add more results

2024-10-06 21:11:38 -07:00
parent 88095e7899
commit a7890b6985
109 changed files with 12856 additions and 0 deletions
--- a/results/dreamerv3/myo-hand-key-turn-random.csv
+++ b/results/dreamerv3/myo-hand-key-turn-random.csv
--- a/results/dreamerv3/myo-hand-obj-hold-random.csv
+++ b/results/dreamerv3/myo-hand-obj-hold-random.csv
--- a/results/dreamerv3/myo-hand-pen-twirl-random.csv
+++ b/results/dreamerv3/myo-hand-pen-twirl-random.csv
--- a/results/dreamerv3/myo-hand-pose-random.csv
+++ b/results/dreamerv3/myo-hand-pose-random.csv
--- a/results/dreamerv3/myo-hand-reach-random.csv
+++ b/results/dreamerv3/myo-hand-reach-random.csv
--- a/results/tdmpc/acrobot-swingup.csv
+++ b/results/tdmpc/acrobot-swingup.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,1.6,3
 100000,85.8,3
 200000,111.9,3
 300000,131.1,3
 400000,175.8,3
 500000,207.5,3
 600000,292.5,3
 700000,204.3,3
 800000,424.7,3
 900000,299.8,3
 1000000,397.0,3
 1100000,271.6,3
 1200000,439.5,3
 1300000,418.7,3
 1400000,422.5,3
 1500000,488.4,3
 1600000,451.9,3
 1700000,409.6,3
 1800000,215.0,3
 1900000,415.5,3
 2000000,273.6,3
 2100000,512.6,3
 2200000,234.8,3
 2300000,458.3,3
 2400000,532.6,3
 2500000,269.5,3
 2600000,386.9,3
 2700000,426.2,3
 2800000,291.4,3
 2900000,559.5,3
 3000000,420.3,3
 3100000,280.8,3
 3200000,287.4,3
 3300000,320.8,3
 3400000,480.0,3
 3500000,388.9,3
 3600000,476.3,3
 3700000,216.0,3
 3800000,407.8,3
 3900000,508.9,3
 4000000,347.7,3
 0,6.1,1
 100000,112.0,1
 200000,43.8,1
 300000,170.7,1
 400000,113.0,1
 500000,156.5,1
 600000,247.0,1
 700000,223.0,1
 800000,213.4,1
 900000,333.1,1
 1000000,316.9,1
 1100000,210.5,1
 1200000,248.5,1
 1300000,388.4,1
 1400000,189.9,1
 1500000,114.9,1
 1600000,124.1,1
 1700000,395.5,1
 1800000,221.8,1
 1900000,387.7,1
 2000000,324.6,1
 2100000,172.8,1
 2200000,284.8,1
 2300000,309.4,1
 2400000,471.5,1
 2500000,190.2,1
 2600000,273.4,1
 2700000,209.9,1
 2800000,318.8,1
 2900000,136.0,1
 3000000,373.3,1
 3100000,326.8,1
 3200000,486.9,1
 3300000,477.0,1
 3400000,504.5,1
 3500000,316.5,1
 3600000,397.1,1
 3700000,565.1,1
 3800000,373.9,1
 3900000,430.9,1
 4000000,544.4,1
 0,6.7,2
 100000,9.9,2
 200000,165.6,2
 300000,79.2,2
 400000,271.0,2
 500000,304.3,2
 600000,287.6,2
 700000,348.1,2
 800000,411.5,2
 900000,340.3,2
 1000000,425.6,2
 1100000,380.1,2
 1200000,255.4,2
 1300000,392.6,2
 1400000,309.6,2
 1500000,223.9,2
 1600000,228.8,2
 1700000,556.7,2
 1800000,255.0,2
 1900000,233.1,2
 2000000,272.8,2
 2100000,305.0,2
 2200000,426.4,2
 2300000,379.0,2
 2400000,273.4,2
 2500000,432.7,2
 2600000,439.7,2
 2700000,397.2,2
 2800000,513.7,2
 2900000,175.3,2
 3000000,381.3,2
 3100000,421.2,2
 3200000,473.8,2
 3300000,505.6,2
 3400000,308.0,2
 3500000,194.7,2
 3600000,252.5,2
 3700000,366.3,2
 3800000,267.8,2
 3900000,218.8,2
 4000000,169.0,2
--- a/results/tdmpc/cartpole-balance-sparse.csv
+++ b/results/tdmpc/cartpole-balance-sparse.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,42.1,3
 100000,1000.0,3
 200000,1000.0,3
 300000,1000.0,3
 400000,1000.0,3
 500000,1000.0,3
 600000,1000.0,3
 700000,1000.0,3
 800000,1000.0,3
 900000,1000.0,3
 1000000,1000.0,3
 1100000,1000.0,3
 1200000,1000.0,3
 1300000,1000.0,3
 1400000,1000.0,3
 1500000,1000.0,3
 1600000,1000.0,3
 1700000,1000.0,3
 1800000,1000.0,3
 1900000,1000.0,3
 2000000,1000.0,3
 2100000,1000.0,3
 2200000,1000.0,3
 2300000,1000.0,3
 2400000,1000.0,3
 2500000,1000.0,3
 2600000,1000.0,3
 2700000,1000.0,3
 2800000,1000.0,3
 2900000,1000.0,3
 3000000,1000.0,3
 3100000,1000.0,3
 3200000,1000.0,3
 3300000,1000.0,3
 3400000,1000.0,3
 3500000,1000.0,3
 3600000,1000.0,3
 3700000,1000.0,3
 3800000,1000.0,3
 3900000,1000.0,3
 4000000,1000.0,3
 0,40.6,2
 100000,457.7,2
 200000,1000.0,2
 300000,1000.0,2
 400000,1000.0,2
 500000,1000.0,2
 600000,1000.0,2
 700000,1000.0,2
 800000,1000.0,2
 900000,1000.0,2
 1000000,1000.0,2
 1100000,1000.0,2
 1200000,1000.0,2
 1300000,1000.0,2
 1400000,1000.0,2
 1500000,1000.0,2
 1600000,1000.0,2
 1700000,1000.0,2
 1800000,1000.0,2
 1900000,1000.0,2
 2000000,1000.0,2
 2100000,1000.0,2
 2200000,1000.0,2
 2300000,1000.0,2
 2400000,1000.0,2
 2500000,1000.0,2
 2600000,1000.0,2
 2700000,1000.0,2
 2800000,1000.0,2
 2900000,1000.0,2
 3000000,1000.0,2
 3100000,1000.0,2
 3200000,1000.0,2
 3300000,1000.0,2
 3400000,1000.0,2
 3500000,1000.0,2
 3600000,1000.0,2
 3700000,1000.0,2
 3800000,1000.0,2
 3900000,1000.0,2
 4000000,1000.0,2
 0,42.5,1
 100000,1000.0,1
 200000,1000.0,1
 300000,1000.0,1
 400000,1000.0,1
 500000,1000.0,1
 600000,1000.0,1
 700000,1000.0,1
 800000,1000.0,1
 900000,1000.0,1
 1000000,1000.0,1
 1100000,1000.0,1
 1200000,1000.0,1
 1300000,1000.0,1
 1400000,1000.0,1
 1500000,1000.0,1
 1600000,1000.0,1
 1700000,1000.0,1
 1800000,1000.0,1
 1900000,1000.0,1
 2000000,1000.0,1
 2100000,1000.0,1
 2200000,1000.0,1
 2300000,1000.0,1
 2400000,1000.0,1
 2500000,1000.0,1
 2600000,1000.0,1
 2700000,1000.0,1
 2800000,1000.0,1
 2900000,1000.0,1
 3000000,1000.0,1
 3100000,1000.0,1
 3200000,1000.0,1
 3300000,1000.0,1
 3400000,1000.0,1
 3500000,1000.0,1
 3600000,1000.0,1
 3700000,1000.0,1
 3800000,1000.0,1
 3900000,1000.0,1
 4000000,1000.0,1
--- a/results/tdmpc/cartpole-balance.csv
+++ b/results/tdmpc/cartpole-balance.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,364.7,3
 100000,999.2,3
 200000,999.0,3
 300000,999.4,3
 400000,994.1,3
 500000,999.2,3
 600000,999.7,3
 700000,999.7,3
 800000,998.7,3
 900000,998.3,3
 1000000,999.6,3
 1100000,999.5,3
 1200000,999.3,3
 1300000,999.0,3
 1400000,999.5,3
 1500000,999.5,3
 1600000,999.6,3
 1700000,999.0,3
 1800000,999.2,3
 1900000,998.8,3
 2000000,998.5,3
 2100000,999.4,3
 2200000,999.6,3
 2300000,998.8,3
 2400000,999.6,3
 2500000,999.6,3
 2600000,999.7,3
 2700000,995.5,3
 2800000,999.2,3
 2900000,999.5,3
 3000000,999.6,3
 3100000,999.6,3
 3200000,999.7,3
 3300000,999.5,3
 3400000,999.6,3
 3500000,999.6,3
 3600000,638.0,3
 3700000,999.2,3
 3800000,999.5,3
 3900000,999.6,3
 4000000,999.7,3
 0,337.0,2
 100000,974.8,2
 200000,994.1,2
 300000,999.5,2
 400000,996.4,2
 500000,999.6,2
 600000,999.5,2
 700000,999.4,2
 800000,999.0,2
 900000,998.5,2
 1000000,996.5,2
 1100000,999.6,2
 1200000,998.6,2
 1300000,999.6,2
 1400000,999.3,2
 1500000,999.6,2
 1600000,999.3,2
 1700000,999.6,2
 1800000,999.6,2
 1900000,998.8,2
 2000000,999.6,2
 2100000,998.4,2
 2200000,996.0,2
 2300000,998.9,2
 2400000,997.6,2
 2500000,999.3,2
 2600000,998.9,2
 2700000,999.6,2
 2800000,999.5,2
 2900000,999.6,2
 3000000,999.6,2
 3100000,999.6,2
 3200000,999.6,2
 3300000,999.5,2
 3400000,999.5,2
 3500000,999.5,2
 3600000,999.6,2
 3700000,999.5,2
 3800000,999.7,2
 3900000,999.7,2
 4000000,998.9,2
 0,348.7,1
 100000,986.2,1
 200000,999.6,1
 300000,999.3,1
 400000,999.4,1
 500000,999.2,1
 600000,998.6,1
 700000,999.3,1
 800000,999.5,1
 900000,969.7,1
 1000000,995.8,1
 1100000,999.4,1
 1200000,998.9,1
 1300000,999.3,1
 1400000,994.4,1
 1500000,999.5,1
 1600000,999.4,1
 1700000,983.7,1
 1800000,994.0,1
 1900000,999.3,1
 2000000,999.6,1
 2100000,998.2,1
 2200000,999.3,1
 2300000,998.6,1
 2400000,999.0,1
 2500000,998.4,1
 2600000,999.3,1
 2700000,999.1,1
 2800000,999.3,1
 2900000,999.3,1
 3000000,999.1,1
 3100000,955.9,1
 3200000,999.1,1
 3300000,999.6,1
 3400000,999.7,1
 3500000,999.5,1
 3600000,998.6,1
 3700000,999.6,1
 3800000,999.7,1
 3900000,997.6,1
 4000000,998.4,1
--- a/results/tdmpc/cartpole-swingup-sparse.csv
+++ b/results/tdmpc/cartpole-swingup-sparse.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,0.0,3
 100000,3.7,3
 200000,0.0,3
 300000,829.6,3
 400000,848.4,3
 500000,846.7,3
 600000,842.5,3
 700000,846.8,3
 800000,847.1,3
 900000,846.6,3
 1000000,847.4,3
 1100000,846.9,3
 1200000,845.9,3
 1300000,846.3,3
 1400000,736.2,3
 1500000,847.9,3
 1600000,847.9,3
 1700000,846.6,3
 1800000,846.3,3
 1900000,847.6,3
 2000000,846.2,3
 2100000,847.9,3
 2200000,847.8,3
 2300000,847.8,3
 2400000,847.2,3
 2500000,847.8,3
 2600000,845.6,3
 2700000,846.8,3
 2800000,843.9,3
 2900000,847.6,3
 3000000,847.0,3
 3100000,845.6,3
 3200000,0.0,3
 3300000,0.0,3
 3400000,833.9,3
 3500000,845.9,3
 3600000,845.5,3
 3700000,846.3,3
 3800000,846.1,3
 3900000,846.0,3
 4000000,847.4,3
 0,0.0,1
 100000,0.0,1
 200000,0.0,1
 300000,0.0,1
 400000,0.0,1
 500000,0.0,1
 600000,0.0,1
 700000,0.0,1
 800000,0.0,1
 900000,0.0,1
 1000000,0.0,1
 1100000,0.0,1
 1200000,0.0,1
 1300000,0.0,1
 1400000,0.0,1
 1500000,0.0,1
 1600000,218.9,1
 1700000,841.2,1
 1800000,808.6,1
 1900000,842.9,1
 2000000,840.2,1
 2100000,844.8,1
 2200000,843.6,1
 2300000,846.0,1
 2400000,847.1,1
 2500000,848.7,1
 2600000,848.2,1
 2700000,815.9,1
 2800000,847.1,1
 2900000,848.5,1
 3000000,848.6,1
 3100000,847.6,1
 3200000,849.4,1
 3300000,846.5,1
 3400000,849.8,1
 3500000,849.3,1
 3600000,850.0,1
 3700000,847.3,1
 3800000,847.9,1
 3900000,850.1,1
 4000000,849.8,1
 0,0.2,2
 100000,0.0,2
 200000,0.0,2
 300000,0.0,2
 400000,0.0,2
 500000,828.6,2
 600000,834.0,2
 700000,844.8,2
 800000,787.3,2
 900000,841.9,2
 1000000,843.7,2
 1100000,840.3,2
 1200000,842.8,2
 1300000,842.9,2
 1400000,844.3,2
 1500000,847.0,2
 1600000,844.1,2
 1700000,844.5,2
 1800000,847.6,2
 1900000,847.4,2
 2000000,842.4,2
 2100000,845.8,2
 2200000,847.6,2
 2300000,847.9,2
 2400000,847.6,2
 2500000,845.8,2
 2600000,847.3,2
 2700000,846.0,2
 2800000,847.8,2
 2900000,847.7,2
 3000000,0.0,2
 3100000,847.3,2
 3200000,847.6,2
 3300000,847.9,2
 3400000,816.5,2
 3500000,847.6,2
 3600000,846.3,2
 3700000,0.0,2
 3800000,743.2,2
 3900000,0.0,2
 4000000,40.8,2
--- a/results/tdmpc/cartpole-swingup.csv
+++ b/results/tdmpc/cartpole-swingup.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,29.1,3
 100000,850.7,3
 200000,854.1,3
 300000,862.0,3
 400000,866.5,3
 500000,866.0,3
 600000,829.2,3
 700000,869.9,3
 800000,875.9,3
 900000,878.2,3
 1000000,878.4,3
 1100000,881.2,3
 1200000,875.5,3
 1300000,882.2,3
 1400000,881.9,3
 1500000,881.9,3
 1600000,881.7,3
 1700000,882.5,3
 1800000,882.0,3
 1900000,882.8,3
 2000000,882.8,3
 2100000,882.9,3
 2200000,883.1,3
 2300000,882.8,3
 2400000,882.5,3
 2500000,883.0,3
 2600000,882.8,3
 2700000,883.2,3
 2800000,883.1,3
 2900000,883.2,3
 3000000,881.5,3
 3100000,883.1,3
 3200000,883.3,3
 3300000,882.9,3
 3400000,882.8,3
 3500000,883.2,3
 3600000,882.9,3
 3700000,883.1,3
 3800000,883.0,3
 3900000,881.8,3
 4000000,882.9,3
 0,53.1,1
 100000,877.5,1
 200000,880.4,1
 300000,882.3,1
 400000,873.3,1
 500000,881.6,1
 600000,882.9,1
 700000,882.7,1
 800000,882.9,1
 900000,883.2,1
 1000000,883.0,1
 1100000,882.7,1
 1200000,882.7,1
 1300000,882.8,1
 1400000,883.5,1
 1500000,882.8,1
 1600000,881.0,1
 1700000,882.9,1
 1800000,883.0,1
 1900000,883.2,1
 2000000,880.0,1
 2100000,881.8,1
 2200000,882.8,1
 2300000,882.9,1
 2400000,883.3,1
 2500000,883.2,1
 2600000,859.0,1
 2700000,876.4,1
 2800000,882.8,1
 2900000,883.0,1
 3000000,882.9,1
 3100000,882.2,1
 3200000,883.0,1
 3300000,883.1,1
 3400000,882.9,1
 3500000,875.3,1
 3600000,883.2,1
 3700000,882.6,1
 3800000,882.9,1
 3900000,882.9,1
 4000000,883.0,1
 0,34.8,2
 100000,861.2,2
 200000,877.4,2
 300000,881.0,2
 400000,881.8,2
 500000,881.3,2
 600000,879.9,2
 700000,881.1,2
 800000,880.6,2
 900000,881.7,2
 1000000,876.5,2
 1100000,882.8,2
 1200000,882.6,2
 1300000,882.8,2
 1400000,883.2,2
 1500000,882.6,2
 1600000,883.1,2
 1700000,882.3,2
 1800000,882.8,2
 1900000,882.2,2
 2000000,883.0,2
 2100000,883.0,2
 2200000,883.1,2
 2300000,882.9,2
 2400000,883.2,2
 2500000,882.8,2
 2600000,883.3,2
 2700000,883.3,2
 2800000,875.9,2
 2900000,883.3,2
 3000000,883.2,2
 3100000,883.0,2
 3200000,883.2,2
 3300000,883.2,2
 3400000,882.9,2
 3500000,882.8,2
 3600000,882.6,2
 3700000,874.6,2
 3800000,878.2,2
 3900000,883.4,2
 4000000,882.9,2
--- a/results/tdmpc/cheetah-jump.csv
+++ b/results/tdmpc/cheetah-jump.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,173.9,3
 100000,363.6,3
 200000,585.8,3
 300000,768.4,3
 400000,791.3,3
 500000,779.1,3
 600000,798.2,3
 700000,803.5,3
 800000,808.0,3
 900000,747.1,3
 1000000,807.4,3
 1100000,804.4,3
 1200000,805.7,3
 1300000,807.5,3
 1400000,802.1,3
 1500000,805.9,3
 1600000,785.1,3
 1700000,807.1,3
 1800000,793.8,3
 1900000,798.8,3
