinfo==1.7.2
diff --git a/examples/rl/drive/train/env.py b/examples/rl/drive/train/env.py
index a4dc0fea12..7f5469d259 100644
--- a/examples/rl/drive/train/env.py
+++ b/examples/rl/drive/train/env.py
@@ -27,7 +27,6 @@ def make_env(env_id, scenario, agent_spec: AgentSpec, config, seed):
     )
     env = Reward(env=env, crop=agent_spec.agent_params["crop"])
     env = SingleAgent(env=env)
-    env = Api021Reversion(env=env)
     env = Preprocess(env=env, agent_spec=agent_spec)
     env = Monitor(env)
 
diff --git a/examples/rl/drive/train/preprocess.py b/examples/rl/drive/train/preprocess.py
index ec2f890809..213e72b358 100644
--- a/examples/rl/drive/train/preprocess.py
+++ b/examples/rl/drive/train/preprocess.py
@@ -43,16 +43,16 @@ def step(self, action):
         formatted_action = self._format_action.format(
             action=action, prev_heading=self._prev_heading
         )
-        obs, reward, done, info = self.env.step(formatted_action)
+        obs, reward, terminated, truncated, info = self.env.step(formatted_action)
         self._prev_heading = obs["ego_vehicle_state"]["heading"]
         obs = self._process(obs)
-        return obs, reward, done, info
+        return obs, reward, terminated, truncated, info
 
-    def reset(self):
+    def reset(self, *, seed=None, options=None):
         """Uses the :meth:`reset` of the :attr:`env` that can be overwritten to change the returned data."""
 
         self._frame_stack.reset()
-        obs = self.env.reset()
+        obs, info = self.env.reset(seed=seed, options=options)
         self._prev_heading = obs["ego_vehicle_state"]["heading"]
         obs = self._process(obs)
-        return obs
+        return obs, info
diff --git a/examples/rl/drive/train/requirements.txt b/examples/rl/drive/train/requirements.txt
index 90d5d558db..e9412269ee 100644
--- a/examples/rl/drive/train/requirements.txt
+++ b/examples/rl/drive/train/requirements.txt
@@ -1,5 +1,5 @@
 absl-py==1.4.0
-argcomplete==3.0.8
+argcomplete==3.1.1
 attrs==23.1.0
 Automat==22.10.0
 av==10.0.0
@@ -11,36 +11,36 @@ click==8.1.3
 cloudpickle==1.6.0
 colorlog==6.7.0
 constantly==15.1.0
-contourpy==1.0.7
+contourpy==1.1.0
 cycler==0.11.0
 distlib==0.3.6
-eclipse-sumo==1.17.0
-filelock==3.12.0
-fonttools==4.39.4
+eclipse-sumo==1.18.0
+Farama-Notifications==0.0.4
+filelock==3.12.2
+fonttools==4.40.0
 future==0.18.3
-google-auth==2.19.1
+google-auth==2.21.0
 google-auth-oauthlib==0.4.6
-grpcio==1.55.0
-gym==0.21.0
-gymnasium==0.27.0
-gymnasium-notices==0.0.1
+grpcio==1.56.0
+gym==0.19.0
+gymnasium==0.28.1
 hyperlink==21.0.0
 idna==3.4
-ijson==3.2.0.post0
-importlib-metadata==4.13.0
+ijson==3.2.2
+importlib-metadata==6.7.0
 importlib-resources==5.12.0
 incremental==22.10.0
 jax-jumpy==1.0.0
-joblib==1.2.0
+joblib==1.3.1
 kiwisolver==1.4.4
-llvmlite==0.40.0
+llvmlite==0.40.1
 Markdown==3.4.3
-markdown-it-py==2.2.0
+markdown-it-py==3.0.0
 MarkupSafe==2.1.3
 matplotlib==3.7.1
 mdurl==0.1.2
 nox==2023.4.22
-numba==0.57.0
+numba==0.57.1
 numpy==1.23.5
 nvidia-cublas-cu11==11.10.3.66
 nvidia-cuda-nvrtc-cu11==11.7.99
@@ -52,47 +52,46 @@ packaging==23.1
 Panda3D==1.10.9
 panda3d-gltf==0.13
 panda3d-simplepbr==0.10
-pandas==2.0.2
+pandas==2.0.3
 Pillow==9.5.0
-platformdirs==3.5.1
-protobuf==3.20.3
+platformdirs==3.8.0
+protobuf==4.23.3
 psutil==5.9.5
-pyarrow==12.0.0
+pyarrow==12.0.1
 pyasn1==0.5.0
 pyasn1-modules==0.3.0
 pybullet==3.2.5
 Pygments==2.15.1
-pyparsing==3.0.9
+pyparsing==3.1.0
 pyproj==3.5.0
 python-dateutil==2.8.2
 pytz==2023.3
 PyYAML==6.0
 requests==2.31.0
 requests-oauthlib==1.3.1
-rich==13.4.1
+rich==13.4.2
 rsa==4.9
 Rtree==1.0.1
 scipy==1.10.1
 shapely==2.0.1
-Shimmy==0.2.1
 six==1.16.0
-stable-baselines3==1.7.0
+stable-baselines3==2.0.0
 tableprint==0.9.1
 tensorboard==2.12.0
-tensorboard-data-server==0.7.0
+tensorboard-data-server==0.7.1
 tensorboard-plugin-wit==1.8.1
 torch==1.13.1
 torchinfo==1.7.2
 tornado==6.3.2
 trimesh==3.9.29
 Twisted==22.10.0
-typing_extensions==4.6.3
+typing_extensions==4.7.0
 tzdata==2023.3
 urllib3==1.26.16
-virtualenv==20.23.0
+virtualenv==20.23.1
 wcwidth==0.2.6
-websocket-client==1.5.2
-Werkzeug==2.3.5
+websocket-client==1.6.1
+Werkzeug==2.3.6
 yattag==1.15.1
 zipp==3.15.0
 zope.interface==6.0
diff --git a/examples/rl/drive/train/run.py b/examples/rl/drive/train/run.py
index c42b9cab7c..8f52e949b7 100644
--- a/examples/rl/drive/train/run.py
+++ b/examples/rl/drive/train/run.py
@@ -12,7 +12,7 @@
 from itertools import cycle, islice
 from typing import Any, Dict
 
