diff --git a/README.md b/README.md
index 5c36a832..11d210c9 100644
--- a/README.md
+++ b/README.md
@@ -20,10 +20,10 @@ For more information on Ray see http://ray.readthedocs.io/en/latest/.
 First start Ray by executing a command of the following form:
 
 ```
-ray start --head --redis-port=6379 --num-workers=18
+ray start --head 
 ```
 This command starts multiple Python processes on one machine for parallel computations with Ray. 
-Set "num_workers=X" for parallelizing ARS across X CPUs.
+Set "--num_cpus=X" for parallelizing ARS across X CPUs.
 For parallelzing ARS on a cluster follow the instructions here: http://ray.readthedocs.io/en/latest/using-ray-on-a-large-cluster.html.
 
 We recommend using single threaded linear algebra computations by setting: 
diff --git a/code/ars.py b/code/ars.py
index 2141d261..eaa9e3e1 100644
--- a/code/ars.py
+++ b/code/ars.py
@@ -99,7 +99,7 @@ def do_rollouts(self, w_policy, num_rollouts = 1, shift = 1, evaluate = False):
 
                 # for evaluation we do not shift the rewards (shift = 0) and we use the
                 # default rollout length (1000 for the MuJoCo locomotion tasks)
-                reward, r_steps = self.rollout(shift = 0., rollout_length = self.env.spec.timestep_limit)
+                reward, r_steps = self.rollout(shift = 0., rollout_length = self.env.spec.max_episode_steps)
                 rollout_rewards.append(reward)
                 
             else:
@@ -386,7 +386,7 @@ def run_ars(params):
 if __name__ == '__main__':
     import argparse
     parser = argparse.ArgumentParser()
-    parser.add_argument('--env_name', type=str, default='HalfCheetah-v1')
+    parser.add_argument('--env_name', type=str, default='HalfCheetah-v2')
     parser.add_argument('--n_iter', '-n', type=int, default=1000)
     parser.add_argument('--n_directions', '-nd', type=int, default=8)
     parser.add_argument('--deltas_used', '-du', type=int, default=8)
@@ -407,7 +407,7 @@ def run_ars(params):
     parser.add_argument('--filter', type=str, default='MeanStdFilter')
 
     local_ip = socket.gethostbyname(socket.gethostname())
-    ray.init(redis_address= local_ip + ':6379')
+    ray.init(address= 'auto')
     
     args = parser.parse_args()
     params = vars(args)