 2000000,786.0,3
 2100000,790.1,3
 2200000,769.7,3
 2300000,796.5,3
 2400000,780.9,3
 2500000,714.5,3
 2600000,743.1,3
 2700000,803.3,3
 2800000,795.0,3
 2900000,801.2,3
 3000000,792.7,3
 3100000,799.9,3
 3200000,795.7,3
 3300000,794.0,3
 3400000,805.9,3
 3500000,805.3,3
 3600000,798.8,3
 3700000,745.4,3
 3800000,794.1,3
 3900000,778.0,3
 4000000,782.7,3
 0,174.6,1
 100000,251.7,1
 200000,608.6,1
 300000,666.5,1
 400000,777.5,1
 500000,784.7,1
 600000,809.4,1
 700000,814.8,1
 800000,812.0,1
 900000,819.3,1
 1000000,812.0,1
 1100000,801.3,1
 1200000,813.1,1
 1300000,807.1,1
 1400000,816.9,1
 1500000,821.7,1
 1600000,812.2,1
 1700000,818.0,1
 1800000,816.1,1
 1900000,786.9,1
 2000000,818.8,1
 2100000,809.8,1
 2200000,825.0,1
 2300000,820.7,1
 2400000,801.5,1
 2500000,802.6,1
 2600000,824.7,1
 2700000,819.0,1
 2800000,821.4,1
 2900000,832.7,1
 3000000,828.1,1
 3100000,830.3,1
 3200000,823.7,1
 3300000,831.3,1
 3400000,811.5,1
 3500000,824.5,1
 3600000,816.3,1
 3700000,826.9,1
 3800000,798.4,1
 3900000,831.7,1
 4000000,810.7,1
 0,174.1,2
 100000,554.5,2
 200000,625.6,2
 300000,756.7,2
 400000,755.7,2
 500000,817.8,2
 600000,820.4,2
 700000,821.5,2
 800000,819.2,2
 900000,827.1,2
 1000000,811.0,2
 1100000,812.2,2
 1200000,818.8,2
 1300000,829.7,2
 1400000,813.6,2
 1500000,822.8,2
 1600000,821.0,2
 1700000,820.0,2
 1800000,818.9,2
 1900000,821.3,2
 2000000,817.7,2
 2100000,818.4,2
 2200000,253.6,2
 2300000,820.5,2
 2400000,809.5,2
 2500000,806.1,2
 2600000,813.1,2
 2700000,813.2,2
 2800000,811.0,2
 2900000,796.5,2
 3000000,807.7,2
 3100000,816.6,2
 3200000,806.7,2
 3300000,805.1,2
 3400000,814.9,2
 3500000,791.3,2
 3600000,813.3,2
 3700000,796.0,2
 3800000,815.8,2
 3900000,816.1,2
 4000000,808.4,2
--- a/results/tdmpc/cheetah-run-back.csv
+++ b/results/tdmpc/cheetah-run-back.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,6.6,3
 100000,469.7,3
 200000,493.1,3
 300000,556.3,3
 400000,567.0,3
 500000,597.2,3
 600000,611.3,3
 700000,595.4,3
 800000,714.5,3
 900000,862.7,3
 1000000,863.3,3
 1100000,854.1,3
 1200000,861.4,3
 1300000,880.0,3
 1400000,873.4,3
 1500000,879.2,3
 1600000,874.0,3
 1700000,882.7,3
 1800000,870.7,3
 1900000,867.6,3
 2000000,876.4,3
 2100000,871.0,3
 2200000,867.1,3
 2300000,859.0,3
 2400000,864.6,3
 2500000,854.6,3
 2600000,788.1,3
 2700000,860.6,3
 2800000,860.7,3
 2900000,856.2,3
 3000000,474.7,3
 3100000,856.8,3
 3200000,815.3,3
 3300000,855.3,3
 3400000,856.4,3
 3500000,836.6,3
 3600000,857.1,3
 3700000,786.7,3
 3800000,866.4,3
 3900000,847.8,3
 4000000,855.1,3
 0,6.7,2
 100000,403.7,2
 200000,488.6,2
 300000,766.3,2
 400000,760.5,2
 500000,743.4,2
 600000,812.2,2
 700000,823.3,2
 800000,829.5,2
 900000,827.7,2
 1000000,821.3,2
 1100000,822.5,2
 1200000,830.5,2
 1300000,830.1,2
 1400000,824.9,2
 1500000,801.3,2
 1600000,826.3,2
 1700000,817.5,2
 1800000,819.9,2
 1900000,829.7,2
 2000000,774.1,2
 2100000,813.7,2
 2200000,797.2,2
 2300000,782.3,2
 2400000,790.2,2
 2500000,812.5,2
 2600000,746.6,2
 2700000,708.5,2
 2800000,585.9,2
 2900000,742.1,2
 3000000,785.6,2
 3100000,797.1,2
 3200000,801.5,2
 3300000,751.8,2
 3400000,787.4,2
 3500000,811.3,2
 3600000,807.0,2
 3700000,749.2,2
 3800000,818.2,2
 3900000,753.2,2
 4000000,806.1,2
 0,6.6,1
 100000,469.4,1
 200000,498.0,1
 300000,555.0,1
 400000,597.2,1
 500000,604.0,1
 600000,630.1,1
 700000,636.7,1
 800000,632.2,1
 900000,636.2,1
 1000000,639.3,1
 1100000,636.6,1
 1200000,639.7,1
 1300000,649.2,1
 1400000,654.9,1
 1500000,431.4,1
 1600000,655.5,1
 1700000,656.0,1
 1800000,655.1,1
 1900000,660.2,1
 2000000,652.6,1
 2100000,669.5,1
 2200000,643.6,1
 2300000,669.4,1
 2400000,657.3,1
 2500000,638.5,1
 2600000,652.2,1
 2700000,647.4,1
 2800000,671.3,1
 2900000,609.9,1
 3000000,673.4,1
 3100000,633.3,1
 3200000,624.9,1
 3300000,637.1,1
 3400000,671.8,1
 3500000,669.3,1
 3600000,672.1,1
 3700000,656.9,1
 3800000,676.2,1
 3900000,671.1,1
 4000000,659.1,1
--- a/results/tdmpc/cheetah-run-backwards.csv
+++ b/results/tdmpc/cheetah-run-backwards.csv
@@ -0,0 +1,140 @@
 step,reward,seed
 0,26.2,1
 100000,565.0,1
 200000,560.3,1
 300000,567.0,1
 400000,471.9,1
 500000,554.3,1
 600000,580.6,1
 700000,586.7,1
 800000,591.6,1
 900000,593.1,1
 1000000,603.5,1
 1100000,607.9,1
 1200000,603.5,1
 1300000,612.0,1
 1400000,609.4,1
 1500000,602.3,1
 1600000,616.9,1
 1700000,624.8,1
 1800000,608.7,1
 1900000,599.2,1
 2000000,617.3,1
 2100000,590.1,1
 2200000,595.5,1
 2300000,612.2,1
 2400000,617.5,1
 2500000,612.0,1
 2600000,609.9,1
 2700000,595.0,1
 2800000,608.0,1
 2900000,603.7,1
 3000000,614.3,1
 3100000,612.7,1
 3200000,609.3,1
 3300000,619.3,1
 3400000,616.5,1
 3500000,612.0,1
 3600000,624.2,1
 3700000,611.0,1
 3800000,618.9,1
 3900000,609.9,1
 4000000,614.6,1
 0,25.8,3
 100000,605.7,3
 200000,600.2,3
 300000,597.3,3
 400000,640.2,3
 500000,617.0,3
 600000,630.4,3
 700000,626.9,3
 800000,601.3,3
 900000,619.9,3
 1000000,609.8,3
 1100000,614.2,3
 1200000,638.7,3
 1300000,645.5,3
 1400000,632.9,3
 1500000,567.7,3
 1600000,605.1,3
 1700000,637.2,3
 1800000,645.9,3
 1900000,632.1,3
 2000000,649.4,3
 2100000,646.3,3
 2200000,595.6,3
 2300000,649.8,3
 2400000,625.6,3
 2500000,656.0,3
 2600000,660.6,3
 2700000,632.4,3
 2800000,647.1,3
 2900000,611.9,3
 3000000,637.2,3
 3100000,627.5,3
 3200000,645.3,3
 3300000,559.0,3
 3400000,643.7,3
 3500000,654.7,3
 3600000,641.3,3
 3700000,640.1,3
 3800000,645.6,3
 3900000,629.9,3
 4000000,658.9,3
 0,28.2,2
 100000,601.1,2
 200000,631.9,2
 300000,554.4,2
 400000,624.6,2
 500000,601.0,2
 600000,637.6,2
 700000,633.7,2
 800000,640.5,2
 900000,632.9,2
 1000000,643.1,2
 1100000,634.5,2
 1200000,654.9,2
 1300000,633.9,2
 1400000,647.2,2
 1500000,654.5,2
 1600000,643.4,2
 1700000,642.2,2
 1800000,653.1,2
 1900000,656.9,2
 2000000,662.6,2
 2100000,650.5,2
 2200000,651.2,2
 2300000,640.3,2
 2400000,612.9,2
 2500000,639.3,2
 2600000,651.8,2
 2700000,637.1,2
 2800000,631.9,2
 2900000,628.2,2
 3000000,582.8,2
 3100000,642.7,2
 3200000,629.9,2
 3300000,616.1,2
 3400000,578.2,2
 3500000,566.4,2
 3600000,541.8,2
 3700000,632.2,2
 3800000,620.3,2
 3900000,636.0,2
 4000000,624.2,2
 0,25.3,2
 100000,560.5,2
 200000,625.8,2
 300000,625.9,2
 400000,614.9,2
 500000,578.9,2
 600000,616.9,2
 700000,629.2,2
 0,28.2,1
 100000,596.4,1
 200000,601.9,1
 300000,634.1,1
 400000,625.6,1
 500000,653.8,1
 600000,630.9,1
 700000,645.0,1
--- a/results/tdmpc/cheetah-run-front.csv
+++ b/results/tdmpc/cheetah-run-front.csv
@@ -0,0 +1,140 @@
 step,reward,seed
 0,6.8,3
 100000,353.0,3
 200000,531.7,3
 300000,623.3,3
 400000,588.3,3
 500000,654.0,3
 600000,521.0,3
 700000,665.6,3
 800000,629.3,3
 900000,671.5,3
 1000000,564.7,3
 1100000,695.7,3
 1200000,682.8,3
 1300000,693.9,3
 1400000,636.2,3
 1500000,543.4,3
 1600000,718.2,3
 1700000,610.8,3
 1800000,716.9,3
 1900000,683.0,3
 2000000,706.0,3
 2100000,660.4,3
 2200000,678.1,3
 2300000,723.7,3
 2400000,686.2,3
 2500000,625.1,3
 2600000,728.9,3
 2700000,715.6,3
 2800000,728.6,3
 2900000,700.2,3
 3000000,720.4,3
 3100000,733.0,3
 3200000,727.9,3
 3300000,735.4,3
 3400000,747.3,3
 3500000,738.5,3
 3600000,745.3,3
 3700000,746.2,3
 3800000,754.6,3
 3900000,748.8,3
 4000000,704.6,3
 0,6.8,2
 100000,351.3,2
 200000,445.2,2
 300000,493.0,2
 400000,564.4,2
 500000,580.6,2
 600000,606.3,2
 700000,599.1,2
 800000,614.3,2
 900000,595.8,2
 1000000,607.3,2
 1100000,600.9,2
 1200000,614.4,2
 1300000,635.8,2
 1400000,611.4,2
 1500000,619.3,2
 1600000,629.0,2
 1700000,613.9,2
 1800000,619.8,2
 1900000,611.5,2
 2000000,610.6,2
 2100000,623.7,2
 2200000,628.1,2
 2300000,603.5,2
 2400000,635.9,2
 2500000,632.8,2
 2600000,644.3,2
 2700000,638.1,2
 2800000,616.2,2
 2900000,633.0,2
 3000000,631.2,2
 3100000,634.9,2
 3200000,632.7,2
 3300000,628.5,2
 3400000,626.1,2
 3500000,629.2,2
 3600000,625.0,2
 3700000,647.2,2
 3800000,647.5,2
 3900000,647.8,2
 4000000,616.4,2
 0,6.8,1
 100000,476.2,1
 200000,492.0,1
 300000,594.5,1
 400000,532.5,1
 500000,626.8,1
 600000,680.8,1
 700000,706.9,1
 800000,682.2,1
 900000,722.1,1
 1000000,730.7,1
 1100000,724.6,1
 1200000,715.8,1
 1300000,682.2,1
 1400000,749.6,1
 1500000,682.1,1
 1600000,744.7,1
 1700000,734.5,1
 1800000,747.6,1
 1900000,718.4,1
 2000000,752.4,1
 2100000,712.3,1
 2200000,751.7,1
 2300000,739.1,1
 2400000,712.9,1
 2500000,736.5,1
 2600000,737.9,1
 2700000,701.2,1
 2800000,748.8,1
 2900000,713.9,1
 3000000,666.9,1
 3100000,728.5,1
 3200000,735.7,1
 3300000,741.5,1
 3400000,760.3,1
 3500000,739.5,1
 3600000,667.2,1
 3700000,745.3,1
 3800000,746.5,1
 3900000,738.6,1
 4000000,710.4,1
 0,6.9,2
 100000,385.5,2
 200000,486.6,2
 300000,619.3,2
 400000,622.8,2
 500000,642.1,2
 600000,605.5,2
 700000,666.1,2
 0,6.8,1
 100000,469.1,1
 200000,488.3,1
 300000,449.5,1
 400000,577.7,1
 500000,463.3,1
 600000,566.7,1
 700000,589.1,1
--- a/results/tdmpc/cheetah-run.csv
+++ b/results/tdmpc/cheetah-run.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,5.5,3
 100000,677.1,3
 200000,711.9,3
 300000,818.9,3
 400000,780.4,3
 500000,712.6,3
 600000,805.2,3
 700000,839.3,3
 800000,847.1,3
 900000,808.9,3
 1000000,721.9,3
 1100000,837.3,3
 1200000,850.8,3
 1300000,889.0,3
 1400000,897.2,3
 1500000,894.4,3
 1600000,893.4,3
 1700000,890.2,3
 1800000,904.8,3
 1900000,785.6,3
 2000000,897.8,3
 2100000,869.1,3
 2200000,718.3,3
 2300000,404.0,3
 2400000,890.0,3
 2500000,890.2,3
 2600000,836.8,3
 2700000,748.6,3
 2800000,875.2,3
 2900000,896.2,3
 3000000,895.8,3
 3100000,882.9,3
 3200000,870.5,3
 3300000,897.6,3
 3400000,766.5,3
 3500000,887.5,3
 3600000,893.4,3
 3700000,889.5,3
 3800000,880.3,3
 3900000,893.9,3
 4000000,793.2,3
 0,6.9,2
 100000,640.9,2
 200000,781.1,2
 300000,786.4,2
 400000,812.1,2
 500000,854.3,2
 600000,883.3,2
 700000,733.3,2
 800000,800.6,2
 900000,897.8,2
 1000000,857.1,2
 1100000,819.2,2
 1200000,887.2,2
 1300000,827.2,2
 1400000,890.9,2
 1500000,894.1,2
 1600000,795.7,2
 1700000,844.0,2
 1800000,845.9,2
 1900000,844.6,2
 2000000,888.8,2
 2100000,871.7,2
 2200000,752.3,2
 2300000,869.6,2
 2400000,794.4,2
 2500000,525.8,2
 2600000,727.6,2
 2700000,850.6,2
 2800000,792.9,2
 2900000,811.9,2
 3000000,684.7,2
 3100000,796.4,2
 3200000,629.5,2
 3300000,675.0,2
 3400000,828.1,2
 3500000,3.4,2
 3600000,753.4,2
 3700000,860.3,2
 3800000,680.6,2
 3900000,780.7,2
 4000000,817.8,2
 0,5.4,1
 100000,277.7,1
 200000,820.4,1
 300000,792.7,1
 400000,906.0,1
 500000,903.7,1
 600000,909.6,1
 700000,817.3,1
 800000,815.9,1
 900000,825.6,1
 1000000,910.0,1
 1100000,733.5,1
 1200000,887.6,1
 1300000,903.1,1
 1400000,891.6,1
 1500000,886.8,1
 1600000,840.8,1
 1700000,895.4,1
 1800000,892.6,1
 1900000,900.3,1
 2000000,907.0,1
 2100000,860.9,1
 2200000,872.4,1
 2300000,891.0,1
 2400000,888.2,1
 2500000,852.6,1
 2600000,900.4,1
 2700000,884.7,1
 2800000,869.7,1
 2900000,840.8,1
 3000000,888.6,1
 3100000,897.1,1
 3200000,820.0,1
 3300000,874.8,1
 3400000,775.2,1
 3500000,786.5,1
 3600000,362.4,1
 3700000,855.0,1
 3800000,887.1,1
 3900000,889.5,1
 4000000,878.1,1
--- a/results/tdmpc/cup-catch.csv
+++ b/results/tdmpc/cup-catch.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,85.2,3
 100000,977.3,3
 200000,974.1,3
 300000,980.0,3
 400000,977.6,3
 500000,983.1,3
 600000,979.3,3
 700000,987.9,3
 800000,979.0,3
 900000,979.0,3
 1000000,978.9,3
 1100000,987.8,3
 1200000,981.3,3
 1300000,978.8,3
 1400000,986.8,3
 1500000,977.6,3
 1600000,984.7,3
 1700000,984.3,3
 1800000,986.2,3
 1900000,987.2,3
 2000000,986.6,3
 2100000,981.7,3
 2200000,985.1,3
 2300000,983.1,3
 2400000,985.0,3
 2500000,983.3,3
 2600000,976.9,3
 2700000,986.0,3
 2800000,976.6,3
 2900000,985.8,3
 3000000,989.1,3
 3100000,977.4,3
 3200000,984.1,3
 3300000,987.2,3
 3400000,985.6,3
 3500000,985.1,3
 3600000,983.3,3
 3700000,987.3,3
 3800000,978.9,3
 3900000,990.6,3
 4000000,982.2,3
 0,0.0,1
 100000,977.2,1
 200000,977.5,1
 300000,970.6,1
 400000,983.2,1
 500000,983.9,1
 600000,979.1,1
 700000,982.1,1
 800000,982.1,1
 900000,981.9,1
 1000000,987.2,1
 1100000,979.9,1
 1200000,984.4,1
 1300000,981.5,1
 1400000,982.9,1
 1500000,981.7,1
 1600000,978.2,1
 1700000,980.9,1
 1800000,981.0,1
 1900000,970.4,1
 2000000,977.7,1
 2100000,980.4,1
 2200000,973.4,1
 2300000,981.9,1
 2400000,976.6,1
