diff --git a/src/pyhpp/core/path-optimizer.cc b/src/pyhpp/core/path-optimizer.cc
index f188d0b..1c153d4 100644
--- a/src/pyhpp/core/path-optimizer.cc
+++ b/src/pyhpp/core/path-optimizer.cc
@@ -34,6 +34,7 @@
 #include <hpp/core/path-optimization/rs-time-parameterization.hh>
 #include <hpp/core/path-optimization/simple-shortcut.hh>
 #include <hpp/core/path-optimization/simple-time-parameterization.hh>
+#include <hpp/core/path-optimization/spline-gradient-based.hh>
 #include <hpp/core/path-optimizer.hh>
 #include <hpp/core/path-vector.hh>
 #include <hpp/core/problem.hh>
@@ -86,6 +87,30 @@ void exposePathOptimizer() {
                                                    no_init)
       .def("__init__",
            make_constructor(&pathOptimization::RSTimeParameterization::create));
+
+  class_<pathOptimization::SplineGradientBased<path::BernsteinBasis, 1>,
+         std::shared_ptr<
+             pathOptimization::SplineGradientBased<path::BernsteinBasis, 1> >,
+         bases<PathOptimizer>, boost::noncopyable>(
+      "SplineGradientBased_bezier1", no_init)
+      .def("__init__", make_constructor(&pathOptimization::SplineGradientBased<
+                                        path::BernsteinBasis, 1>::create));
+
+  class_<pathOptimization::SplineGradientBased<path::BernsteinBasis, 3>,
+         std::shared_ptr<
+             pathOptimization::SplineGradientBased<path::BernsteinBasis, 3> >,
+         bases<PathOptimizer>, boost::noncopyable>(
+      "SplineGradientBased_bezier3", no_init)
+      .def("__init__", make_constructor(&pathOptimization::SplineGradientBased<
+                                        path::BernsteinBasis, 3>::create));
+
+  class_<pathOptimization::SplineGradientBased<path::BernsteinBasis, 5>,
+         std::shared_ptr<
+             pathOptimization::SplineGradientBased<path::BernsteinBasis, 5> >,
+         bases<PathOptimizer>, boost::noncopyable>(
+      "SplineGradientBased_bezier5", no_init)
+      .def("__init__", make_constructor(&pathOptimization::SplineGradientBased<
+                                        path::BernsteinBasis, 5>::create));
 }
 }  // namespace core
 }  // namespace pyhpp
diff --git a/src/pyhpp/core/path.cc b/src/pyhpp/core/path.cc
index 454739e..66d55d7 100644
--- a/src/pyhpp/core/path.cc
+++ b/src/pyhpp/core/path.cc
@@ -160,6 +160,7 @@ void exposePath() {
       .def("timeRange",
            static_cast<const interval_t& (Path::*)() const>(&Path::timeRange),
            return_internal_reference<>())
+      .def("reverse", &Path::reverse)
       .PYHPP_DEFINE_METHOD_INTERNAL_REF(Path, paramRange)
       .PYHPP_DEFINE_METHOD(Path, length)
       .PYHPP_DEFINE_METHOD(Path, initial)
diff --git a/src/pyhpp/manipulation/path-planner.cc b/src/pyhpp/manipulation/path-planner.cc
index 6d6e453..382f9ef 100644
--- a/src/pyhpp/manipulation/path-planner.cc
+++ b/src/pyhpp/manipulation/path-planner.cc
@@ -247,7 +247,10 @@ void exposePathPlanners() {
            &TransitionPlanner::setReedsAndSheppSteeringMethod)
       .def("pathProjector", &TransitionPlanner::pathProjector)
       .def("clearPathOptimizers", &TransitionPlanner::clearPathOptimizers)
-      .def("addPathOptimizer", &TransitionPlanner::addPathOptimizer);
+      .def("addPathOptimizer", &TransitionPlanner::addPathOptimizer,
+           "Add a path optimizer\n\n  Note: the input path optimizer should "
+           "have been constructed"
+           " with\n    the inner problem of this class.");
 
   boost::python::class_<ManipulationPlanner,
                         boost::python::bases<pyhpp::core::PathPlanner>>(