diff --git a/baselines/agents/.simple_agents.py.swp b/baselines/agents/.simple_agents.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..400f785aeec06f7b3006cbf9b86ec73ac4b864ec
Binary files /dev/null and b/baselines/agents/.simple_agents.py.swp differ
diff --git a/baselines/agents/ppo_agents.py b/baselines/agents/ppo_agents.py
index 9a0080bedc6d2222f73e35809ab1a20b92909bc6..db6ad957bc8801954006dcf1be4e5be90b148daf 100644
--- a/baselines/agents/ppo_agents.py
+++ b/baselines/agents/ppo_agents.py
@@ -120,11 +120,14 @@ class PPOAgent(Agent):
 def main():
     parser = argparse.ArgumentParser()
     parser.add_argument(
-        "--input_type",
+        "--input-type",
         default="blind",
         choices=["blind", "rgb", "depth", "rgbd"],
     )
-    parser.add_argument("--model_path", default="", type=str)
+    parser.add_argument("--model-path", default="", type=str)
+    parser.add_argument(
+        "--task-config", type=str, default="tasks/pointnav.yaml"
+    )
     args = parser.parse_args()
 
     config = get_defaut_config()
@@ -132,8 +135,11 @@ def main():
     config.MODEL_PATH = args.model_path
 
     agent = PPOAgent(config)
-    challenge = habitat.Challenge()
-    challenge.submit(agent)
+    benchmark = habitat.Benchmark(args.task_config)
+    metrics = benchmark.evaluate(agent)
+
+    for k, v in metrics.items():
+        habitat.logger.info("{}: {:.3f}".format(k, v))
 
 
 if __name__ == "__main__":
diff --git a/baselines/agents/simple_agents.py b/baselines/agents/simple_agents.py
index 6e83cd0c95b5c7e5848874ae82e48bbce4ea147a..8906b86f469327bee919890b394a71f9fb4eebc6 100644
--- a/baselines/agents/simple_agents.py
+++ b/baselines/agents/simple_agents.py
@@ -6,7 +6,6 @@
 
 
 import argparse
-import random
 from math import pi
 
 import numpy as np
@@ -26,16 +25,12 @@ NON_STOP_ACTIONS = [
 
 
 class RandomAgent(habitat.Agent):
-    def __init__(self, config):
-        self.dist_threshold_to_stop = config.TASK.SUCCESS_DISTANCE
+    def __init__(self, success_distance):
+        self.dist_threshold_to_stop = success_distance
 
     def reset(self):
         pass
 
-    def act(self, observations):
-        action = SIM_NAME_TO_ACTION[SimulatorActions.FORWARD.value]
-        return action
-
     def is_goal_reached(self, observations):
         dist = observations["pointgoal"][0]
         return dist <= self.dist_threshold_to_stop
@@ -58,9 +53,8 @@ class ForwardOnlyAgent(RandomAgent):
 
 
 class RandomForwardAgent(RandomAgent):
-    def __init__(self, config):
-        super(RandomForwardAgent, self).__init__(config)
-        self.dist_threshold_to_stop = config.TASK.SUCCESS_DISTANCE
+    def __init__(self, success_distance):
+        super().__init__(success_distance)
         self.FORWARD_PROBABILITY = 0.8
 
     def act(self, observations):
@@ -81,8 +75,8 @@ class RandomForwardAgent(RandomAgent):
 
 
 class GoalFollower(RandomAgent):
-    def __init__(self, config):
-        super(GoalFollower, self).__init__(config)
+    def __init__(self, success_distance):
+        super().__init__(success_distance)
         self.pos_th = self.dist_threshold_to_stop
         self.angle_th = float(np.deg2rad(15))
         self.random_prob = 0
@@ -135,14 +129,15 @@ def get_agent_cls(agent_class_name):
 
 def main():
     parser = argparse.ArgumentParser()
+    parser.add_argument("--success-distance", type=float, default=0.2)
     parser.add_argument(
         "--task-config", type=str, default="tasks/pointnav.yaml"
     )
-    parser.add_argument("--agent_class", type=str, default="GoalFollower")
+    parser.add_argument("--agent-class", type=str, default="GoalFollower")
     args = parser.parse_args()
 
     agent = get_agent_cls(args.agent_class)(
-        habitat.get_config(args.task_config)
+        success_distance=args.success_distance
     )
     benchmark = habitat.Benchmark(args.task_config)
     metrics = benchmark.evaluate(agent)
diff --git a/test/test_baseline_agents.py b/test/test_baseline_agents.py
index f849669e6b359b8399efd2baa11a46777622d6ca..230e5949d0047b03a65260bbc1f4894b7780c792 100644
--- a/test/test_baseline_agents.py
+++ b/test/test_baseline_agents.py
@@ -52,6 +52,6 @@ def test_simple_agents():
         simple_agents.RandomAgent,
         simple_agents.RandomForwardAgent,
     ]:
-        agent = agent_class(config_env)
+        agent = agent_class(config_env.TASK.SUCCESS_DISTANCE)
         habitat.logger.info(agent_class.__name__)
         habitat.logger.info(benchmark.evaluate(agent, num_episodes=100))