 2500000,974.6,1
 2600000,964.7,1
 2700000,972.9,1
 2800000,973.8,1
 2900000,977.0,1
 3000000,973.0,1
 3100000,979.0,1
 3200000,975.1,1
 3300000,981.8,1
 3400000,977.8,1
 3500000,988.3,1
 3600000,980.6,1
 3700000,983.1,1
 3800000,984.3,1
 3900000,975.5,1
 4000000,966.8,1
 0,0.0,2
 100000,988.3,2
 200000,975.0,2
 300000,979.1,2
 400000,975.8,2
 500000,984.6,2
 600000,977.0,2
 700000,979.6,2
 800000,984.7,2
 900000,981.8,2
 1000000,975.3,2
 1100000,974.4,2
 1200000,979.0,2
 1300000,980.3,2
 1400000,981.9,2
 1500000,980.9,2
 1600000,989.8,2
 1700000,983.4,2
 1800000,982.5,2
 1900000,983.6,2
 2000000,980.4,2
 2100000,990.0,2
 2200000,975.1,2
 2300000,980.3,2
 2400000,978.6,2
 2500000,985.7,2
 2600000,976.8,2
 2700000,983.5,2
 2800000,984.8,2
 2900000,973.1,2
 3000000,990.6,2
 3100000,980.7,2
 3200000,973.8,2
 3300000,971.2,2
 3400000,976.7,2
 3500000,978.1,2
 3600000,979.9,2
 3700000,978.4,2
 3800000,982.7,2
 3900000,976.1,2
 4000000,977.7,2
--- a/results/tdmpc/cup-spin.csv
+++ b/results/tdmpc/cup-spin.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,33.3,3
 100000,839.2,3
 200000,841.4,3
 300000,842.4,3
 400000,842.7,3
 500000,842.1,3
 600000,842.6,3
 700000,842.3,3
 800000,842.9,3
 900000,842.8,3
 1000000,842.1,3
 1100000,841.9,3
 1200000,842.8,3
 1300000,843.8,3
 1400000,842.6,3
 1500000,843.2,3
 1600000,843.1,3
 1700000,842.8,3
 1800000,842.9,3
 1900000,842.8,3
 2000000,843.2,3
 2100000,843.4,3
 2200000,842.0,3
 2300000,843.0,3
 2400000,842.8,3
 2500000,843.0,3
 2600000,842.3,3
 2700000,842.7,3
 2800000,843.3,3
 2900000,843.2,3
 3000000,840.8,3
 3100000,841.6,3
 3200000,843.4,3
 3300000,842.7,3
 3400000,842.6,3
 3500000,843.0,3
 3600000,843.2,3
 3700000,822.0,3
 3800000,842.8,3
 3900000,842.9,3
 4000000,842.5,3
 0,89.3,1
 100000,832.5,1
 200000,841.4,1
 300000,837.8,1
 400000,841.0,1
 500000,840.1,1
 600000,840.1,1
 700000,836.8,1
 800000,840.1,1
 900000,839.9,1
 1000000,840.3,1
 1100000,840.0,1
 1200000,840.4,1
 1300000,838.4,1
 1400000,839.8,1
 1500000,840.8,1
 1600000,840.8,1
 1700000,839.2,1
 1800000,840.3,1
 1900000,841.1,1
 2000000,841.3,1
 2100000,841.4,1
 2200000,840.9,1
 2300000,841.9,1
 2400000,841.0,1
 2500000,838.5,1
 2600000,840.8,1
 2700000,835.1,1
 2800000,838.2,1
 2900000,840.4,1
 3000000,835.3,1
 3100000,838.7,1
 3200000,838.6,1
 3300000,841.5,1
 3400000,838.4,1
 3500000,839.2,1
 3600000,838.6,1
 3700000,835.1,1
 3800000,839.3,1
 3900000,839.1,1
 4000000,832.2,1
 0,54.7,2
 100000,836.5,2
 200000,838.4,2
 300000,837.2,2
 400000,839.4,2
 500000,836.1,2
 600000,839.7,2
 700000,837.6,2
 800000,838.6,2
 900000,838.1,2
 1000000,839.2,2
 1100000,837.7,2
 1200000,835.1,2
 1300000,838.6,2
 1400000,839.2,2
 1500000,839.8,2
 1600000,839.0,2
 1700000,839.1,2
 1800000,839.7,2
 1900000,838.6,2
 2000000,839.5,2
 2100000,840.5,2
 2200000,839.7,2
 2300000,841.9,2
 2400000,842.1,2
 2500000,839.7,2
 2600000,842.0,2
 2700000,843.2,2
 2800000,840.7,2
 2900000,842.9,2
 3000000,843.2,2
 3100000,843.0,2
 3200000,837.9,2
 3300000,842.6,2
 3400000,841.6,2
 3500000,842.6,2
 3600000,841.8,2
 3700000,842.3,2
 3800000,834.3,2
 3900000,843.4,2
 4000000,842.5,2
--- a/results/tdmpc/dog-run.csv
+++ b/results/tdmpc/dog-run.csv
@@ -0,0 +1,506 @@
 step,reward,seed
 0,5.7,3
 100000,28.2,3
 200000,24.2,3
 300000,88.7,3
 400000,133.5,3
 500000,160.6,3
 600000,166.2,3
 700000,4.7,3
 800000,14.6,3
 900000,11.3,3
 1000000,12.1,3
 1100000,21.9,3
 1200000,2.6,3
 1300000,3.0,3
 1400000,7.1,3
 1500000,36.5,3
 1600000,3.3,3
 1700000,31.3,3
 1800000,4.1,3
 1900000,5.2,3
 2000000,3.5,3
 2100000,10.7,3
 2200000,2.4,3
 2300000,7.8,3
 2400000,5.3,3
 2500000,4.4,3
 2600000,27.3,3
 2700000,149.4,3
 2800000,209.3,3
 2900000,223.0,3
 3000000,157.3,3
 3100000,306.4,3
 3200000,309.2,3
 3300000,277.3,3
 3400000,352.8,3
 3500000,295.7,3
 3600000,353.9,3
 3700000,388.8,3
 3800000,356.4,3
 3900000,398.3,3
 4000000,416.8,3
 4100000,387.3,3
 4200000,435.8,3
 4300000,404.2,3
 4400000,431.6,3
 4500000,438.0,3
 4600000,451.2,3
 4700000,446.9,3
 4800000,429.7,3
 4900000,390.5,3
 5000000,439.3,3
 5100000,397.8,3
 5200000,454.7,3
 5300000,399.0,3
 5400000,463.7,3
 5500000,441.8,3
 5600000,452.4,3
 5700000,484.9,3
 5800000,460.1,3
 5900000,494.4,3
 6000000,419.2,3
 6100000,440.6,3
 6200000,478.3,3
 6300000,348.5,3
 6400000,311.6,3
 6500000,470.6,3
 6600000,431.7,3
 6700000,380.1,3
 6800000,312.3,3
 6900000,384.8,3
 7000000,279.8,3
 7100000,368.2,3
 7200000,334.5,3
 7300000,373.1,3
 7400000,290.8,3
 7500000,316.6,3
 7600000,249.7,3
 7700000,371.3,3
 7800000,415.4,3
 7900000,342.3,3
 8000000,411.0,3
 8100000,313.9,3
 8200000,263.0,3
 8300000,284.9,3
 8400000,241.2,3
 8500000,299.3,3
 8600000,309.8,3
 8700000,401.3,3
 8800000,426.8,3
 8900000,432.0,3
 9000000,449.8,3
 9100000,536.4,3
 9200000,524.5,3
 9300000,544.6,3
 9400000,559.6,3
 9500000,562.7,3
 9600000,576.1,3
 9700000,568.2,3
 9800000,578.3,3
 9900000,587.7,3
 10000000,588.4,3
 10100000,587.9,3
 10200000,584.7,3
 10300000,563.0,3
 10400000,531.6,3
 10500000,612.7,3
 10600000,591.6,3
 10700000,615.0,3
 10800000,615.7,3
 10900000,604.2,3
 11000000,592.4,3
 11100000,623.2,3
 11200000,624.4,3
 11300000,608.2,3
 11400000,611.3,3
 11500000,607.6,3
 11600000,627.8,3
 11700000,636.7,3
 11800000,611.7,3
 11900000,603.7,3
 12000000,594.9,3
 12100000,620.7,3
 12200000,597.9,3
 12300000,634.2,3
 12400000,608.5,3
 12500000,608.3,3
 12600000,599.7,3
 12700000,608.3,3
 12800000,610.7,3
 12900000,603.0,3
 13000000,592.5,3
 13100000,564.7,3
 13200000,619.4,3
 13300000,595.4,3
 13400000,580.4,3
 13500000,584.7,3
 13600000,567.7,3
 13700000,589.6,3
 13800000,553.3,3
 13900000,587.0,3
 14000000,545.2,3
 0,6.1,2
 100000,12.9,2
 200000,31.9,2
 300000,78.4,2
 400000,108.4,2
 500000,13.2,2
 600000,29.1,2
 700000,12.7,2
 800000,7.8,2
 900000,11.1,2
 1000000,5.2,2
 1100000,5.0,2
 1200000,5.9,2
 1300000,9.4,2
 1400000,16.3,2
 1500000,10.1,2
 1600000,5.7,2
 1700000,45.1,2
 1800000,10.2,2
 1900000,5.6,2
 2000000,20.2,2
 2100000,10.9,2
 2200000,5.9,2
 2300000,8.6,2
 2400000,10.8,2
 2500000,14.0,2
 2600000,5.2,2
 2700000,11.0,2
 2800000,4.9,2
 2900000,5.9,2
 3000000,15.9,2
 3100000,9.8,2
 3200000,72.7,2
 3300000,150.2,2
 3400000,170.0,2
 3500000,14.2,2
 3600000,185.2,2
 3700000,213.0,2
 3800000,229.3,2
 3900000,227.6,2
 4000000,248.2,2
 4100000,229.9,2
 4200000,285.2,2
 4300000,282.2,2
 4400000,272.1,2
 4500000,286.9,2
 4600000,290.9,2
 4700000,307.5,2
 4800000,308.2,2
 4900000,301.4,2
 5000000,307.8,2
 5100000,337.0,2
 5200000,322.8,2
 5300000,317.6,2
 5400000,331.2,2
 5500000,324.8,2
 5600000,334.2,2
 5700000,274.8,2
 5800000,339.5,2
 5900000,349.3,2
 6000000,310.3,2
 6100000,326.5,2
 6200000,325.6,2
 6300000,235.3,2
 6400000,348.1,2
 6500000,333.6,2
 6600000,284.4,2
 6700000,242.0,2
 6800000,248.6,2
 6900000,272.2,2
 7000000,319.4,2
 7100000,315.8,2
 7200000,230.8,2
 7300000,118.5,2
 7400000,300.7,2
 7500000,182.2,2
 7600000,309.0,2
 7700000,279.2,2
 7800000,191.5,2
 7900000,156.0,2
 8000000,217.0,2
 8100000,188.9,2
 8200000,118.8,2
 8300000,155.3,2
 8400000,141.5,2
 8500000,95.1,2
 8600000,47.8,2
 8700000,33.3,2
 8800000,108.2,2
 8900000,61.4,2
 9000000,108.8,2
 9100000,92.1,2
 9200000,164.2,2
 9300000,188.0,2
 9400000,220.8,2
 9500000,220.7,2
 9600000,172.7,2
 9700000,236.7,2
 9800000,232.4,2
 9900000,191.4,2
 10000000,196.5,2
 10100000,198.4,2
 10200000,93.9,2
 10300000,220.9,2
 10400000,327.2,2
 10500000,299.3,2
 10600000,318.6,2
 10700000,347.1,2
 10800000,299.4,2
 10900000,306.5,2
 11000000,360.2,2
 11100000,343.3,2
 11200000,388.8,2
 11300000,383.3,2
 11400000,347.9,2
 11500000,334.1,2
 11600000,396.1,2
 11700000,361.2,2
 11800000,320.2,2
 11900000,304.1,2
 12000000,386.9,2
 12100000,296.2,2
 12200000,411.3,2
 12300000,320.0,2
 12400000,364.1,2
 12500000,340.6,2
 12600000,322.0,2
 12700000,356.1,2
 12800000,344.4,2
 12900000,369.4,2
 13000000,317.9,2
 13100000,457.5,2
 13200000,473.4,2
 13300000,486.3,2
 13400000,485.5,2
 13500000,504.3,2
 13600000,491.9,2
 13700000,484.0,2
 13800000,501.0,2
 13900000,514.9,2
 14000000,482.2,2
 0,4.9,1
 100000,8.9,1
 200000,51.0,1
 300000,89.1,1
 400000,140.8,1
 500000,169.4,1
 600000,202.7,1
 700000,219.4,1
 800000,245.5,1
 900000,269.7,1
 1000000,283.9,1
 1100000,332.5,1
 1200000,355.2,1
 1300000,382.3,1
 1400000,392.7,1
 1500000,390.7,1
 1600000,387.9,1
 1700000,361.6,1
 1800000,394.5,1
 1900000,399.3,1
 2000000,415.8,1
 2100000,432.1,1
 2200000,457.2,1
 2300000,453.0,1
 2400000,451.3,1
 2500000,459.2,1
 2600000,480.7,1
 2700000,495.0,1
 2800000,439.6,1
 2900000,496.5,1
 3000000,507.4,1
 3100000,511.0,1
 3200000,501.5,1
 3300000,513.5,1
 3400000,497.6,1
 3500000,502.7,1
 3600000,477.2,1
 3700000,464.4,1
 3800000,516.0,1
 3900000,494.4,1
 4000000,487.8,1
 4100000,504.3,1
 4200000,533.9,1
 4300000,511.2,1
 4400000,505.1,1
 4500000,515.9,1
 4600000,515.6,1
 4700000,538.3,1
 4800000,527.2,1
 4900000,515.5,1
 5000000,501.0,1
 5100000,483.0,1
 5200000,480.2,1
 5300000,527.2,1
 5400000,506.2,1
 5500000,488.9,1
 5600000,505.1,1
 5700000,503.2,1
 5800000,470.5,1
 5900000,526.6,1
 6000000,468.1,1
 6100000,508.0,1
 6200000,456.7,1
 6300000,477.2,1
 6400000,472.6,1
 6500000,447.1,1
 6600000,478.5,1
 6700000,451.4,1
 6800000,459.3,1
 6900000,424.7,1
 7000000,405.2,1
 7100000,457.3,1
 7200000,456.1,1
 7300000,438.3,1
 7400000,440.2,1
 7500000,435.2,1
 7600000,387.8,1
 7700000,347.1,1
 7800000,456.6,1
 7900000,493.8,1
 8000000,455.6,1
 8100000,439.1,1
 8200000,445.3,1
 8300000,369.3,1
 8400000,449.5,1
 8500000,449.6,1
 8600000,457.7,1
 8700000,425.1,1
 8800000,431.2,1
 8900000,357.9,1
 9000000,432.7,1
 9100000,399.6,1
 9200000,356.9,1
 9300000,388.0,1
 9400000,327.7,1
 9500000,350.6,1
 9600000,356.0,1
 9700000,338.0,1
 9800000,256.1,1
 9900000,383.2,1
 10000000,425.1,1
 10100000,218.5,1
 10200000,392.5,1
 10300000,385.2,1
 10400000,323.8,1
 10500000,303.9,1
 10600000,326.7,1
 10700000,366.8,1
 10800000,351.6,1
 10900000,333.1,1
 11000000,367.1,1
 11100000,295.0,1
 11200000,341.0,1
 11300000,342.9,1
 11400000,219.8,1
 11500000,308.9,1
 11600000,330.5,1
 11700000,275.6,1
 11800000,229.4,1
 11900000,313.6,1
 12000000,218.0,1
 12100000,242.7,1
 12200000,196.4,1
 12300000,233.6,1
 12400000,122.1,1
 12500000,118.9,1
 12600000,273.1,1
 12700000,179.4,1
 12800000,229.6,1
 12900000,184.3,1
 13000000,187.7,1
 13100000,168.0,1
 13200000,223.9,1
 13300000,183.1,1
 13400000,101.4,1
 13500000,145.3,1
 13600000,159.3,1
 13700000,212.6,1
 13800000,185.8,1
 13900000,157.2,1
 14000000,189.4,1
 0,5.3,2
 100000,15.4,2
 200000,36.0,2
 300000,99.9,2
 400000,104.1,2
 500000,169.3,2
 600000,162.2,2
 700000,218.6,2
 800000,236.6,2
 900000,308.6,2
 1000000,330.1,2
 1100000,341.5,2
 1200000,327.9,2
 1300000,380.4,2
 1400000,326.4,2
 1500000,387.9,2
 1600000,364.2,2
 1700000,394.4,2
 1800000,410.1,2
 1900000,316.4,2
 2000000,405.2,2
 2100000,426.3,2
 2200000,353.0,2
 2300000,430.3,2
 2400000,446.4,2
 2500000,432.7,2
 2600000,450.4,2
 2700000,431.6,2
 2800000,435.8,2
 2900000,467.3,2
 3000000,427.8,2
 3100000,458.0,2
 3200000,455.0,2
 3300000,457.0,2
 3400000,466.2,2
 3500000,467.9,2
 3600000,469.4,2
 3700000,475.5,2
 3800000,487.6,2
 3900000,445.9,2
 4000000,490.3,2
 0,5.6,1
 100000,4.7,1
 200000,40.0,1
 300000,84.4,1
 400000,126.2,1
 500000,133.0,1
 600000,187.3,1
 700000,224.1,1
 800000,247.7,1
 900000,297.2,1
 1000000,302.4,1
 1100000,323.4,1
 1200000,327.8,1
 1300000,357.1,1
 1400000,383.3,1
 1500000,343.1,1
 1600000,375.8,1
 1700000,381.2,1
 1800000,394.6,1
 1900000,399.3,1
 2000000,405.6,1
 2100000,403.9,1
 2200000,387.6,1
 2300000,443.3,1
 2400000,448.8,1
 2500000,399.0,1
 2600000,449.1,1
 2700000,384.8,1
 2800000,461.7,1
 2900000,388.1,1
 3000000,381.3,1
 3100000,440.3,1
 3200000,397.8,1
 3300000,423.4,1
 3400000,459.6,1
 3500000,431.9,1
 3600000,449.0,1
 3700000,441.0,1
 3800000,432.9,1
 3900000,448.0,1
 4000000,426.9,1
--- a/results/tdmpc/dog-stand.csv
+++ b/results/tdmpc/dog-stand.csv
@@ -0,0 +1,506 @@
 step,reward,seed
 0,22.5,1
 100000,86.8,1
 200000,388.5,1
 300000,598.5,1
 400000,593.0,1
 500000,761.7,1
 600000,724.3,1
 700000,924.0,1
 800000,867.3,1
 900000,939.5,1
 1000000,955.1,1
 1100000,966.5,1
 1200000,915.8,1
