diff --git a/README.md b/README.md
index 74eadd9..4a8a100 100644
--- a/README.md
+++ b/README.md
@@ -69,7 +69,7 @@ The reward is the coverage of the block in the goal zone. The reward is 1.0 if t
 
 ### Success Criteria
 
-The environment is considered solved if the block is at least 95% in the goal zone.
+By default, the environment is considered solved if the block is at least 95% in the goal zone. The percent can be configured via `success_threshold` parameter.
 
 ### Starting State
 
@@ -77,7 +77,7 @@ The agent starts at a random position and the block starts at a random position
 
 ### Episode Termination
 
-The episode terminates when the block is at least 95% in the goal zone.
+The episode terminates when the success criteria is met.
 
 ### Arguments
 
diff --git a/gym_pusht/envs/pusht.py b/gym_pusht/envs/pusht.py
index 73c9a35..ce58844 100644
--- a/gym_pusht/envs/pusht.py
+++ b/gym_pusht/envs/pusht.py
@@ -70,7 +70,7 @@ class PushTEnv(gym.Env):
 
     ## Success Criteria
 
-    The environment is considered solved if the block is at least 95% in the goal zone.
+    By default, the environment is considered solved if the block is at least 95% in the goal zone. The percent can be configured via `success_threshold` parameter.
 
     ## Starting State
 
@@ -78,7 +78,7 @@ class PushTEnv(gym.Env):
 
     ## Episode Termination
 
-    The episode terminates when the block is at least 95% in the goal zone.
+    The episode terminates when the success criteria is met.
 
     ## Arguments
 
@@ -105,6 +105,8 @@ class PushTEnv(gym.Env):
 
     * `visualization_height`: (int) The height of the visualized image. Default is `680`.
 
+    * `success_threshold`: (float) The percentage of block in goal zone required for environment to be considered solved. Default is `0.95`.
+
     ## Reset Arguments
 
     Passing the option `options["reset_to_state"]` will reset the environment to a specific state.
@@ -144,6 +146,7 @@ def __init__(
         observation_height=96,
         visualization_width=680,
         visualization_height=680,
+        success_threshold=0.95,
     ):
         super().__init__()
         # Observations
@@ -178,7 +181,7 @@ def __init__(
         self.teleop = None
         self._last_action = None
 
-        self.success_threshold = 0.95  # 95% coverage
+        self.success_threshold = success_threshold
 
     def _initialize_observation_space(self):
         if self.obs_type == "state":