diff --git a/README.md b/README.md
index 4bec2e89d..d359871a2 100644
--- a/README.md
+++ b/README.md
@@ -22,6 +22,8 @@ Currently, we have implementations of the algorithms below. 'Discrete' and 'Cont
 
 You can find [the documentation here](https://imitation.readthedocs.io/en/latest/).
 
+You can read the latest benchmark results [here](https://imitation.readthedocs.io/en/latest/main-concepts/benchmark_summary.html).
+
 ## Installation
 
 ### Prerequisites
diff --git a/benchmarking/README.md b/benchmarking/README.md
index e98c72cdd..5566a684c 100644
--- a/benchmarking/README.md
+++ b/benchmarking/README.md
@@ -1,4 +1,4 @@
-# Benchmarking imitation
+# Benchmarking `imitation`
 
 The imitation library is benchmarked by running the algorithms BC, DAgger, AIRL and GAIL
 on five different environments from the
@@ -120,7 +120,7 @@ python sacred_output_to_csv.py output/sacred > summary.csv
 
 This generates a csv file like this:
 
-```csv
+```
 algo, env, score, expert_score
 gail, seals/Walker2d-v1, 2298.883520464286, 2502.8930135576925
 gail, seals/Swimmer-v1, 287.33667667857145, 295.40472964423077
@@ -187,7 +187,7 @@ where:
 If `your_runs_dir` contains runs for more than one algorithm, you will have to
 disambiguate using the `--algo` option.
 
-# Tuning Hyperparameters
+## Tuning Hyperparameters
 
 The hyperparameters of any algorithm in imitation can be tuned using `src/imitation/scripts/tuning.py`.
 The benchmarking hyperparameter configs were generated by tuning the hyperparameters using
diff --git a/docs/conf.py b/docs/conf.py
index 60b018e30..852f8de72 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -18,7 +18,10 @@
 
 
 # -- Project information -----------------------------------------------------
+import io
 import os
+import urllib.request
+import zipfile
 from importlib import metadata
 
 project = "imitation"
@@ -132,3 +135,17 @@ def setup(app):
         "autodoc-process-docstring",
         no_namedtuple_attrib_docstring,
     )
+
+
+# -- Download the latest benchmark summary -------------------------------------
+download_url = (
+    "https://github.com/HumanCompatibleAI/imitation/releases/latest/"
+    "download/benchmark_runs.zip"
+)
+
+# Download the benchmark data, extract the summary and place it in the documentation
+with urllib.request.urlopen(download_url) as url:
+    with zipfile.ZipFile(io.BytesIO(url.read())) as z:
+        with z.open("benchmark_runs/summary.md") as f:
+            with open("main-concepts/benchmark_summary.md", "wb") as out:
+                out.write(f.read())
diff --git a/docs/index.rst b/docs/index.rst
index 73cfa4974..3b3a9e1be 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -57,6 +57,8 @@ If you use ``imitation`` in your research project, please cite our paper to help
     main-concepts/trajectories
     main-concepts/reward_networks
     main-concepts/variable_horizon
+    main-concepts/benchmarks
+    main-concepts/benchmark_summary
 
 
 .. toctree::
diff --git a/docs/main-concepts/benchmarks.md b/docs/main-concepts/benchmarks.md
new file mode 120000
index 000000000..c01e09764
--- /dev/null
+++ b/docs/main-concepts/benchmarks.md
@@ -0,0 +1 @@
+../../benchmarking/README.md
\ No newline at end of file
diff --git a/src/imitation/algorithms/mce_irl.py b/src/imitation/algorithms/mce_irl.py
index 21ebd8642..26ecdc5cc 100644
--- a/src/imitation/algorithms/mce_irl.py
+++ b/src/imitation/algorithms/mce_irl.py
@@ -26,6 +26,7 @@
 import torch as th
 from seals import base_envs
 from stable_baselines3.common import policies
+from stable_baselines3.common import type_aliases as sb3_types
 
 from imitation.algorithms import base
 from imitation.data import rollout, types
@@ -196,7 +197,7 @@ def set_pi(self, pi: np.ndarray) -> None:
         assert np.all(pi >= 0), "policy has negative probabilities"
         self.pi = pi
 
-    def _predict(self, observation: th.Tensor, deterministic: bool = False):
+    def _predict(self, observation: sb3_types.PyTorchObs, deterministic: bool = False):
         raise NotImplementedError("Should never be called as predict overridden.")
 
     def forward(