 1300000,882.1,1
 1400000,939.1,1
 1500000,939.7,1
 1600000,934.8,1
 1700000,947.5,1
 1800000,954.8,1
 1900000,942.1,1
 2000000,940.6,1
 2100000,945.9,1
 2200000,961.8,1
 2300000,969.4,1
 2400000,921.0,1
 2500000,962.1,1
 2600000,959.4,1
 2700000,944.0,1
 2800000,957.5,1
 2900000,951.8,1
 3000000,955.6,1
 3100000,957.9,1
 3200000,970.3,1
 3300000,956.4,1
 3400000,975.5,1
 3500000,943.9,1
 3600000,969.0,1
 3700000,965.1,1
 3800000,967.7,1
 3900000,976.1,1
 4000000,950.0,1
 4100000,961.3,1
 4200000,976.1,1
 4300000,976.5,1
 4400000,957.7,1
 4500000,959.8,1
 4600000,958.0,1
 4700000,976.4,1
 4800000,965.1,1
 4900000,970.0,1
 5000000,972.2,1
 5100000,967.2,1
 5200000,973.8,1
 5300000,939.5,1
 5400000,960.4,1
 5500000,936.6,1
 5600000,966.2,1
 5700000,964.4,1
 5800000,961.3,1
 5900000,965.6,1
 6000000,905.4,1
 6100000,952.5,1
 6200000,943.9,1
 6300000,961.1,1
 6400000,972.1,1
 6500000,941.7,1
 6600000,927.5,1
 6700000,949.3,1
 6800000,957.8,1
 6900000,905.5,1
 7000000,965.4,1
 7100000,955.6,1
 7200000,925.8,1
 7300000,929.8,1
 7400000,951.2,1
 7500000,931.7,1
 7600000,927.5,1
 7700000,943.7,1
 7800000,942.7,1
 7900000,878.2,1
 8000000,911.8,1
 8100000,911.2,1
 8200000,898.1,1
 8300000,909.6,1
 8400000,876.1,1
 8500000,926.9,1
 8600000,915.1,1
 8700000,863.9,1
 8800000,818.9,1
 8900000,848.0,1
 9000000,840.4,1
 9100000,840.1,1
 9200000,894.9,1
 9300000,794.8,1
 9400000,856.4,1
 9500000,904.2,1
 9600000,904.7,1
 9700000,890.2,1
 9800000,895.6,1
 9900000,820.2,1
 10000000,908.4,1
 10100000,832.4,1
 10200000,923.1,1
 10300000,875.4,1
 10400000,850.1,1
 10500000,862.6,1
 10600000,852.6,1
 10700000,842.3,1
 10800000,900.3,1
 10900000,847.5,1
 11000000,628.8,1
 11100000,768.6,1
 11200000,831.9,1
 11300000,838.0,1
 11400000,849.4,1
 11500000,555.2,1
 11600000,746.3,1
 11700000,824.1,1
 11800000,814.2,1
 11900000,859.9,1
 12000000,779.3,1
 12100000,780.7,1
 12200000,773.1,1
 12300000,859.5,1
 12400000,837.6,1
 12500000,812.4,1
 12600000,608.0,1
 12700000,866.4,1
 12800000,866.2,1
 12900000,692.9,1
 13000000,902.3,1
 13100000,746.1,1
 13200000,899.0,1
 13300000,796.8,1
 13400000,801.3,1
 13500000,856.6,1
 13600000,824.3,1
 13700000,719.2,1
 13800000,863.8,1
 13900000,799.8,1
 14000000,816.7,1
 0,24.1,2
 100000,73.9,2
 200000,357.9,2
 300000,514.9,2
 400000,658.3,2
 500000,586.4,2
 600000,766.3,2
 700000,807.5,2
 800000,748.7,2
 900000,784.9,2
 1000000,859.6,2
 1100000,860.1,2
 1200000,935.7,2
 1300000,875.3,2
 1400000,744.2,2
 1500000,913.6,2
 1600000,878.7,2
 1700000,943.1,2
 1800000,942.2,2
 1900000,958.9,2
 2000000,951.5,2
 2100000,942.5,2
 2200000,922.4,2
 2300000,916.6,2
 2400000,935.9,2
 2500000,944.8,2
 2600000,958.4,2
 2700000,964.7,2
 2800000,941.2,2
 2900000,926.9,2
 3000000,931.5,2
 3100000,965.9,2
 3200000,965.5,2
 3300000,974.7,2
 3400000,967.8,2
 3500000,944.1,2
 3600000,931.7,2
 3700000,954.2,2
 3800000,963.3,2
 3900000,961.5,2
 4000000,970.3,2
 4100000,961.3,2
 4200000,956.4,2
 4300000,944.6,2
 4400000,969.8,2
 4500000,968.5,2
 4600000,956.0,2
 4700000,971.8,2
 4800000,939.6,2
 4900000,932.7,2
 5000000,968.1,2
 5100000,961.8,2
 5200000,956.1,2
 5300000,926.4,2
 5400000,970.8,2
 5500000,970.1,2
 5600000,956.7,2
 5700000,958.1,2
 5800000,918.7,2
 5900000,936.0,2
 6000000,937.2,2
 6100000,916.2,2
 6200000,952.7,2
 6300000,889.1,2
 6400000,929.1,2
 6500000,923.3,2
 6600000,944.1,2
 6700000,937.5,2
 6800000,951.5,2
 6900000,925.5,2
 7000000,935.8,2
 7100000,944.3,2
 7200000,966.8,2
 7300000,908.3,2
 7400000,904.1,2
 7500000,930.7,2
 7600000,928.2,2
 7700000,938.0,2
 7800000,885.5,2
 7900000,891.3,2
 8000000,837.1,2
 8100000,833.9,2
 8200000,893.4,2
 8300000,895.2,2
 8400000,822.8,2
 8500000,879.1,2
 8600000,873.1,2
 8700000,721.2,2
 8800000,677.8,2
 8900000,863.0,2
 9000000,862.6,2
 9100000,597.7,2
 9200000,787.1,2
 9300000,900.4,2
 9400000,882.6,2
 9500000,846.0,2
 9600000,696.2,2
 9700000,741.7,2
 9800000,876.2,2
 9900000,855.2,2
 10000000,587.8,2
 10100000,823.4,2
 10200000,856.7,2
 10300000,731.6,2
 10400000,852.6,2
 10500000,780.5,2
 10600000,855.8,2
 10700000,663.8,2
 10800000,889.0,2
 10900000,877.0,2
 11000000,755.1,2
 11100000,876.2,2
 11200000,679.5,2
 11300000,604.4,2
 11400000,833.5,2
 11500000,734.4,2
 11600000,864.1,2
 11700000,682.4,2
 11800000,817.2,2
 11900000,636.3,2
 12000000,715.2,2
 12100000,888.1,2
 12200000,927.6,2
 12300000,893.6,2
 12400000,891.1,2
 12500000,905.0,2
 12600000,904.3,2
 12700000,877.7,2
 12800000,916.1,2
 12900000,923.8,2
 13000000,930.9,2
 13100000,835.1,2
 13200000,878.8,2
 13300000,896.3,2
 13400000,887.8,2
 13500000,874.2,2
 13600000,897.8,2
 13700000,802.1,2
 13800000,738.6,2
 13900000,852.5,2
 14000000,864.3,2
 0,24.5,3
 100000,119.6,3
 200000,251.7,3
 300000,413.1,3
 400000,586.5,3
 500000,633.1,3
 600000,724.4,3
 700000,670.0,3
 800000,783.1,3
 900000,688.0,3
 1000000,908.3,3
 1100000,931.6,3
 1200000,908.2,3
 1300000,921.7,3
 1400000,924.6,3
 1500000,863.2,3
 1600000,923.9,3
 1700000,932.9,3
 1800000,952.4,3
 1900000,959.6,3
 2000000,965.7,3
 2100000,905.0,3
 2200000,963.1,3
 2300000,967.7,3
 2400000,960.7,3
 2500000,942.0,3
 2600000,934.5,3
 2700000,935.2,3
 2800000,908.3,3
 2900000,942.9,3
 3000000,965.9,3
 3100000,961.1,3
 3200000,952.4,3
 3300000,964.7,3
 3400000,963.4,3
 3500000,956.9,3
 3600000,952.4,3
 3700000,968.1,3
 3800000,964.8,3
 3900000,966.8,3
 4000000,965.0,3
 4100000,968.6,3
 4200000,970.9,3
 4300000,964.6,3
 4400000,955.1,3
 4500000,950.4,3
 4600000,947.1,3
 4700000,951.7,3
 4800000,953.4,3
 4900000,974.3,3
 5000000,952.8,3
 5100000,960.1,3
 5200000,975.4,3
 5300000,967.0,3
 5400000,969.2,3
 5500000,952.7,3
 5600000,972.1,3
 5700000,943.5,3
 5800000,954.9,3
 5900000,952.6,3
 6000000,963.4,3
 6100000,958.9,3
 6200000,950.1,3
 6300000,965.4,3
 6400000,929.1,3
 6500000,944.7,3
 6600000,961.3,3
 6700000,949.9,3
 6800000,939.3,3
 6900000,945.1,3
 7000000,959.2,3
 7100000,958.4,3
 7200000,958.2,3
 7300000,951.7,3
 7400000,947.4,3
 7500000,918.4,3
 7600000,932.8,3
 7700000,961.3,3
 7800000,960.1,3
 7900000,935.7,3
 8000000,929.8,3
 8100000,901.2,3
 8200000,931.9,3
 8300000,940.5,3
 8400000,937.6,3
 8500000,898.3,3
 8600000,906.4,3
 8700000,870.0,3
 8800000,920.4,3
 8900000,909.6,3
 9000000,882.9,3
 9100000,914.8,3
 9200000,862.1,3
 9300000,874.3,3
 9400000,908.1,3
 9500000,880.7,3
 9600000,888.1,3
 9700000,878.3,3
 9800000,812.5,3
 9900000,817.8,3
 10000000,853.6,3
 10100000,738.5,3
 10200000,850.7,3
 10300000,881.3,3
 10400000,879.1,3
 10500000,810.4,3
 10600000,773.3,3
 10700000,799.9,3
 10800000,711.9,3
 10900000,863.5,3
 11000000,695.1,3
 11100000,641.8,3
 11200000,810.9,3
 11300000,774.2,3
 11400000,811.2,3
 11500000,829.8,3
 11600000,749.2,3
 11700000,778.2,3
 11800000,823.4,3
 11900000,890.2,3
 12000000,900.3,3
 12100000,873.0,3
 12200000,858.3,3
 12300000,912.4,3
 12400000,857.1,3
 12500000,893.9,3
 12600000,905.2,3
 12700000,905.0,3
 12800000,885.2,3
 12900000,879.4,3
 13000000,898.1,3
 13100000,908.5,3
 13200000,905.0,3
 13300000,905.8,3
 13400000,864.1,3
 13500000,867.2,3
 13600000,877.3,3
 13700000,846.1,3
 13800000,652.1,3
 13900000,908.5,3
 14000000,791.9,3
 0,22.4,1
 100000,38.6,1
 200000,173.1,1
 300000,507.6,1
 400000,508.5,1
 500000,694.2,1
 600000,744.9,1
 700000,802.3,1
 800000,807.6,1
 900000,776.4,1
 1000000,871.6,1
 1100000,894.6,1
 1200000,828.0,1
 1300000,782.4,1
 1400000,796.9,1
 1500000,898.6,1
 1600000,895.0,1
 1700000,951.3,1
 1800000,948.1,1
 1900000,931.2,1
 2000000,951.7,1
 2100000,948.7,1
 2200000,962.6,1
 2300000,977.5,1
 2400000,924.9,1
 2500000,957.2,1
 2600000,959.1,1
 2700000,962.4,1
 2800000,969.5,1
 2900000,968.5,1
 3000000,957.2,1
 3100000,851.3,1
 3200000,964.7,1
 3300000,965.7,1
 3400000,945.7,1
 3500000,901.4,1
 3600000,961.3,1
 3700000,966.3,1
 3800000,956.2,1
 3900000,965.2,1
 4000000,966.3,1
 0,22.8,2
 100000,82.4,2
 200000,315.9,2
 300000,491.2,2
 400000,592.4,2
 500000,648.1,2
 600000,676.7,2
 700000,744.0,2
 800000,829.8,2
 900000,878.5,2
 1000000,890.8,2
 1100000,919.7,2
 1200000,936.9,2
 1300000,921.5,2
 1400000,876.1,2
 1500000,950.9,2
 1600000,918.5,2
 1700000,944.2,2
 1800000,955.3,2
 1900000,958.6,2
 2000000,955.8,2
 2100000,959.2,2
 2200000,958.1,2
 2300000,915.4,2
 2400000,964.7,2
 2500000,954.2,2
 2600000,954.6,2
 2700000,943.7,2
 2800000,969.1,2
 2900000,945.6,2
 3000000,965.9,2
 3100000,962.5,2
 3200000,960.1,2
 3300000,959.5,2
 3400000,945.3,2
 3500000,957.0,2
 3600000,946.5,2
 3700000,964.0,2
 3800000,972.9,2
 3900000,958.5,2
 4000000,968.9,2
--- a/results/tdmpc/dog-trot.csv
+++ b/results/tdmpc/dog-trot.csv
@@ -0,0 +1,506 @@
 step,reward,seed
 0,8.2,2
 100000,10.0,2
 200000,32.7,2
 300000,108.1,2
 400000,137.2,2
 500000,262.3,2
 600000,260.3,2
 700000,367.6,2
 800000,432.6,2
 900000,525.0,2
 1000000,496.9,2
 1100000,582.8,2
 1200000,580.0,2
 1300000,668.2,2
 1400000,671.5,2
 1500000,674.4,2
 1600000,654.3,2
 1700000,677.8,2
 1800000,745.9,2
 1900000,758.5,2
 2000000,787.4,2
 2100000,809.8,2
 2200000,828.7,2
 2300000,680.9,2
 2400000,827.3,2
 2500000,819.5,2
 2600000,823.1,2
 2700000,806.9,2
 2800000,827.7,2
 2900000,853.5,2
 3000000,720.1,2
 3100000,818.9,2
 3200000,844.0,2
 3300000,840.7,2
 3400000,829.3,2
 3500000,822.6,2
 3600000,840.9,2
 3700000,840.1,2
 3800000,856.5,2
 3900000,864.2,2
 4000000,874.0,2
 4100000,843.9,2
 4200000,844.5,2
 4300000,846.9,2
 4400000,798.0,2
 4500000,814.4,2
 4600000,856.2,2
 4700000,801.6,2
 4800000,792.6,2
 4900000,832.7,2
 5000000,865.3,2
 5100000,842.9,2
 5200000,859.1,2
 5300000,845.2,2
 5400000,780.2,2
 5500000,801.0,2
 5600000,792.8,2
 5700000,840.3,2
 5800000,775.0,2
 5900000,846.5,2
 6000000,832.4,2
 6100000,859.3,2
 6200000,768.5,2
 6300000,818.9,2
 6400000,780.0,2
 6500000,810.6,2
 6600000,808.2,2
 6700000,749.2,2
 6800000,787.3,2
 6900000,771.3,2
 7000000,749.3,2
 7100000,846.5,2
 7200000,796.3,2
 7300000,779.3,2
 7400000,605.8,2
 7500000,785.5,2
 7600000,801.3,2
 7700000,823.7,2
 7800000,609.7,2
 7900000,726.5,2
 8000000,726.4,2
 8100000,720.1,2
 8200000,606.4,2
 8300000,719.7,2
 8400000,482.7,2
 8500000,680.3,2
 8600000,747.3,2
 8700000,587.4,2
 8800000,678.7,2
 8900000,687.3,2
 9000000,581.7,2
 9100000,793.4,2
 9200000,515.6,2
 9300000,640.5,2
 9400000,555.8,2
 9500000,348.2,2
 9600000,450.4,2
 9700000,570.0,2
 9800000,574.3,2
 9900000,373.8,2
 10000000,512.7,2
 10100000,618.4,2
 10200000,289.4,2
 10300000,526.2,2
 10400000,541.2,2
 10500000,589.7,2
 10600000,553.6,2
 10700000,507.8,2
 10800000,367.1,2
 10900000,237.3,2
 11000000,312.5,2
 11100000,467.5,2
 11200000,488.7,2
 11300000,625.0,2
 11400000,302.0,2
 11500000,627.0,2
 11600000,538.6,2
 11700000,456.2,2
 11800000,447.6,2
 11900000,527.3,2
 12000000,361.1,2
 12100000,401.5,2
 12200000,333.3,2
 12300000,532.2,2
 12400000,469.0,2
 12500000,460.2,2
 12600000,343.6,2
 12700000,463.4,2
 12800000,483.5,2
 12900000,534.6,2
 13000000,442.4,2
 13100000,399.1,2
 13200000,364.4,2
 13300000,308.3,2
 13400000,378.2,2
 13500000,385.4,2
 13600000,533.9,2
 13700000,483.3,2
 13800000,435.9,2
 13900000,520.9,2
 14000000,537.6,2
 0,6.0,1
 100000,22.3,1
 200000,54.7,1
 300000,125.2,1
 400000,180.7,1
 500000,253.1,1
 600000,297.0,1
 700000,408.0,1
 800000,444.8,1
 900000,514.7,1
 1000000,550.4,1
 1100000,680.0,1
 1200000,697.4,1
 1300000,817.9,1
 1400000,784.1,1
 1500000,757.8,1
 1600000,799.9,1
 1700000,849.2,1
 1800000,795.1,1
 1900000,825.1,1
 2000000,862.4,1
 2100000,836.7,1
 2200000,882.5,1
 2300000,891.1,1
 2400000,885.1,1
 2500000,868.4,1
 2600000,891.3,1
 2700000,895.6,1
 2800000,881.2,1
 2900000,890.3,1
 3000000,864.4,1
 3100000,895.1,1
 3200000,844.6,1
 3300000,876.0,1
 3400000,876.2,1
 3500000,828.9,1
 3600000,827.9,1
 3700000,807.1,1
 3800000,834.4,1
 3900000,801.7,1
 4000000,773.6,1
 4100000,812.3,1
 4200000,818.4,1
 4300000,760.0,1
 4400000,740.2,1
 4500000,771.6,1
 4600000,823.3,1
 4700000,814.5,1
 4800000,774.5,1
 4900000,760.4,1
 5000000,797.5,1
 5100000,789.5,1
 5200000,819.8,1
 5300000,825.4,1
 5400000,860.2,1
 5500000,845.1,1
 5600000,836.8,1
 5700000,832.5,1
 5800000,819.4,1
 5900000,814.5,1
 6000000,847.8,1
 6100000,860.6,1
 6200000,828.2,1
 6300000,824.7,1
 6400000,800.9,1
 6500000,782.1,1
 6600000,855.0,1