-import gym
+import gymnasium as gym
 
 # Load inference module to register agent
 import inference
diff --git a/examples/rl/platoon/inference/contrib_policy/filter_obs.py b/examples/rl/platoon/inference/contrib_policy/filter_obs.py
index e366355c16..4be368171e 100644
--- a/examples/rl/platoon/inference/contrib_policy/filter_obs.py
+++ b/examples/rl/platoon/inference/contrib_policy/filter_obs.py
@@ -1,7 +1,7 @@
 import math
 from typing import Any, Dict, Sequence, Tuple
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 from smarts.core.agent_interface import RGB
diff --git a/examples/rl/platoon/inference/contrib_policy/format_action.py b/examples/rl/platoon/inference/contrib_policy/format_action.py
index 532770b3a1..305cb4bc05 100644
--- a/examples/rl/platoon/inference/contrib_policy/format_action.py
+++ b/examples/rl/platoon/inference/contrib_policy/format_action.py
@@ -1,6 +1,6 @@
 from typing import Callable, Tuple
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 from smarts.core.controllers import ActionSpaceType
diff --git a/examples/rl/platoon/inference/contrib_policy/frame_stack.py b/examples/rl/platoon/inference/contrib_policy/frame_stack.py
index 9da17cd193..8f7d8d7193 100644
--- a/examples/rl/platoon/inference/contrib_policy/frame_stack.py
+++ b/examples/rl/platoon/inference/contrib_policy/frame_stack.py
@@ -1,7 +1,7 @@
 import copy
 from collections import deque
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 
diff --git a/examples/rl/platoon/inference/contrib_policy/make_dict.py b/examples/rl/platoon/inference/contrib_policy/make_dict.py
index f995c93afc..599a79719f 100644
--- a/examples/rl/platoon/inference/contrib_policy/make_dict.py
+++ b/examples/rl/platoon/inference/contrib_policy/make_dict.py
@@ -1,6 +1,6 @@
 from typing import Dict
 
