diff --git a/rllib/examples/quadx_waypoints.py b/rllib/examples/quadx_waypoints.py
new file mode 100644
index 000000000000..6148ede3a6f5
--- /dev/null
+++ b/rllib/examples/quadx_waypoints.py
@@ -0,0 +1,125 @@
+"""Example using the PyFlyt Gymnasium environment to train a UAV to reach waypoints.
+
+PyFlyt GitHub Repository: https://github.com/jjshoots/PyFlyt/tree/master/PyFlyt
+
+How to run this script
+----------------------
+`python [script file name].py --enable-new-api-stack`
+
+
+For debugging, use the following additional command line options
+`--no-tune --num-env-runners=0`
+which should allow you to set breakpoints anywhere in the RLlib code and
+have the execution stop there for inspection and debugging.
+
+For logging to your WandB account, use:
+`--wandb-key=[your WandB API key] --wandb-project=[some project name]
+--wandb-run-name=[optional: WandB run name (within the defined project)]`
+"""
+
+import os
+
+from ray.tune.registry import get_trainable_cls
+import gymnasium as gym
+from ray.rllib.utils.test_utils import (
+    add_rllib_example_script_args,
+    run_rllib_example_script_experiment,
+)
+from ray.rllib.utils.metrics import (
+    ENV_RUNNER_RESULTS,
+    EPISODE_RETURN_MEAN,
+    TRAINING_ITERATION_TIMER,
+)
+
+parser = add_rllib_example_script_args(
+    default_iters=200,
+    default_timesteps=100000,
+    default_reward=90.0,
+)
+parser.add_argument(
+    "--run", type=str, default="PPO", help="The RLlib-registered algorithm to use."
+)
+parser.add_argument("--env-name", type=str, default="quadx_waypoints")
+parser.add_argument("--num-envs-per-worker", type=int, default=4)
+
+
+class RewardWrapper(gym.RewardWrapper):
+    def __init__(self, env):
+        super().__init__(env)
+
+    def reward(self, reward):
+        # Scale rewards:
+        if reward >= 99.0 or reward <= -99.0:
+            return reward / 10
+        return reward
+
+
+def create_quadx_waypoints_env(env_config):
+    import PyFlyt.gym_envs  # noqa
+    from PyFlyt.gym_envs import FlattenWaypointEnv
+
+    env = gym.make("PyFlyt/QuadX-Waypoints-v1")
+    # Wrap Environment to use max 10 and -10 for rewards
+    env = RewardWrapper(env)
+
+    return FlattenWaypointEnv(env, context_length=1)
+
+
+if __name__ == "__main__":
+    from ray.tune.registry import register_env
+
+    args = parser.parse_args()
+    num_gpus = int(os.environ.get("RLLIB_NUM_GPUS", "0"))
+
+    register_env(args.env_name, env_creator=create_quadx_waypoints_env)
+
+    algo_cls = get_trainable_cls(args.run)
+    config = algo_cls.get_default_config()
+
+    config.environment(env=args.env_name).resources(
+        num_learner_workers=num_gpus,
+        num_gpus_per_learner_worker=num_gpus,
+    ).rollouts(
+        num_rollout_workers=args.num_cpus,
+        num_envs_per_worker=args.num_envs_per_worker,
+    ).framework(
+        args.framework
+    ).api_stack(
+        enable_rl_module_and_learner=True,
+        enable_env_runner_and_connector_v2=True,
+    ).reporting(
+        min_time_s_per_iteration=0.1
+    )
+
+    if args.run == "PPO":
+        config.rl_module(
+            model_config_dict={
+                "fcnet_hiddens": [32],
+                "fcnet_activation": "linear",
+                "vf_share_layers": True,
+            }
+        )
+        config.training(
+            sgd_minibatch_size=128,
+            train_batch_size=10000,
+        )
+    elif args.run == "IMPALA":
+        config.rollouts(num_rollout_workers=2)
+        config.resources(num_gpus=0)
+        config.training(vf_loss_coeff=0.01)
+
+    EPISODE_RETURN_MEAN_KEY = f"{ENV_RUNNER_RESULTS}/{EPISODE_RETURN_MEAN}"
+
+    stop = {
+        TRAINING_ITERATION_TIMER: args.stop_iters,
+        EPISODE_RETURN_MEAN_KEY: args.stop_reward,
+    }
+
+    run_rllib_example_script_experiment(
+        config,
+        args,
+        stop=stop,
+        success_metric={
+            f"{ENV_RUNNER_RESULTS}/{EPISODE_RETURN_MEAN}": args.stop_reward,
+        },
+    )