 6700000,820.6,1
 6800000,743.3,1
 6900000,811.2,1
 7000000,800.1,1
 7100000,798.7,1
 7200000,821.2,1
 7300000,838.3,1
 7400000,798.3,1
 7500000,806.1,1
 7600000,758.4,1
 7700000,768.0,1
 7800000,800.1,1
 7900000,538.9,1
 8000000,635.8,1
 8100000,738.4,1
 8200000,676.9,1
 8300000,744.6,1
 8400000,644.7,1
 8500000,709.7,1
 8600000,758.6,1
 8700000,723.4,1
 8800000,618.2,1
 8900000,713.5,1
 9000000,677.4,1
 9100000,699.2,1
 9200000,598.9,1
 9300000,684.0,1
 9400000,613.7,1
 9500000,749.3,1
 9600000,682.9,1
 9700000,764.6,1
 9800000,729.7,1
 9900000,652.9,1
 10000000,737.2,1
 10100000,694.0,1
 10200000,713.6,1
 10300000,655.3,1
 10400000,745.6,1
 10500000,701.5,1
 10600000,727.9,1
 10700000,703.3,1
 10800000,619.6,1
 10900000,751.5,1
 11000000,702.2,1
 11100000,554.8,1
 11200000,664.2,1
 11300000,700.9,1
 11400000,711.7,1
 11500000,615.3,1
 11600000,521.6,1
 11700000,613.2,1
 11800000,384.0,1
 11900000,727.1,1
 12000000,455.3,1
 12100000,600.9,1
 12200000,508.7,1
 12300000,269.0,1
 12400000,366.8,1
 12500000,91.8,1
 12600000,256.2,1
 12700000,218.2,1
 12800000,37.4,1
 12900000,167.5,1
 13000000,318.5,1
 13100000,382.9,1
 13200000,359.2,1
 13300000,75.8,1
 13400000,258.9,1
 13500000,331.6,1
 13600000,564.6,1
 13700000,329.1,1
 13800000,599.6,1
 13900000,367.2,1
 14000000,310.5,1
 0,7.2,3
 100000,22.0,3
 200000,46.7,3
 300000,97.1,3
 400000,151.2,3
 500000,256.1,3
 600000,363.4,3
 700000,380.3,3
 800000,466.4,3
 900000,522.8,3
 1000000,554.3,3
 1100000,585.9,3
 1200000,636.2,3
 1300000,665.4,3
 1400000,686.0,3
 1500000,741.1,3
 1600000,762.3,3
 1700000,776.9,3
 1800000,809.9,3
 1900000,800.1,3
 2000000,859.1,3
 2100000,799.7,3
 2200000,861.9,3
 2300000,854.3,3
 2400000,819.2,3
 2500000,871.4,3
 2600000,859.7,3
 2700000,845.0,3
 2800000,867.8,3
 2900000,895.1,3
 3000000,878.3,3
 3100000,878.6,3
 3200000,813.7,3
 3300000,872.0,3
 3400000,795.3,3
 3500000,857.8,3
 3600000,817.3,3
 3700000,876.9,3
 3800000,883.3,3
 3900000,869.2,3
 4000000,854.5,3
 4100000,755.9,3
 4200000,871.4,3
 4300000,870.0,3
 4400000,776.6,3
 4500000,782.7,3
 4600000,763.7,3
 4700000,700.6,3
 4800000,737.5,3
 4900000,780.6,3
 5000000,742.0,3
 5100000,730.0,3
 5200000,694.1,3
 5300000,822.3,3
 5400000,769.5,3
 5500000,763.7,3
 5600000,835.7,3
 5700000,805.6,3
 5800000,845.2,3
 5900000,824.6,3
 6000000,864.1,3
 6100000,785.6,3
 6200000,810.8,3
 6300000,816.3,3
 6400000,819.2,3
 6500000,857.6,3
 6600000,747.5,3
 6700000,853.9,3
 6800000,803.0,3
 6900000,818.0,3
 7000000,810.5,3
 7100000,569.3,3
 7200000,731.9,3
 7300000,727.5,3
 7400000,626.8,3
 7500000,819.1,3
 7600000,733.6,3
 7700000,310.8,3
 7800000,774.6,3
 7900000,774.7,3
 8000000,783.3,3
 8100000,798.6,3
 8200000,663.6,3
 8300000,692.6,3
 8400000,741.8,3
 8500000,633.0,3
 8600000,659.8,3
 8700000,576.2,3
 8800000,789.2,3
 8900000,662.3,3
 9000000,720.6,3
 9100000,849.6,3
 9200000,782.7,3
 9300000,745.5,3
 9400000,726.0,3
 9500000,824.3,3
 9600000,528.4,3
 9700000,721.7,3
 9800000,739.7,3
 9900000,633.8,3
 10000000,592.1,3
 10100000,808.5,3
 10200000,655.4,3
 10300000,657.5,3
 10400000,650.5,3
 10500000,728.1,3
 10600000,742.3,3
 10700000,662.7,3
 10800000,747.8,3
 10900000,748.3,3
 11000000,695.8,3
 11100000,786.1,3
 11200000,757.2,3
 11300000,709.2,3
 11400000,589.0,3
 11500000,712.7,3
 11600000,540.8,3
 11700000,625.5,3
 11800000,703.4,3
 11900000,417.8,3
 12000000,532.4,3
 12100000,655.9,3
 12200000,487.9,3
 12300000,527.7,3
 12400000,417.1,3
 12500000,596.1,3
 12600000,573.2,3
 12700000,592.3,3
 12800000,599.0,3
 12900000,526.2,3
 13000000,631.8,3
 13100000,499.5,3
 13200000,615.9,3
 13300000,396.8,3
 13400000,479.4,3
 13500000,461.1,3
 13600000,607.4,3
 13700000,351.8,3
 13800000,622.1,3
 13900000,650.7,3
 14000000,516.1,3
 0,6.8,2
 100000,13.6,2
 200000,38.7,2
 300000,59.8,2
 400000,134.3,2
 500000,187.4,2
 600000,250.9,2
 700000,278.9,2
 800000,338.8,2
 900000,375.5,2
 1000000,471.3,2
 1100000,531.3,2
 1200000,576.1,2
 1300000,630.5,2
 1400000,626.4,2
 1500000,730.4,2
 1600000,692.9,2
 1700000,786.7,2
 1800000,796.0,2
 1900000,840.9,2
 2000000,840.3,2
 2100000,836.0,2
 2200000,824.7,2
 2300000,833.2,2
 2400000,835.7,2
 2500000,847.0,2
 2600000,859.8,2
 2700000,857.4,2
 2800000,881.6,2
 2900000,896.2,2
 3000000,875.5,2
 3100000,840.6,2
 3200000,872.7,2
 3300000,884.7,2
 3400000,860.7,2
 3500000,824.4,2
 3600000,824.4,2
 3700000,889.3,2
 3800000,887.8,2
 3900000,829.4,2
 4000000,876.2,2
 0,7.7,1
 100000,12.9,1
 200000,32.2,1
 300000,77.7,1
 400000,77.9,1
 500000,164.1,1
 600000,270.2,1
 700000,307.9,1
 800000,392.3,1
 900000,458.5,1
 1000000,478.8,1
 1100000,598.2,1
 1200000,652.8,1
 1300000,661.6,1
 1400000,720.9,1
 1500000,769.6,1
 1600000,752.3,1
 1700000,716.6,1
 1800000,776.7,1
 1900000,819.8,1
 2000000,805.4,1
 2100000,814.4,1
 2200000,865.0,1
 2300000,790.7,1
 2400000,846.9,1
 2500000,795.5,1
 2600000,868.9,1
 2700000,859.2,1
 2800000,836.8,1
 2900000,871.4,1
 3000000,879.3,1
 3100000,861.8,1
 3200000,878.5,1
 3300000,898.7,1
 3400000,861.2,1
 3500000,864.1,1
 3600000,891.9,1
 3700000,883.6,1
 3800000,804.9,1
 3900000,861.4,1
 4000000,856.0,1
--- a/results/tdmpc/dog-walk.csv
+++ b/results/tdmpc/dog-walk.csv
@@ -0,0 +1,506 @@
 step,reward,seed
 0,9.7,3
 100000,33.5,3
 200000,61.1,3
 300000,129.1,3
 400000,370.6,3
 500000,326.7,3
 600000,594.0,3
 700000,688.1,3
 800000,759.1,3
 900000,780.1,3
 1000000,828.3,3
 1100000,879.8,3
 1200000,868.2,3
 1300000,866.6,3
 1400000,894.1,3
 1500000,850.7,3
 1600000,922.6,3
 1700000,908.0,3
 1800000,889.1,3
 1900000,884.5,3
 2000000,923.3,3
 2100000,870.2,3
 2200000,897.8,3
 2300000,924.9,3
 2400000,929.2,3
 2500000,937.6,3
 2600000,906.3,3
 2700000,947.4,3
 2800000,943.1,3
 2900000,941.3,3
 3000000,933.9,3
 3100000,914.7,3
 3200000,938.8,3
 3300000,939.3,3
 3400000,946.7,3
 3500000,923.2,3
 3600000,955.2,3
 3700000,945.1,3
 3800000,924.8,3
 3900000,933.8,3
 4000000,940.3,3
 4100000,949.7,3
 4200000,939.3,3
 4300000,952.5,3
 4400000,948.2,3
 4500000,919.4,3
 4600000,931.5,3
 4700000,928.5,3
 4800000,944.5,3
 4900000,943.0,3
 5000000,939.7,3
 5100000,934.5,3
 5200000,930.5,3
 5300000,927.6,3
 5400000,934.1,3
 5500000,936.4,3
 5600000,960.1,3
 5700000,954.0,3
 5800000,933.8,3
 5900000,926.6,3
 6000000,950.8,3
 6100000,947.5,3
 6200000,927.3,3
 6300000,911.2,3
 6400000,956.3,3
 6500000,927.7,3
 6600000,923.9,3
 6700000,922.4,3
 6800000,893.6,3
 6900000,911.1,3
 7000000,933.3,3
 7100000,946.1,3
 7200000,941.2,3
 7300000,934.3,3
 7400000,926.4,3
 7500000,950.9,3
 7600000,910.3,3
 7700000,917.8,3
 7800000,929.4,3
 7900000,865.7,3
 8000000,913.7,3
 8100000,917.0,3
 8200000,909.7,3
 8300000,780.9,3
 8400000,807.1,3
 8500000,766.6,3
 8600000,869.0,3
 8700000,601.4,3
 8800000,751.1,3
 8900000,776.0,3
 9000000,924.0,3
 9100000,924.5,3
 9200000,917.2,3
 9300000,930.3,3
 9400000,917.7,3
 9500000,909.9,3
 9600000,900.0,3
 9700000,927.6,3
 9800000,926.2,3
 9900000,847.6,3
 10000000,926.6,3
 10100000,908.7,3
 10200000,892.4,3
 10300000,860.7,3
 10400000,786.1,3
 10500000,831.0,3
 10600000,924.0,3
 10700000,902.6,3
 10800000,753.5,3
 10900000,878.0,3
 11000000,857.4,3
 11100000,880.6,3
 11200000,770.5,3
 11300000,759.8,3
 11400000,858.0,3
 11500000,743.4,3
 11600000,232.4,3
 11700000,729.6,3
 11800000,744.9,3
 11900000,872.6,3
 12000000,834.1,3
 12100000,681.4,3
 12200000,827.2,3
 12300000,668.8,3
 12400000,841.4,3
 12500000,680.8,3
 12600000,839.1,3
 12700000,490.1,3
 12800000,787.7,3
 12900000,847.3,3
 13000000,796.1,3
 13100000,725.7,3
 13200000,596.5,3
 13300000,735.2,3
 13400000,808.3,3
 13500000,725.5,3
 13600000,664.5,3
 13700000,731.2,3
 13800000,414.6,3
 13900000,342.1,3
 14000000,372.8,3
 0,8.3,2
 100000,22.0,2
 200000,67.4,2
 300000,179.1,2
 400000,273.5,2
 500000,490.4,2
 600000,557.1,2
 700000,572.3,2
 800000,656.0,2
 900000,679.6,2
 1000000,749.1,2
 1100000,748.5,2
 1200000,885.0,2
 1300000,861.1,2
 1400000,893.5,2
 1500000,871.1,2
 1600000,868.3,2
 1700000,895.1,2
 1800000,913.1,2
 1900000,920.9,2
 2000000,912.8,2
 2100000,915.5,2
 2200000,906.6,2
 2300000,932.1,2
 2400000,903.4,2
 2500000,915.9,2
 2600000,942.5,2
 2700000,932.2,2
 2800000,919.1,2
 2900000,923.2,2
 3000000,922.3,2
 3100000,936.2,2
 3200000,932.5,2
 3300000,940.1,2
 3400000,926.4,2
 3500000,930.2,2
 3600000,937.0,2
 3700000,951.8,2
 3800000,935.6,2
 3900000,940.8,2
 4000000,924.4,2
 4100000,940.6,2
 4200000,939.3,2
 4300000,937.3,2
 4400000,934.6,2
 4500000,932.4,2
 4600000,950.6,2
 4700000,926.2,2
 4800000,931.9,2
 4900000,924.5,2
 5000000,946.9,2
 5100000,950.7,2
 5200000,919.3,2
 5300000,949.2,2
 5400000,927.9,2
 5500000,949.5,2
 5600000,935.0,2
 5700000,939.2,2
 5800000,912.2,2
 5900000,914.6,2
 6000000,940.5,2
 6100000,940.8,2
 6200000,921.4,2
 6300000,910.9,2
 6400000,921.8,2
 6500000,933.9,2
 6600000,938.4,2
 6700000,930.3,2
 6800000,877.8,2
 6900000,892.1,2
 7000000,910.2,2
 7100000,927.8,2
 7200000,951.5,2
 7300000,883.7,2
 7400000,894.3,2
 7500000,935.4,2
 7600000,907.1,2
 7700000,916.0,2
 7800000,897.1,2
 7900000,893.4,2
 8000000,906.8,2
 8100000,879.5,2
 8200000,876.1,2
 8300000,894.6,2
 8400000,889.2,2
 8500000,856.1,2
 8600000,863.0,2
 8700000,850.5,2
 8800000,832.4,2
 8900000,853.6,2
 9000000,765.3,2
 9100000,727.6,2
 9200000,891.7,2
 9300000,815.7,2
 9400000,886.8,2
 9500000,883.3,2
 9600000,867.2,2
 9700000,854.8,2
 9800000,837.9,2
 9900000,845.8,2
 10000000,846.0,2
 10100000,809.7,2
 10200000,816.8,2
 10300000,589.3,2
 10400000,733.3,2
 10500000,660.6,2
 10600000,612.7,2
 10700000,557.2,2
 10800000,844.1,2
 10900000,804.0,2
 11000000,845.3,2
 11100000,751.5,2
 11200000,748.5,2
 11300000,158.4,2
 11400000,614.0,2
 11500000,611.5,2
 11600000,873.5,2
 11700000,672.7,2
 11800000,652.8,2
 11900000,769.8,2
 12000000,827.3,2
 12100000,865.4,2
 12200000,721.2,2
 12300000,461.5,2
 12400000,731.9,2
 12500000,449.9,2
 12600000,652.6,2
 12700000,857.7,2
 12800000,771.1,2
 12900000,844.6,2
 13000000,394.7,2
 13100000,798.8,2
 13200000,697.4,2
 13300000,649.6,2
 13400000,708.7,2
 13500000,520.9,2
 13600000,671.7,2
 13700000,796.9,2
 13800000,561.9,2
 13900000,393.7,2
 14000000,610.4,2
 0,7.4,1
 100000,23.4,1
 200000,66.3,1
 300000,108.3,1
 400000,285.4,1
 500000,442.5,1
 600000,572.1,1
 700000,634.6,1
 800000,710.6,1
 900000,765.9,1
 1000000,829.1,1
 1100000,786.5,1
 1200000,799.7,1
 1300000,871.5,1
 1400000,894.1,1
 1500000,904.3,1
 1600000,892.1,1
 1700000,907.6,1
 1800000,930.0,1
 1900000,893.9,1
 2000000,925.3,1
 2100000,912.4,1
 2200000,925.3,1
 2300000,937.8,1
 2400000,909.8,1
 2500000,919.6,1
 2600000,920.2,1
 2700000,941.5,1
 2800000,926.4,1
 2900000,914.2,1
 3000000,922.7,1
 3100000,924.1,1
 3200000,940.5,1
 3300000,929.2,1
 3400000,932.9,1
 3500000,939.7,1
 3600000,935.2,1
 3700000,942.2,1
 3800000,927.8,1
 3900000,944.9,1
 4000000,946.2,1
 4100000,945.4,1
 4200000,925.6,1
 4300000,954.9,1
 4400000,933.4,1
 4500000,959.9,1
 4600000,950.3,1
 4700000,922.2,1
 4800000,941.3,1
 4900000,919.8,1
 5000000,955.0,1
 5100000,934.7,1
 5200000,934.9,1
 5300000,940.7,1
 5400000,939.3,1
 5500000,939.9,1
 5600000,936.0,1
 5700000,923.8,1
 5800000,921.2,1
 5900000,938.2,1
 6000000,944.1,1
 6100000,928.4,1
 6200000,940.0,1
 6300000,955.3,1
 6400000,932.2,1
 6500000,939.8,1
 6600000,940.7,1
 6700000,928.2,1
 6800000,931.1,1
 6900000,898.1,1
 7000000,929.9,1
 7100000,936.2,1
 7200000,911.0,1
 7300000,931.7,1
 7400000,896.0,1
 7500000,905.0,1
 7600000,891.0,1
 7700000,898.5,1
 7800000,886.6,1
 7900000,913.6,1
 8000000,899.9,1
 8100000,919.0,1
 8200000,891.2,1
 8300000,873.1,1
 8400000,904.3,1
 8500000,902.7,1
 8600000,914.2,1
 8700000,838.7,1
 8800000,887.0,1
 8900000,806.4,1
 9000000,832.1,1
 9100000,891.9,1
 9200000,853.5,1
 9300000,895.0,1
 9400000,906.8,1
 9500000,898.3,1
 9600000,902.5,1
 9700000,930.8,1
 9800000,872.6,1
 9900000,838.8,1
 10000000,869.4,1
 10100000,904.9,1
 10200000,857.7,1
 10300000,802.2,1
 10400000,925.9,1
 10500000,823.3,1
 10600000,894.0,1
 10700000,913.2,1
 10800000,823.1,1
 10900000,893.6,1
 11000000,715.6,1
 11100000,522.4,1
 11200000,611.1,1
 11300000,729.2,1
 11400000,750.7,1
 11500000,732.0,1
 11600000,718.5,1
 11700000,589.5,1
 11800000,802.6,1
 11900000,847.7,1