-import gym
+import gymnasium as gym
 import numpy as np
 
 
diff --git a/examples/rl/platoon/inference/contrib_policy/network.py b/examples/rl/platoon/inference/contrib_policy/network.py
index 4ed514d1df..b1ae6bd98d 100644
--- a/examples/rl/platoon/inference/contrib_policy/network.py
+++ b/examples/rl/platoon/inference/contrib_policy/network.py
@@ -1,4 +1,4 @@
-import gym
+import gymnasium as gym
 import torch as th
 import torch.nn as nn
 from stable_baselines3.common.preprocessing import get_flattened_obs_dim
diff --git a/examples/rl/platoon/inference/setup.cfg b/examples/rl/platoon/inference/setup.cfg
index a5962664aa..3a48464cd7 100644
--- a/examples/rl/platoon/inference/setup.cfg
+++ b/examples/rl/platoon/inference/setup.cfg
@@ -17,7 +17,7 @@ zip_safe = True
 python_requires = == 3.8.*
 install_requires = 
     setuptools==65.4.0
-    stable-baselines3==1.7.0
+    stable-baselines3==2.0.0
     tensorboard==2.12.0
     torch==1.13.1
     torchinfo==1.7.2
diff --git a/examples/rl/platoon/train/env.py b/examples/rl/platoon/train/env.py
index a4dc0fea12..7f5469d259 100644
--- a/examples/rl/platoon/train/env.py
+++ b/examples/rl/platoon/train/env.py
@@ -27,7 +27,6 @@ def make_env(env_id, scenario, agent_spec: AgentSpec, config, seed):
     )
     env = Reward(env=env, crop=agent_spec.agent_params["crop"])
     env = SingleAgent(env=env)
-    env = Api021Reversion(env=env)
     env = Preprocess(env=env, agent_spec=agent_spec)
     env = Monitor(env)
 
diff --git a/examples/rl/platoon/train/preprocess.py b/examples/rl/platoon/train/preprocess.py
index 5a79d78960..7cce9dc48e 100644
--- a/examples/rl/platoon/train/preprocess.py
+++ b/examples/rl/platoon/train/preprocess.py
@@ -1,4 +1,4 @@
-import gym
+import gymnasium as gym
 from contrib_policy.filter_obs import FilterObs
 from contrib_policy.format_action import FormatAction
 from contrib_policy.frame_stack import FrameStack
@@ -40,14 +40,14 @@ def _process(self, obs):
     def step(self, action):
         """Uses the :meth:`step` of the :attr:`env` that can be overwritten to change the returned data."""
         formatted_action = self._format_action.format(action)
-        obs, reward, done, info = self.env.step(formatted_action)
+        obs, reward, terminated, truncated, info = self.env.step(formatted_action)
         obs = self._process(obs)
-        return obs, reward, done, info
+        return obs, reward, terminated, truncated, info
 
-    def reset(self):
+    def reset(self, *, seed=None, options=None):
         """Uses the :meth:`reset` of the :attr:`env` that can be overwritten to change the returned data."""
 
