diff --git a/examples/gymnax/cartpole_hyperneat.py b/examples/gymnax/cartpole_hyperneat.py
new file mode 100644
index 0000000..792c380
--- /dev/null
+++ b/examples/gymnax/cartpole_hyperneat.py
@@ -0,0 +1,54 @@
+import jax.numpy as jnp
+
+from config import *
+from pipeline_jitable_env import Pipeline
+from algorithm import NEAT
+from algorithm.neat.gene import NormalGene, NormalGeneConfig
+from algorithm.hyperneat import HyperNEAT, NormalSubstrateConfig, NormalSubstrate
+from problem.rl_env import GymNaxConfig, GymNaxEnv
+
+
+def example_conf():
+    return Config(
+        basic=BasicConfig(
+            seed=42,
+            fitness_target=500,
+            pop_size=10000
+        ),
+        neat=NeatConfig(
+            inputs=4,
+            outputs=1,
+        ),
+        gene=NormalGeneConfig(
+            activation_default=Act.tanh,
+            activation_options=(Act.tanh,),
+        ),
+        hyperneat=HyperNeatConfig(
+            activation=Act.sigmoid,
+            inputs=4,
+            outputs=2
+        ),
+        substrate=NormalSubstrateConfig(
+            input_coors=((-1, -1), (-0.5, -1), (0, -1), (0.5, -1), (1, -1)),
+            hidden_coors=(
+                # (-1, -0.5), (-0.5, -0.5), (0, -0.5), (0.5, -0.5),
+                (1, 0), (-1, 0), (-0.5, 0), (0, 0), (0.5, 0), (1, 0),
+                # (1, 0.5), (-1, 0.5), (-0.5, 0.5), (0, 0.5), (0.5, 0.5), (1, 0.5),
+            ),
+            output_coors=((-1, 1), (1, 1)),
+        ),
+        problem=GymNaxConfig(
+            env_name='CartPole-v1',
+            output_transform=lambda out: jnp.argmax(out)  # the action of cartpole is {0, 1}
+        )
+    )
+
+
+if __name__ == '__main__':
+    conf = example_conf()
+
+    algorithm = HyperNEAT(conf, NormalGene, NormalSubstrate)
+    pipeline = Pipeline(conf, algorithm, GymNaxEnv)
+    state = pipeline.setup()
+    pipeline.pre_compile(state)
+    state, best = pipeline.auto_run(state)