 12000000,814.4,1
 12100000,708.6,1
 12200000,810.4,1
 12300000,732.0,1
 12400000,727.4,1
 12500000,807.8,1
 12600000,847.6,1
 12700000,843.6,1
 12800000,881.1,1
 12900000,857.6,1
 13000000,884.7,1
 13100000,848.9,1
 13200000,866.6,1
 13300000,805.5,1
 13400000,829.1,1
 13500000,882.9,1
 13600000,859.2,1
 13700000,865.1,1
 13800000,812.4,1
 13900000,817.0,1
 14000000,782.7,1
 0,7.6,1
 100000,18.2,1
 200000,52.8,1
 300000,183.7,1
 400000,301.4,1
 500000,385.7,1
 600000,570.8,1
 700000,655.4,1
 800000,753.8,1
 900000,737.3,1
 1000000,878.7,1
 1100000,854.9,1
 1200000,879.2,1
 1300000,893.9,1
 1400000,886.3,1
 1500000,902.1,1
 1600000,907.8,1
 1700000,917.2,1
 1800000,917.3,1
 1900000,930.6,1
 2000000,915.0,1
 2100000,932.6,1
 2200000,920.5,1
 2300000,933.1,1
 2400000,932.1,1
 2500000,922.7,1
 2600000,929.0,1
 2700000,916.8,1
 2800000,938.1,1
 2900000,949.1,1
 3000000,921.8,1
 3100000,933.5,1
 3200000,901.5,1
 3300000,945.3,1
 3400000,950.8,1
 3500000,951.6,1
 3600000,941.0,1
 3700000,936.3,1
 3800000,927.5,1
 3900000,935.8,1
 4000000,937.5,1
 0,7.6,2
 100000,29.5,2
 200000,59.7,2
 300000,155.4,2
 400000,286.7,2
 500000,431.9,2
 600000,541.7,2
 700000,614.3,2
 800000,736.1,2
 900000,793.6,2
 1000000,862.1,2
 1100000,868.6,2
 1200000,850.6,2
 1300000,882.3,2
 1400000,880.1,2
 1500000,871.3,2
 1600000,891.3,2
 1700000,886.3,2
 1800000,882.5,2
 1900000,897.9,2
 2000000,927.3,2
 2100000,916.0,2
 2200000,925.5,2
 2300000,918.2,2
 2400000,928.4,2
 2500000,924.1,2
 2600000,930.9,2
 2700000,858.0,2
 2800000,903.2,2
 2900000,937.0,2
 3000000,900.9,2
 3100000,933.9,2
 3200000,940.2,2
 3300000,945.0,2
 3400000,850.5,2
 3500000,914.1,2
 3600000,944.8,2
 3700000,934.5,2
 3800000,935.2,2
 3900000,948.3,2
 4000000,934.3,2
--- a/results/tdmpc/finger-spin.csv
+++ b/results/tdmpc/finger-spin.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,0.6,3
 100000,929.9,3
 200000,980.0,3
 300000,962.2,3
 400000,986.6,3
 500000,985.0,3
 600000,982.3,3
 700000,983.9,3
 800000,984.2,3
 900000,960.3,3
 1000000,982.1,3
 1100000,982.0,3
 1200000,985.3,3
 1300000,980.1,3
 1400000,969.0,3
 1500000,983.1,3
 1600000,956.3,3
 1700000,961.5,3
 1800000,974.0,3
 1900000,980.4,3
 2000000,935.5,3
 2100000,967.1,3
 2200000,629.2,3
 2300000,977.5,3
 2400000,981.7,3
 2500000,952.1,3
 2600000,872.4,3
 2700000,980.5,3
 2800000,970.8,3
 2900000,975.5,3
 3000000,977.4,3
 3100000,982.3,3
 3200000,979.8,3
 3300000,936.8,3
 3400000,977.3,3
 3500000,785.5,3
 3600000,985.3,3
 3700000,986.9,3
 3800000,975.6,3
 3900000,871.1,3
 4000000,984.3,3
 0,0.1,1
 100000,742.0,1
 200000,768.0,1
 300000,747.2,1
 400000,705.4,1
 500000,172.2,1
 600000,755.7,1
 700000,756.3,1
 800000,736.1,1
 900000,748.2,1
 1000000,509.7,1
 1100000,757.9,1
 1200000,690.6,1
 1300000,695.9,1
 1400000,7.5,1
 1500000,352.3,1
 1600000,410.6,1
 1700000,385.5,1
 1800000,533.2,1
 1900000,5.4,1
 2000000,55.9,1
 2100000,569.0,1
 2200000,723.7,1
 2300000,770.2,1
 2400000,766.8,1
 2500000,648.6,1
 2600000,3.8,1
 2700000,612.6,1
 2800000,635.4,1
 2900000,742.0,1
 3000000,690.5,1
 3100000,2.0,1
 3200000,614.7,1
 3300000,208.7,1
 3400000,599.1,1
 3500000,685.2,1
 3600000,653.7,1
 3700000,758.7,1
 3800000,813.0,1
 3900000,780.3,1
 4000000,746.7,1
 0,1.8,2
 100000,969.3,2
 200000,982.3,2
 300000,980.3,2
 400000,987.5,2
 500000,985.3,2
 600000,984.1,2
 700000,983.4,2
 800000,986.4,2
 900000,988.6,2
 1000000,986.3,2
 1100000,985.2,2
 1200000,979.1,2
 1300000,983.4,2
 1400000,979.4,2
 1500000,980.2,2
 1600000,982.3,2
 1700000,966.5,2
 1800000,986.8,2
 1900000,983.3,2
 2000000,983.8,2
 2100000,986.9,2
 2200000,982.0,2
 2300000,987.3,2
 2400000,989.6,2
 2500000,980.9,2
 2600000,983.8,2
 2700000,984.6,2
 2800000,979.9,2
 2900000,983.8,2
 3000000,989.0,2
 3100000,979.5,2
 3200000,984.4,2
 3300000,988.2,2
 3400000,984.4,2
 3500000,985.7,2
 3600000,981.2,2
 3700000,982.5,2
 3800000,987.4,2
 3900000,975.8,2
 4000000,983.5,2
--- a/results/tdmpc/finger-turn-easy.csv
+++ b/results/tdmpc/finger-turn-easy.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,149.2,3
 100000,200.0,3
 200000,490.5,3
 300000,681.6,3
 400000,558.2,3
 500000,862.5,3
 600000,971.4,3
 700000,974.7,3
 800000,883.2,3
 900000,887.2,3
 1000000,784.5,3
 1100000,985.3,3
 1200000,877.0,3
 1300000,988.3,3
 1400000,973.4,3
 1500000,986.8,3
 1600000,883.6,3
 1700000,979.4,3
 1800000,991.6,3
 1900000,882.6,3
 2000000,976.0,3
 2100000,985.9,3
 2200000,980.7,3
 2300000,977.9,3
 2400000,985.2,3
 2500000,981.3,3
 2600000,883.1,3
 2700000,989.4,3
 2800000,983.5,3
 2900000,981.3,3
 3000000,980.2,3
 3100000,988.4,3
 3200000,988.9,3
 3300000,885.8,3
 3400000,990.1,3
 3500000,886.9,3
 3600000,984.9,3
 3700000,985.4,3
 3800000,894.0,3
 3900000,982.4,3
 4000000,886.1,3
 0,394.0,2
 100000,573.6,2
 200000,478.7,2
 300000,783.1,2
 400000,882.5,2
 500000,882.4,2
 600000,945.6,2
 700000,982.2,2
 800000,777.0,2
 900000,879.2,2
 1000000,975.0,2
 1100000,684.3,2
 1200000,977.6,2
 1300000,790.5,2
 1400000,987.9,2
 1500000,977.7,2
 1600000,985.6,2
 1700000,986.6,2
 1800000,979.6,2
 1900000,989.7,2
 2000000,987.8,2
 2100000,987.5,2
 2200000,974.5,2
 2300000,986.6,2
 2400000,987.6,2
 2500000,975.9,2
 2600000,974.2,2
 2700000,983.8,2
 2800000,887.0,2
 2900000,886.7,2
 3000000,880.4,2
 3100000,883.4,2
 3200000,980.2,2
 3300000,986.7,2
 3400000,989.0,2
 3500000,889.0,2
 3600000,984.3,2
 3700000,983.9,2
 3800000,983.8,2
 3900000,885.1,2
 4000000,979.5,2
 0,170.1,1
 100000,198.7,1
 200000,486.0,1
 300000,770.6,1
 400000,594.5,1
 500000,967.9,1
 600000,986.5,1
 700000,881.7,1
 800000,982.1,1
 900000,884.6,1
 1000000,991.7,1
 1100000,876.4,1
 1200000,966.9,1
 1300000,967.7,1
 1400000,986.8,1
 1500000,782.8,1
 1600000,981.3,1
 1700000,982.2,1
 1800000,984.6,1
 1900000,890.0,1
 2000000,983.6,1
 2100000,987.3,1
 2200000,981.5,1
 2300000,983.9,1
 2400000,887.0,1
 2500000,980.8,1
 2600000,889.2,1
 2700000,982.3,1
 2800000,880.3,1
 2900000,986.1,1
 3000000,986.3,1
 3100000,983.5,1
 3200000,892.0,1
 3300000,980.6,1
 3400000,976.7,1
 3500000,966.4,1
 3600000,971.3,1
 3700000,982.5,1
 3800000,979.3,1
 3900000,984.0,1
 4000000,963.6,1
--- a/results/tdmpc/finger-turn-hard.csv
+++ b/results/tdmpc/finger-turn-hard.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,93.3,3
 100000,272.1,3
 200000,465.7,3
 300000,380.7,3
 400000,264.4,3
 500000,576.3,3
 600000,770.1,3
 700000,884.1,3
 800000,776.8,3
 900000,880.8,3
 1000000,974.6,3
 1100000,763.9,3
 1200000,968.6,3
 1300000,881.6,3
 1400000,974.9,3
 1500000,888.3,3
 1600000,878.7,3
 1700000,970.9,3
 1800000,984.4,3
 1900000,844.6,3
 2000000,973.7,3
 2100000,979.8,3
 2200000,962.3,3
 2300000,201.1,3
 2400000,852.2,3
 2500000,977.2,3
 2600000,966.4,3
 2700000,986.1,3
 2800000,985.9,3
 2900000,879.7,3
 3000000,979.1,3
 3100000,985.0,3
 3200000,982.0,3
 3300000,980.8,3
 3400000,987.5,3
 3500000,983.9,3
 3600000,981.3,3
 3700000,878.1,3
 3800000,789.1,3
 3900000,880.7,3
 4000000,951.4,3
 0,149.4,2
 100000,96.3,2
 200000,297.2,2
 300000,390.0,2
 400000,581.3,2
 500000,589.5,2
 600000,639.7,2
 700000,863.0,2
 800000,672.6,2
 900000,868.8,2
 1000000,770.2,2
 1100000,863.4,2
 1200000,973.5,2
 1300000,939.5,2
 1400000,959.5,2
 1500000,967.4,2
 1600000,985.2,2
 1700000,882.9,2
 1800000,980.4,2
 1900000,983.7,2
 2000000,984.9,2
 2100000,983.9,2
 2200000,967.4,2
 2300000,984.6,2
 2400000,983.6,2
 2500000,972.0,2
 2600000,980.3,2
 2700000,982.9,2
 2800000,882.3,2
 2900000,928.5,2
 3000000,979.1,2
 3100000,978.2,2
 3200000,976.0,2
 3300000,885.2,2
 3400000,987.6,2
 3500000,983.2,2
 3600000,984.6,2
 3700000,977.5,2
 3800000,982.3,2
 3900000,981.5,2
 4000000,972.0,2
 0,86.9,1
 100000,96.6,1
 200000,349.7,1
 300000,234.6,1
 400000,397.9,1
 500000,665.7,1
 600000,772.0,1
 700000,430.8,1
 800000,655.0,1
 900000,859.7,1
 1000000,874.8,1
 1100000,601.8,1
 1200000,855.5,1
 1300000,872.5,1
 1400000,884.9,1
 1500000,965.0,1
 1600000,881.7,1
 1700000,977.6,1
 1800000,974.8,1
 1900000,981.6,1
 2000000,979.8,1
 2100000,983.7,1
 2200000,975.1,1
 2300000,979.0,1
 2400000,979.1,1
 2500000,881.7,1
 2600000,981.2,1
 2700000,972.6,1
 2800000,781.2,1
 2900000,979.2,1
 3000000,977.6,1
 3100000,952.0,1
 3200000,789.2,1
 3300000,972.1,1
 3400000,979.5,1
 3500000,976.3,1
 3600000,971.0,1
 3700000,982.4,1
 3800000,965.2,1
 3900000,987.7,1
 4000000,983.0,1
--- a/results/tdmpc/fish-swim.csv
+++ b/results/tdmpc/fish-swim.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,86.4,3
 100000,359.1,3
 200000,397.7,3
 300000,544.6,3
 400000,530.9,3
 500000,594.9,3
 600000,739.4,3
 700000,573.5,3
 800000,764.7,3
 900000,681.1,3
 1000000,702.4,3
 1100000,653.9,3
 1200000,730.7,3
 1300000,734.2,3
 1400000,770.9,3
 1500000,770.9,3
 1600000,814.2,3
 1700000,780.5,3
 1800000,820.9,3
 1900000,709.3,3
 2000000,641.1,3
 2100000,787.5,3
 2200000,694.6,3
 2300000,709.3,3
 2400000,588.8,3
 2500000,666.9,3
 2600000,714.3,3
 2700000,595.8,3
 2800000,687.8,3
 2900000,725.0,3
 3000000,528.7,3
 3100000,725.6,3
 3200000,728.5,3
 3300000,632.2,3
 3400000,675.1,3
 3500000,657.2,3
 3600000,599.8,3
 3700000,562.2,3
 3800000,615.6,3
 3900000,710.4,3
 4000000,630.4,3
 0,62.6,1
 100000,286.4,1
 200000,422.5,1
 300000,430.7,1
 400000,594.5,1
 500000,755.9,1
 600000,696.8,1
 700000,608.2,1
 800000,773.4,1
 900000,795.2,1
 1000000,767.7,1
 1100000,682.5,1
 1200000,793.3,1
 1300000,761.5,1
 1400000,804.7,1
 1500000,671.5,1
 1600000,775.1,1
 1700000,783.8,1
 1800000,658.2,1
 1900000,571.4,1
 2000000,511.2,1
 2100000,513.7,1
 2200000,524.6,1
 2300000,438.1,1
 2400000,671.0,1
 2500000,727.9,1
 2600000,662.6,1
 2700000,693.6,1
 2800000,747.0,1
 2900000,726.5,1
 3000000,720.1,1
 3100000,668.1,1
 3200000,762.8,1
 3300000,696.2,1
 3400000,589.2,1
 3500000,645.6,1
 3600000,808.4,1
 3700000,636.5,1
 3800000,753.6,1
 3900000,800.8,1
 4000000,670.2,1
 0,59.8,2
 100000,168.4,2
 200000,416.4,2
 300000,626.3,2
 400000,608.8,2
 500000,693.4,2
 600000,714.4,2
 700000,668.6,2
 800000,738.6,2
 900000,621.1,2
 1000000,715.7,2
 1100000,637.6,2
 1200000,636.0,2
 1300000,776.7,2
 1400000,727.2,2
 1500000,618.7,2
 1600000,813.8,2
 1700000,649.9,2
 1800000,678.8,2
 1900000,584.2,2
 2000000,550.9,2
 2100000,687.4,2
 2200000,690.3,2
 2300000,512.0,2
 2400000,674.6,2
 2500000,435.2,2
 2600000,655.6,2
 2700000,710.1,2
 2800000,680.8,2
 2900000,534.5,2
 3000000,654.0,2
 3100000,691.0,2
 3200000,683.3,2
 3300000,518.4,2
 3400000,753.6,2
 3500000,495.8,2
 3600000,624.9,2
 3700000,663.1,2
 3800000,643.6,2
 3900000,636.8,2
 4000000,638.8,2
--- a/results/tdmpc/hopper-hop-backwards.csv
+++ b/results/tdmpc/hopper-hop-backwards.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,0.0,3
 100000,42.8,3
 200000,859.7,3
 300000,906.4,3
 400000,824.1,3
 500000,830.2,3
 600000,929.4,3
 700000,941.3,3
 800000,931.3,3
 900000,946.5,3
 1000000,947.6,3
 1100000,948.8,3
 1200000,925.9,3
 1300000,948.7,3
 1400000,929.2,3
 1500000,943.6,3
 1600000,948.7,3
 1700000,950.2,3
 1800000,939.7,3
 1900000,929.9,3
 2000000,942.8,3
 2100000,939.0,3
 2200000,943.3,3
 2300000,942.0,3
 2400000,943.3,3
 2500000,952.8,3
 2600000,933.5,3
 2700000,860.6,3
 2800000,941.5,3
 2900000,951.3,3
 3000000,950.0,3
 3100000,936.7,3
 3200000,932.5,3
 3300000,950.8,3
 3400000,853.8,3
 3500000,941.3,3
 3600000,945.0,3
 3700000,946.2,3
 3800000,948.0,3
 3900000,948.4,3
 4000000,953.8,3
 0,0.0,1
 100000,571.3,1
 200000,650.9,1
 300000,678.1,1
 400000,714.2,1
 500000,748.0,1
 600000,751.6,1
 700000,783.0,1
 800000,667.7,1
 900000,777.0,1
 1000000,755.3,1
 1100000,754.2,1
 1200000,754.6,1
 1300000,781.1,1
 1400000,687.4,1
 1500000,743.9,1
 1600000,771.4,1
 1700000,745.8,1
 1800000,756.4,1
 1900000,749.4,1
 2000000,777.5,1
 2100000,682.1,1
 2200000,733.6,1
 2300000,763.3,1
 2400000,763.2,1
 2500000,779.6,1
 2600000,748.3,1
 2700000,714.3,1
 2800000,713.0,1
 2900000,678.1,1
 3000000,772.4,1
 3100000,717.6,1
 3200000,617.5,1
 3300000,429.9,1
 3400000,684.1,1
 3500000,646.0,1
 3600000,547.4,1
 3700000,454.7,1
 3800000,253.1,1
 3900000,601.5,1
 4000000,198.9,1
 0,0.5,2
 100000,0.6,2
 200000,477.4,2
 300000,889.2,2
 400000,888.2,2
 500000,930.1,2
 600000,945.9,2
 700000,954.2,2
 800000,938.2,2
 900000,953.8,2
 1000000,948.7,2