         self._frame_stack.reset()
-        obs = self.env.reset()
+        obs, info = self.env.reset(seed=seed, options=options)
         obs = self._process(obs)
-        return obs
+        return obs, info
diff --git a/examples/rl/platoon/train/requirements.txt b/examples/rl/platoon/train/requirements.txt
index 90d5d558db..e9412269ee 100644
--- a/examples/rl/platoon/train/requirements.txt
+++ b/examples/rl/platoon/train/requirements.txt
@@ -1,5 +1,5 @@
 absl-py==1.4.0
-argcomplete==3.0.8
+argcomplete==3.1.1
 attrs==23.1.0
 Automat==22.10.0
 av==10.0.0
@@ -11,36 +11,36 @@ click==8.1.3
 cloudpickle==1.6.0
 colorlog==6.7.0
 constantly==15.1.0
-contourpy==1.0.7
+contourpy==1.1.0
 cycler==0.11.0
 distlib==0.3.6
-eclipse-sumo==1.17.0
-filelock==3.12.0
-fonttools==4.39.4
+eclipse-sumo==1.18.0
+Farama-Notifications==0.0.4
+filelock==3.12.2
+fonttools==4.40.0
 future==0.18.3
-google-auth==2.19.1
+google-auth==2.21.0
 google-auth-oauthlib==0.4.6
-grpcio==1.55.0
-gym==0.21.0
-gymnasium==0.27.0
-gymnasium-notices==0.0.1
+grpcio==1.56.0
+gym==0.19.0
+gymnasium==0.28.1
 hyperlink==21.0.0
 idna==3.4
-ijson==3.2.0.post0
-importlib-metadata==4.13.0
+ijson==3.2.2
+importlib-metadata==6.7.0
 importlib-resources==5.12.0
 incremental==22.10.0
 jax-jumpy==1.0.0
-joblib==1.2.0
+joblib==1.3.1
 kiwisolver==1.4.4
-llvmlite==0.40.0
+llvmlite==0.40.1
 Markdown==3.4.3
-markdown-it-py==2.2.0
+markdown-it-py==3.0.0
 MarkupSafe==2.1.3
 matplotlib==3.7.1
 mdurl==0.1.2
 nox==2023.4.22
-numba==0.57.0
+numba==0.57.1
 numpy==1.23.5
 nvidia-cublas-cu11==11.10.3.66
 nvidia-cuda-nvrtc-cu11==11.7.99
@@ -52,47 +52,46 @@ packaging==23.1
 Panda3D==1.10.9
 panda3d-gltf==0.13
 panda3d-simplepbr==0.10
-pandas==2.0.2
+pandas==2.0.3
 Pillow==9.5.0
-platformdirs==3.5.1
-protobuf==3.20.3
+platformdirs==3.8.0
+protobuf==4.23.3
 psutil==5.9.5
-pyarrow==12.0.0
+pyarrow==12.0.1
 pyasn1==0.5.0
 pyasn1-modules==0.3.0
 pybullet==3.2.5
 Pygments==2.15.1
-pyparsing==3.0.9
+pyparsing==3.1.0
 pyproj==3.5.0
 python-dateutil==2.8.2
 pytz==2023.3
 PyYAML==6.0
 requests==2.31.0
 requests-oauthlib==1.3.1
-rich==13.4.1
+rich==13.4.2
 rsa==4.9
 Rtree==1.0.1
 scipy==1.10.1
 shapely==2.0.1
-Shimmy==0.2.1
 six==1.16.0
-stable-baselines3==1.7.0
+stable-baselines3==2.0.0
 tableprint==0.9.1
 tensorboard==2.12.0
-tensorboard-data-server==0.7.0
+tensorboard-data-server==0.7.1
 tensorboard-plugin-wit==1.8.1
 torch==1.13.1
 torchinfo==1.7.2
 tornado==6.3.2
 trimesh==3.9.29
 Twisted==22.10.0
-typing_extensions==4.6.3
+typing_extensions==4.7.0
 tzdata==2023.3
 urllib3==1.26.16
-virtualenv==20.23.0
+virtualenv==20.23.1
 wcwidth==0.2.6
-websocket-client==1.5.2
-Werkzeug==2.3.5
+websocket-client==1.6.1
+Werkzeug==2.3.6
 yattag==1.15.1
 zipp==3.15.0
 zope.interface==6.0
diff --git a/examples/rl/platoon/train/run.py b/examples/rl/platoon/train/run.py
index 6ffcc140c8..fe4ac7a473 100644
--- a/examples/rl/platoon/train/run.py
+++ b/examples/rl/platoon/train/run.py
@@ -13,7 +13,7 @@
 from itertools import cycle, islice
 from typing import Any, Dict
 
-import gym
+import gymnasium as gym
 
 # Load inference module to register agent
 import inference
diff --git a/smarts/env/gymnasium/wrappers/single_agent.py b/smarts/env/gymnasium/wrappers/single_agent.py
index 37f879dc0e..dc5fdbc355 100644
--- a/smarts/env/gymnasium/wrappers/single_agent.py
+++ b/smarts/env/gymnasium/wrappers/single_agent.py
@@ -69,11 +69,11 @@ def step(self, action: Any) -> Tuple[Any, float, bool, bool, Any]:
             info[self._agent_id],
         )
 
-    def reset(self) -> Tuple[Any, Any]:
+    def reset(self, *, seed=None, options=None) -> Tuple[Any, Any]:
         """Resets a single-agent SMARTS environment.
 
         Returns:
             Tuple[Any, Any]: Agent's observation and info
         """
-        obs, info = self.env.reset()
+        obs, info = self.env.reset(seed=seed, options=options)
         return obs[self._agent_id], info[self._agent_id]