 1100000,938.9,2
 1200000,952.5,2
 1300000,954.2,2
 1400000,959.6,2
 1500000,945.5,2
 1600000,953.3,2
 1700000,957.4,2
 1800000,959.2,2
 1900000,962.1,2
 2000000,954.6,2
 2100000,946.1,2
 2200000,963.1,2
 2300000,854.4,2
 2400000,954.0,2
 2500000,958.2,2
 2600000,949.3,2
 2700000,856.7,2
 2800000,952.0,2
 2900000,953.6,2
 3000000,953.8,2
 3100000,939.4,2
 3200000,957.3,2
 3300000,951.9,2
 3400000,936.5,2
 3500000,953.5,2
 3600000,889.9,2
 3700000,957.0,2
 3800000,949.6,2
 3900000,922.5,2
 4000000,946.2,2
--- a/results/tdmpc/hopper-hop.csv
+++ b/results/tdmpc/hopper-hop.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,0.0,3
 100000,55.0,3
 200000,158.5,3
 300000,177.0,3
 400000,235.4,3
 500000,244.1,3
 600000,274.9,3
 700000,276.4,3
 800000,264.1,3
 900000,267.1,3
 1000000,267.3,3
 1100000,137.0,3
 1200000,251.3,3
 1300000,271.5,3
 1400000,132.6,3
 1500000,271.3,3
 1600000,75.2,3
 1700000,72.8,3
 1800000,6.7,3
 1900000,0.1,3
 2000000,0.0,3
 2100000,0.0,3
 2200000,0.0,3
 2300000,0.0,3
 2400000,70.9,3
 2500000,95.7,3
 2600000,21.6,3
 2700000,16.0,3
 2800000,94.9,3
 2900000,0.0,3
 3000000,108.7,3
 3100000,57.6,3
 3200000,38.9,3
 3300000,52.7,3
 3400000,0.9,3
 3500000,73.7,3
 3600000,94.9,3
 3700000,0.0,3
 3800000,1.6,3
 3900000,0.0,3
 4000000,0.7,3
 0,0.5,1
 100000,1.8,1
 200000,66.5,1
 300000,139.1,1
 400000,126.0,1
 500000,166.2,1
 600000,139.2,1
 700000,105.5,1
 800000,85.2,1
 900000,184.2,1
 1000000,130.3,1
 1100000,184.5,1
 1200000,100.1,1
 1300000,115.2,1
 1400000,66.5,1
 1500000,252.7,1
 1600000,94.7,1
 1700000,129.5,1
 1800000,182.0,1
 1900000,219.7,1
 2000000,159.2,1
 2100000,11.2,1
 2200000,137.8,1
 2300000,2.6,1
 2400000,14.8,1
 2500000,4.0,1
 2600000,0.3,1
 2700000,162.8,1
 2800000,138.0,1
 2900000,153.8,1
 3000000,5.1,1
 3100000,65.1,1
 3200000,11.8,1
 3300000,0.4,1
 3400000,1.5,1
 3500000,171.9,1
 3600000,161.3,1
 3700000,107.8,1
 3800000,183.8,1
 3900000,6.1,1
 4000000,1.5,1
 0,0.0,2
 100000,103.0,2
 200000,220.8,2
 300000,299.2,2
 400000,333.1,2
 500000,303.7,2
 600000,497.2,2
 700000,485.2,2
 800000,534.2,2
 900000,539.3,2
 1000000,558.9,2
 1100000,563.8,2
 1200000,554.7,2
 1300000,565.1,2
 1400000,564.6,2
 1500000,516.9,2
 1600000,560.9,2
 1700000,576.1,2
 1800000,562.4,2
 1900000,569.5,2
 2000000,581.4,2
 2100000,557.7,2
 2200000,574.7,2
 2300000,509.2,2
 2400000,567.7,2
 2500000,571.5,2
 2600000,571.1,2
 2700000,566.5,2
 2800000,540.0,2
 2900000,577.1,2
 3000000,579.5,2
 3100000,565.3,2
 3200000,579.6,2
 3300000,574.9,2
 3400000,573.9,2
 3500000,584.3,2
 3600000,581.9,2
 3700000,585.7,2
 3800000,586.8,2
 3900000,597.7,2
 4000000,576.7,2
--- a/results/tdmpc/hopper-stand.csv
+++ b/results/tdmpc/hopper-stand.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,1.6,3
 100000,883.9,3
 200000,940.3,3
 300000,951.8,3
 400000,844.4,3
 500000,857.8,3
 600000,942.6,3
 700000,951.6,3
 800000,939.5,3
 900000,955.7,3
 1000000,954.1,3
 1100000,958.0,3
 1200000,962.0,3
 1300000,957.6,3
 1400000,948.5,3
 1500000,952.5,3
 1600000,957.7,3
 1700000,958.6,3
 1800000,952.0,3
 1900000,962.3,3
 2000000,954.8,3
 2100000,959.9,3
 2200000,961.0,3
 2300000,963.7,3
 2400000,959.7,3
 2500000,960.5,3
 2600000,952.7,3
 2700000,900.4,3
 2800000,950.4,3
 2900000,945.2,3
 3000000,961.7,3
 3100000,951.5,3
 3200000,956.9,3
 3300000,961.9,3
 3400000,862.6,3
 3500000,944.7,3
 3600000,960.3,3
 3700000,955.3,3
 3800000,962.1,3
 3900000,951.0,3
 4000000,949.7,3
 0,3.2,2
 100000,6.5,2
 200000,908.2,2
 300000,944.9,2
 400000,937.1,2
 500000,950.3,2
 600000,954.6,2
 700000,959.7,2
 800000,959.9,2
 900000,965.3,2
 1000000,948.3,2
 1100000,943.6,2
 1200000,961.1,2
 1300000,953.5,2
 1400000,953.1,2
 1500000,954.8,2
 1600000,966.5,2
 1700000,959.7,2
 1800000,961.8,2
 1900000,970.5,2
 2000000,961.5,2
 2100000,930.9,2
 2200000,964.4,2
 2300000,867.9,2
 2400000,966.4,2
 2500000,958.9,2
 2600000,953.9,2
 2700000,948.7,2
 2800000,940.0,2
 2900000,959.0,2
 3000000,962.9,2
 3100000,958.0,2
 3200000,959.6,2
 3300000,964.9,2
 3400000,954.3,2
 3500000,961.3,2
 3600000,935.7,2
 3700000,975.4,2
 3800000,942.2,2
 3900000,954.1,2
 4000000,946.1,2
 0,2.3,1
 100000,33.8,1
 200000,257.7,1
 300000,940.7,1
 400000,953.4,1
 500000,941.1,1
 600000,953.2,1
 700000,963.2,1
 800000,854.3,1
 900000,951.7,1
 1000000,961.1,1
 1100000,958.3,1
 1200000,956.3,1
 1300000,956.8,1
 1400000,855.3,1
 1500000,957.4,1
 1600000,962.2,1
 1700000,963.2,1
 1800000,958.9,1
 1900000,962.1,1
 2000000,962.8,1
 2100000,870.9,1
 2200000,951.0,1
 2300000,958.9,1
 2400000,955.9,1
 2500000,956.7,1
 2600000,952.1,1
 2700000,951.0,1
 2800000,958.0,1
 2900000,949.6,1
 3000000,953.9,1
 3100000,945.1,1
 3200000,962.4,1
 3300000,855.4,1
 3400000,957.6,1
 3500000,960.4,1
 3600000,961.2,1
 3700000,968.3,1
 3800000,957.8,1
 3900000,955.7,1
 4000000,941.1,1
--- a/results/tdmpc/humanoid-run.csv
+++ b/results/tdmpc/humanoid-run.csv
@@ -0,0 +1,506 @@
 step,reward,seed
 0,1.0,2
 100000,1.0,2
 200000,12.4,2
 300000,54.9,2
 400000,87.5,2
 500000,91.6,2
 600000,128.1,2
 700000,119.6,2
 800000,147.0,2
 900000,162.4,2
 1000000,189.0,2
 1100000,207.3,2
 1200000,237.8,2
 1300000,179.7,2
 1400000,113.6,2
 1500000,204.5,2
 1600000,142.4,2
 1700000,166.5,2
 1800000,234.7,2
 1900000,208.5,2
 2000000,123.3,2
 2100000,261.1,2
 2200000,259.2,2
 2300000,240.4,2
 2400000,232.0,2
 2500000,221.9,2
 2600000,170.8,2
 2700000,269.2,2
 2800000,229.5,2
 2900000,244.2,2
 3000000,249.9,2
 3100000,307.6,2
 3200000,243.0,2
 3300000,270.4,2
 3400000,272.5,2
 3500000,252.6,2
 3600000,207.0,2
 3700000,246.0,2
 3800000,258.0,2
 3900000,202.7,2
 4000000,272.1,2
 4100000,276.9,2
 4200000,254.8,2
 4300000,277.8,2
 4400000,228.1,2
 4500000,274.5,2
 4600000,197.0,2
 4700000,322.6,2
 4800000,334.3,2
 4900000,302.7,2
 5000000,277.1,2
 5100000,217.7,2
 5200000,379.3,2
 5300000,299.6,2
 5400000,296.2,2
 5500000,335.4,2
 5600000,226.0,2
 5700000,322.0,2
 5800000,347.8,2
 5900000,346.5,2
 6000000,266.8,2
 6100000,254.6,2
 6200000,335.9,2
 6300000,270.4,2
 6400000,418.2,2
 6500000,356.3,2
 6600000,336.2,2
 6700000,283.7,2
 6800000,323.0,2
 6900000,228.1,2
 7000000,349.3,2
 7100000,302.7,2
 7200000,321.4,2
 7300000,304.9,2
 7400000,244.9,2
 7500000,370.2,2
 7600000,298.3,2
 7700000,351.2,2
 7800000,366.1,2
 7900000,308.2,2
 8000000,428.2,2
 8100000,319.5,2
 8200000,380.1,2
 8300000,363.4,2
 8400000,403.7,2
 8500000,265.8,2
 8600000,355.0,2
 8700000,361.6,2
 8800000,329.9,2
 8900000,293.2,2
 9000000,349.6,2
 9100000,318.0,2
 9200000,412.7,2
 9300000,361.7,2
 9400000,412.6,2
 9500000,329.4,2
 9600000,406.2,2
 9700000,330.3,2
 9800000,385.2,2
 9900000,260.2,2
 10000000,341.8,2
 10100000,396.8,2
 10200000,390.1,2
 10300000,450.4,2
 10400000,421.0,2
 10500000,371.8,2
 10600000,374.0,2
 10700000,386.4,2
 10800000,343.0,2
 10900000,313.7,2
 11000000,305.0,2
 11100000,322.1,2
 11200000,325.5,2
 11300000,312.5,2
 11400000,399.6,2
 11500000,304.8,2
 11600000,325.7,2
 11700000,236.9,2
 11800000,386.3,2
 11900000,414.5,2
 12000000,285.9,2
 12100000,357.3,2
 12200000,270.6,2
 12300000,379.9,2
 12400000,381.3,2
 12500000,391.5,2
 12600000,359.8,2
 12700000,364.3,2
 12800000,358.7,2
 12900000,295.8,2
 13000000,319.9,2
 13100000,322.1,2
 13200000,369.7,2
 13300000,364.9,2
 13400000,394.6,2
 13500000,357.7,2
 13600000,326.6,2
 13700000,349.6,2
 13800000,395.1,2
 13900000,317.5,2
 14000000,339.7,2
 0,0.7,3
 100000,0.8,3
 200000,7.4,3
 300000,53.2,3
 400000,99.4,3
 500000,107.9,3
 600000,111.3,3
 700000,123.6,3
 800000,201.4,3
 900000,226.2,3
 1000000,235.9,3
 1100000,193.1,3
 1200000,194.3,3
 1300000,316.3,3
 1400000,216.5,3
 1500000,275.9,3
 1600000,332.0,3
 1700000,192.8,3
 1800000,302.4,3
 1900000,327.8,3
 2000000,332.4,3
 2100000,207.2,3
 2200000,392.9,3
 2300000,279.5,3
 2400000,375.8,3
 2500000,295.1,3
 2600000,361.6,3
 2700000,402.3,3
 2800000,368.1,3
 2900000,345.4,3
 3000000,310.4,3
 3100000,422.6,3
 3200000,336.9,3
 3300000,375.7,3
 3400000,417.9,3
 3500000,409.1,3
 3600000,346.4,3
 3700000,325.3,3
 3800000,424.5,3
 3900000,424.4,3
 4000000,393.0,3
 4100000,396.9,3
 4200000,405.5,3
 4300000,479.8,3
 4400000,463.2,3
 4500000,448.3,3
 4600000,467.9,3
 4700000,423.1,3
 4800000,387.9,3
 4900000,462.1,3
 5000000,159.2,3
 5100000,304.1,3
 5200000,393.7,3
 5300000,478.7,3
 5400000,438.6,3
 5500000,417.4,3
 5600000,389.2,3
 5700000,213.1,3
 5800000,86.5,3
 5900000,365.5,3
 6000000,406.9,3
 6100000,383.4,3
 6200000,305.6,3
 6300000,328.5,3
 6400000,485.1,3
 6500000,315.2,3
 6600000,444.3,3
 6700000,497.6,3
 6800000,437.9,3
 6900000,361.8,3
 7000000,341.5,3
 7100000,430.9,3
 7200000,456.4,3
 7300000,205.3,3
 7400000,466.6,3
 7500000,436.9,3
 7600000,470.3,3
 7700000,482.4,3
 7800000,476.4,3
 7900000,477.3,3
 8000000,333.7,3
 8100000,499.2,3
 8200000,204.7,3
 8300000,471.2,3
 8400000,422.9,3
 8500000,489.1,3
 8600000,499.2,3
 8700000,512.4,3
 8800000,354.7,3
 8900000,494.2,3
 9000000,489.0,3
 9100000,505.7,3
 9200000,314.4,3
 9300000,397.2,3
 9400000,480.2,3
 9500000,398.3,3
 9600000,51.7,3
 9700000,438.0,3
 9800000,419.9,3
 9900000,386.5,3
 10000000,413.2,3
 10100000,224.6,3
 10200000,468.2,3
 10300000,164.7,3
 10400000,469.6,3
 10500000,505.8,3
 10600000,400.8,3
 10700000,406.4,3
 10800000,511.3,3
 10900000,473.4,3
 11000000,461.9,3
 11100000,482.9,3
 11200000,329.4,3
 11300000,442.6,3
 11400000,435.4,3
 11500000,470.3,3
 11600000,286.4,3
 11700000,434.1,3
 11800000,456.5,3
 11900000,486.4,3
 12000000,418.6,3
 12100000,325.9,3
 12200000,430.4,3
 12300000,407.9,3
 12400000,461.9,3
 12500000,484.9,3
 12600000,447.3,3
 12700000,480.9,3
 12800000,396.9,3
 12900000,519.1,3
 13000000,426.4,3
 13100000,455.8,3
 13200000,471.3,3
 13300000,508.3,3
 13400000,469.6,3
 13500000,499.1,3
 13600000,477.0,3
 13700000,263.6,3
 13800000,465.0,3
 13900000,344.1,3
 14000000,469.2,3
 0,1.0,1
 100000,0.8,1
 200000,1.2,1
 300000,47.0,1
 400000,69.4,1
 500000,94.9,1
 600000,111.9,1
 700000,147.7,1
 800000,151.3,1
 900000,139.9,1
 1000000,215.1,1
 1100000,207.5,1
 1200000,175.4,1
 1300000,223.3,1
 1400000,278.1,1
 1500000,227.8,1
 1600000,243.5,1
 1700000,175.6,1
 1800000,236.1,1
 1900000,228.3,1
 2000000,219.1,1
 2100000,284.6,1
 2200000,298.8,1
 2300000,265.9,1
 2400000,314.9,1
 2500000,288.8,1
 2600000,245.8,1
 2700000,373.4,1
 2800000,400.4,1
 2900000,360.1,1
 3000000,388.8,1
 3100000,336.5,1
 3200000,389.3,1
 3300000,315.3,1
 3400000,392.4,1
 3500000,419.6,1
 3600000,426.4,1
 3700000,419.0,1
 3800000,388.3,1
 3900000,434.3,1
 4000000,424.9,1
 4100000,377.4,1
 4200000,383.7,1
 4300000,394.6,1
 4400000,399.6,1
 4500000,407.2,1
 4600000,442.8,1
 4700000,333.5,1
 4800000,364.5,1
 4900000,428.3,1
 5000000,455.9,1
 5100000,429.1,1
 5200000,392.8,1
 5300000,414.2,1
 5400000,423.7,1
 5500000,451.0,1
 5600000,356.9,1
 5700000,375.6,1
 5800000,398.0,1
 5900000,392.6,1
 6000000,395.7,1
 6100000,432.8,1
 6200000,258.6,1
 6300000,361.8,1
 6400000,417.6,1
 6500000,336.4,1
 6600000,358.9,1
 6700000,340.3,1
 6800000,427.0,1
 6900000,456.6,1
 7000000,429.0,1
 7100000,365.2,1
 7200000,423.3,1
 7300000,326.2,1
 7400000,373.3,1
 7500000,403.3,1
 7600000,407.6,1
 7700000,402.7,1
 7800000,350.1,1
 7900000,362.0,1
 8000000,422.2,1
 8100000,321.4,1
 8200000,314.5,1
 8300000,381.2,1
 8400000,281.5,1
 8500000,321.1,1
 8600000,308.7,1
 8700000,402.7,1
 8800000,342.9,1
 8900000,380.2,1
 9000000,311.7,1
 9100000,380.6,1
 9200000,301.7,1
 9300000,304.1,1
 9400000,353.5,1
 9500000,407.0,1
 9600000,377.7,1
 9700000,338.7,1
 9800000,361.4,1
 9900000,397.0,1
 10000000,272.5,1
 10100000,311.0,1
 10200000,413.9,1
 10300000,368.3,1
 10400000,382.4,1
 10500000,319.1,1
 10600000,378.7,1
 10700000,281.0,1
 10800000,309.6,1
 10900000,276.0,1
 11000000,413.9,1
 11100000,378.2,1
 11200000,348.7,1
 11300000,222.9,1
 11400000,225.6,1
 11500000,293.2,1
 11600000,310.4,1
 11700000,307.0,1
 11800000,336.5,1
 11900000,384.5,1
 12000000,295.1,1
 12100000,386.2,1
 12200000,218.9,1
 12300000,408.7,1
 12400000,304.9,1
 12500000,257.7,1
 12600000,178.3,1
 12700000,349.5,1
 12800000,435.2,1
 12900000,399.6,1
 13000000,421.9,1
 13100000,400.2,1
 13200000,132.5,1
 13300000,283.2,1
 13400000,254.8,1
 13500000,257.3,1
 13600000,269.6,1
 13700000,222.4,1
 13800000,314.6,1
 13900000,329.6,1
 14000000,310.2,1
 0,0.8,2
 100000,1.3,2
 200000,1.2,2
 300000,2.0,2
 400000,69.3,2
 500000,83.1,2
 600000,116.4,2
 700000,117.0,2
 800000,151.7,2
 900000,205.1,2
 1000000,176.1,2
 1100000,215.9,2
 1200000,212.7,2
 1300000,159.4,2
 1400000,158.6,2
 1500000,201.1,2
 1600000,242.2,2
 1700000,168.3,2
 1800000,286.0,2
 1900000,280.0,2
 2000000,223.0,2
 2100000,311.6,2
 2200000,215.6,2
 2300000,293.5,2
 2400000,301.0,2
 2500000,277.6,2
 2600000,341.9,2
 2700000,354.9,2
 2800000,404.9,2
 2900000,391.1,2
 3000000,393.5,2
 3100000,400.4,2
 3200000,418.7,2
 3300000,413.1,2
 3400000,390.5,2
 3500000,400.8,2
 3600000,454.9,2
 3700000,407.3,2
 3800000,210.4,2
 3900000,391.3,2
 4000000,415.9,2
 0,0.8,1
 100000,0.9,1
 200000,1.1,1
 300000,0.9,1
 400000,9.8,1
 500000,66.8,1
 600000,86.9,1
 700000,97.3,1
 800000,138.2,1
 900000,175.0,1
 1000000,205.8,1
 1100000,186.3,1
 1200000,222.2,1
 1300000,230.9,1
 1400000,198.0,1
 1500000,268.9,1
 1600000,236.4,1
 1700000,196.2,1
 1800000,245.7,1
 1900000,209.4,1
 2000000,269.5,1
 2100000,257.5,1
 2200000,306.6,1
 2300000,254.6,1
 2400000,289.4,1
 2500000,294.5,1
 2600000,258.1,1
 2700000,352.7,1
 2800000,287.0,1
 2900000,327.9,1
 3000000,343.4,1
 3100000,252.8,1
 3200000,319.3,1
 3300000,336.7,1
 3400000,295.1,1
 3500000,393.6,1
 3600000,369.0,1
 3700000,352.2,1
 3800000,372.9,1
 3900000,331.1,1
 4000000,390.9,1
--- a/results/tdmpc/humanoid-stand.csv
+++ b/results/tdmpc/humanoid-stand.csv
@@ -0,0 +1,506 @@
 step,reward,seed
 0,4.2,3
 100000,5.2,3
 200000,198.5,3
 300000,364.5,3
 400000,540.8,3
 500000,671.7,3
 600000,733.8,3
 700000,772.3,3
 800000,874.0,3
 900000,912.5,3
 1000000,878.2,3
 1100000,897.5,3
 1200000,885.7,3
 1300000,926.9,3
 1400000,900.0,3
 1500000,921.1,3
 1600000,916.2,3
 1700000,921.8,3
 1800000,934.9,3
 1900000,929.9,3
 2000000,927.6,3
 2100000,911.4,3
 2200000,871.6,3
 2300000,902.7,3
 2400000,886.8,3
 2500000,886.2,3
 2600000,907.5,3
 2700000,840.8,3
 2800000,741.2,3
 2900000,769.1,3
 3000000,866.7,3
 3100000,907.5,3
 3200000,914.0,3
 3300000,871.1,3
 3400000,837.1,3
 3500000,884.7,3
 3600000,836.8,3
 3700000,878.6,3
 3800000,914.2,3
 3900000,902.2,3
 4000000,872.9,3
 4100000,851.0,3
 4200000,928.8,3
 4300000,924.0,3
 4400000,919.3,3
 4500000,915.8,3
 4600000,920.5,3
 4700000,882.0,3
 4800000,887.4,3
 4900000,916.5,3
 5000000,845.8,3
 5100000,920.6,3
 5200000,918.8,3
 5300000,868.4,3
 5400000,891.1,3
 5500000,901.5,3
 5600000,913.0,3
 5700000,910.0,3
 5800000,833.8,3
 5900000,903.4,3
 6000000,901.8,3
 6100000,846.3,3
 6200000,919.4,3
 6300000,874.8,3
 6400000,880.1,3
 6500000,833.8,3
 6600000,882.0,3
 6700000,884.5,3
 6800000,923.7,3
 6900000,931.7,3
 7000000,903.2,3
 7100000,887.0,3
 7200000,885.0,3
 7300000,841.5,3
 7400000,908.7,3
 7500000,911.1,3
 7600000,906.5,3
 7700000,892.1,3
 7800000,897.6,3
 7900000,895.1,3
 8000000,899.6,3
 8100000,908.1,3
 8200000,917.8,3
 8300000,905.9,3
 8400000,869.6,3
 8500000,929.8,3
 8600000,929.3,3
 8700000,951.5,3
 8800000,876.8,3
 8900000,920.1,3
 9000000,881.1,3
 9100000,866.1,3
 9200000,922.9,3
 9300000,803.6,3
 9400000,848.8,3
 9500000,806.8,3
 9600000,934.4,3
 9700000,819.9,3
 9800000,904.8,3
 9900000,864.5,3
 10000000,833.2,3
 10100000,907.9,3
 10200000,920.6,3
 10300000,898.0,3
 10400000,878.2,3
 10500000,881.4,3
 10600000,929.5,3
 10700000,837.3,3
 10800000,913.3,3
 10900000,868.0,3
 11000000,906.8,3
 11100000,847.8,3
 11200000,875.6,3
 11300000,862.3,3
 11400000,861.4,3
 11500000,913.0,3
 11600000,774.5,3
 11700000,806.8,3
 11800000,917.2,3
 11900000,925.2,3
 12000000,893.1,3
 12100000,863.9,3
 12200000,908.2,3
 12300000,886.4,3
 12400000,849.7,3
 12500000,877.2,3
 12600000,823.0,3
 12700000,865.5,3
 12800000,829.3,3
 12900000,912.8,3
 13000000,873.9,3
 13100000,897.7,3
 13200000,869.5,3
 13300000,895.8,3
 13400000,900.9,3
 13500000,902.5,3
 13600000,835.7,3
 13700000,854.8,3
 13800000,823.6,3
 13900000,914.2,3
 14000000,851.5,3
 0,5.6,1
 100000,4.7,1
 200000,6.6,1
 300000,294.1,1
 400000,421.8,1
 500000,547.8,1
 600000,497.2,1
 700000,690.1,1
 800000,852.3,1
 900000,818.1,1
 1000000,908.5,1
 1100000,916.3,1
 1200000,921.8,1
 1300000,899.3,1
 1400000,926.4,1
 1500000,917.0,1
 1600000,929.4,1
 1700000,888.6,1
 1800000,929.8,1
 1900000,906.3,1
 2000000,923.4,1
 2100000,946.3,1
 2200000,930.6,1
 2300000,928.5,1
 2400000,937.3,1
 2500000,922.9,1
 2600000,932.0,1
 2700000,943.6,1
 2800000,899.3,1
 2900000,912.8,1
 3000000,936.1,1
 3100000,917.4,1
 3200000,917.5,1
 3300000,930.6,1
 3400000,938.4,1
 3500000,900.5,1
 3600000,933.7,1
 3700000,901.8,1
 3800000,898.1,1
 3900000,915.0,1
 4000000,896.0,1
 4100000,917.3,1
 4200000,931.9,1
 4300000,870.0,1
 4400000,940.2,1
 4500000,887.0,1
 4600000,842.9,1
 4700000,865.5,1
 4800000,924.3,1
 4900000,866.7,1
 5000000,872.8,1
 5100000,912.5,1
 5200000,934.3,1
 5300000,922.6,1
 5400000,950.4,1
 5500000,901.1,1
 5600000,923.2,1
 5700000,812.9,1
 5800000,918.3,1
 5900000,935.6,1
 6000000,921.3,1
 6100000,929.2,1
 6200000,890.4,1
 6300000,919.2,1
 6400000,893.3,1
 6500000,889.1,1
 6600000,895.6,1
 6700000,901.4,1
 6800000,844.6,1
 6900000,811.0,1
 7000000,881.5,1
 7100000,852.8,1
 7200000,866.3,1
 7300000,891.1,1
 7400000,836.3,1
 7500000,840.1,1
 7600000,878.7,1
 7700000,818.7,1
 7800000,913.2,1
 7900000,911.0,1
 8000000,930.5,1
 8100000,928.5,1
 8200000,918.6,1
 8300000,926.2,1
 8400000,900.8,1
 8500000,921.7,1
 8600000,906.6,1
 8700000,901.5,1
 8800000,876.6,1
 8900000,916.9,1
 9000000,942.3,1
 9100000,866.5,1
 9200000,934.0,1
 9300000,906.8,1
 9400000,895.7,1
 9500000,810.5,1
 9600000,867.9,1
 9700000,822.8,1
 9800000,823.5,1
 9900000,887.2,1
 10000000,738.1,1
 10100000,882.4,1
 10200000,923.4,1
 10300000,907.8,1
 10400000,895.8,1
 10500000,906.2,1
 10600000,865.0,1
 10700000,932.1,1
 10800000,892.6,1
 10900000,869.3,1
 11000000,928.1,1
 11100000,916.5,1
 11200000,912.4,1
 11300000,810.6,1
 11400000,843.7,1
 11500000,894.4,1
 11600000,926.0,1
 11700000,899.3,1
 11800000,897.9,1
 11900000,874.9,1
 12000000,930.3,1
 12100000,915.3,1
 12200000,922.7,1
 12300000,875.0,1
 12400000,895.2,1
 12500000,923.6,1
 12600000,898.4,1
 12700000,905.9,1
 12800000,917.3,1
 12900000,874.9,1
 13000000,930.9,1
 13100000,922.6,1
 13200000,925.3,1
 13300000,886.0,1
 13400000,749.5,1
 13500000,924.4,1
 13600000,823.1,1
 13700000,859.6,1
 13800000,897.5,1
 13900000,884.6,1
 14000000,928.6,1
 0,6.1,2
 100000,6.0,2
 200000,190.1,2
 300000,424.2,2
 400000,484.4,2
 500000,594.6,2
 600000,650.7,2
 700000,768.0,2
 800000,900.4,2
 900000,908.8,2
 1000000,919.3,2
 1100000,912.1,2
 1200000,928.4,2
 1300000,911.6,2
 1400000,878.2,2
 1500000,910.3,2
 1600000,947.7,2
 1700000,935.2,2
 1800000,907.6,2
 1900000,934.2,2
 2000000,928.4,2
 2100000,922.5,2
 2200000,906.9,2
 2300000,922.6,2
 2400000,935.1,2
 2500000,914.2,2
 2600000,903.2,2
 2700000,793.7,2
 2800000,903.7,2
 2900000,849.3,2
 3000000,842.9,2
 3100000,888.8,2
 3200000,868.8,2
 3300000,872.8,2
 3400000,739.4,2
 3500000,890.2,2
 3600000,884.3,2
 3700000,843.7,2
 3800000,912.0,2
 3900000,602.1,2
 4000000,865.0,2
 4100000,896.4,2
 4200000,878.6,2
 4300000,899.8,2
 4400000,879.7,2
 4500000,943.4,2
 4600000,911.6,2
 4700000,888.2,2
 4800000,837.9,2
 4900000,909.5,2
 5000000,895.3,2
 5100000,910.3,2
 5200000,910.4,2
 5300000,900.2,2
 5400000,917.4,2
 5500000,907.8,2
 5600000,880.4,2
 5700000,837.7,2
 5800000,925.6,2
 5900000,928.6,2
 6000000,883.3,2
 6100000,883.6,2
 6200000,847.9,2
 6300000,877.8,2
 6400000,915.0,2
 6500000,889.8,2
 6600000,898.3,2
 6700000,889.6,2
 6800000,939.2,2
 6900000,879.0,2
 7000000,872.0,2
 7100000,883.3,2
 7200000,883.1,2
 7300000,815.6,2
 7400000,848.3,2
 7500000,847.4,2
 7600000,903.6,2
 7700000,903.0,2
 7800000,915.8,2
 7900000,878.0,2
 8000000,863.3,2
 8100000,888.5,2
 8200000,923.0,2
 8300000,856.5,2
 8400000,880.7,2
 8500000,925.2,2
 8600000,907.5,2
 8700000,914.2,2
 8800000,913.9,2
 8900000,795.1,2
 9000000,912.2,2
 9100000,898.3,2
 9200000,858.2,2
 9300000,827.9,2
 9400000,891.0,2
 9500000,845.9,2
 9600000,909.5,2
 9700000,922.4,2
 9800000,898.8,2
 9900000,903.7,2
 10000000,896.3,2
 10100000,914.1,2
 10200000,890.9,2
 10300000,796.5,2
 10400000,907.9,2
 10500000,883.7,2
 10600000,894.3,2
 10700000,892.4,2
 10800000,877.1,2
 10900000,915.6,2
 11000000,916.0,2
 11100000,917.7,2
 11200000,834.1,2
 11300000,901.1,2
 11400000,837.6,2
 11500000,909.7,2
 11600000,937.3,2
 11700000,836.5,2
 11800000,875.8,2
 11900000,783.5,2
 12000000,892.0,2
 12100000,937.7,2
 12200000,937.0,2
 12300000,909.3,2
 12400000,889.6,2
 12500000,877.5,2
 12600000,901.1,2
 12700000,886.1,2
 12800000,886.9,2
 12900000,873.1,2
 13000000,843.7,2
 13100000,907.4,2
 13200000,864.4,2
 13300000,737.9,2
 13400000,911.7,2
 13500000,839.9,2
 13600000,912.5,2
 13700000,866.4,2
 13800000,914.1,2
 13900000,911.0,2
 14000000,919.8,2
 0,4.6,2
 100000,7.8,2
 200000,115.5,2
 300000,176.6,2
 400000,409.9,2
 500000,596.8,2
 600000,645.5,2
 700000,652.1,2
 800000,828.0,2
 900000,804.1,2
 1000000,798.4,2
 1100000,893.9,2
 1200000,848.2,2
 1300000,748.8,2
 1400000,917.5,2
 1500000,891.6,2
 1600000,929.9,2
 1700000,910.8,2
 1800000,882.8,2
 1900000,937.6,2
 2000000,919.3,2
 2100000,932.0,2
 2200000,920.5,2
 2300000,912.3,2
 2400000,901.9,2
 2500000,875.9,2
 2600000,827.7,2
 2700000,908.5,2
 2800000,745.8,2
 2900000,930.8,2
 3000000,897.7,2
 3100000,927.4,2
 3200000,884.7,2
 3300000,882.9,2
 3400000,920.7,2
 3500000,921.6,2
 3600000,872.1,2
 3700000,834.0,2
 3800000,932.8,2
 3900000,900.9,2
 4000000,868.6,2
 0,4.8,1
 100000,4.9,1
 200000,149.1,1
 300000,394.2,1
 400000,574.3,1
 500000,577.1,1
 600000,736.5,1
 700000,699.3,1
 800000,788.8,1
 900000,878.5,1
 1000000,821.6,1
 1100000,885.3,1
 1200000,877.5,1
 1300000,897.8,1
 1400000,875.5,1
 1500000,859.8,1
 1600000,934.8,1
 1700000,896.3,1
 1800000,755.6,1
 1900000,893.2,1
 2000000,849.3,1
 2100000,888.7,1
 2200000,898.2,1
 2300000,907.4,1
 2400000,901.7,1
 2500000,862.6,1
 2600000,716.5,1
 2700000,823.7,1
 2800000,842.5,1
 2900000,871.1,1
 3000000,716.3,1
 3100000,892.6,1
 3200000,827.7,1
 3300000,799.2,1
 3400000,886.7,1
 3500000,892.3,1
 3600000,860.0,1
 3700000,831.8,1
 3800000,880.6,1
 3900000,882.6,1
 4000000,937.0,1
--- a/results/tdmpc/humanoid-walk.csv
+++ b/results/tdmpc/humanoid-walk.csv
@@ -0,0 +1,506 @@
 step,reward,seed
 0,1.3,2
 100000,1.7,2
 200000,211.2,2
 300000,309.0,2
 400000,485.5,2
 500000,463.9,2
 600000,529.6,2
 700000,633.2,2
 800000,795.6,2
 900000,816.3,2
 1000000,745.3,2
 1100000,869.0,2
 1200000,851.0,2
 1300000,925.8,2
 1400000,922.1,2
 1500000,892.7,2
 1600000,913.5,2
 1700000,932.3,2
 1800000,894.4,2
 1900000,883.9,2
 2000000,914.3,2
 2100000,934.9,2
 2200000,927.0,2
 2300000,885.7,2
 2400000,934.0,2
 2500000,832.1,2
 2600000,904.6,2
 2700000,908.7,2
 2800000,909.5,2
 2900000,826.1,2
 3000000,835.6,2
 3100000,741.7,2
 3200000,867.9,2
 3300000,849.6,2
 3400000,910.3,2
 3500000,794.6,2
 3600000,867.2,2
 3700000,864.8,2
 3800000,874.7,2
 3900000,707.0,2
 4000000,880.5,2
 4100000,873.5,2
 4200000,893.7,2
 4300000,837.3,2
 4400000,912.9,2
 4500000,850.3,2
 4600000,821.2,2
 4700000,838.6,2
 4800000,930.9,2
 4900000,873.5,2
 5000000,864.8,2
 5100000,845.6,2
 5200000,842.3,2
 5300000,824.4,2
 5400000,873.8,2
 5500000,891.7,2
 5600000,854.7,2
 5700000,893.8,2
 5800000,874.2,2
 5900000,829.4,2
 6000000,899.3,2
 6100000,856.6,2
 6200000,795.8,2
 6300000,903.6,2
 6400000,856.2,2
 6500000,864.7,2
 6600000,800.8,2
 6700000,854.5,2
 6800000,849.0,2
 6900000,898.7,2
 7000000,885.7,2
 7100000,900.3,2
 7200000,860.6,2
 7300000,892.0,2
 7400000,839.5,2
 7500000,884.3,2
 7600000,890.6,2
 7700000,871.2,2
 7800000,914.1,2
 7900000,914.1,2
 8000000,906.1,2
 8100000,892.3,2
 8200000,896.6,2
 8300000,831.0,2
 8400000,894.2,2
 8500000,830.8,2
 8600000,867.8,2
 8700000,931.2,2
 8800000,905.4,2
 8900000,926.9,2
 9000000,871.1,2
 9100000,911.5,2
 9200000,908.3,2
 9300000,904.7,2
 9400000,906.5,2
 9500000,892.6,2
 9600000,897.6,2
 9700000,874.9,2
 9800000,903.8,2
 9900000,710.5,2
 10000000,890.4,2
 10100000,907.4,2
 10200000,925.7,2
 10300000,832.4,2
 10400000,897.9,2
 10500000,872.2,2
 10600000,864.9,2
 10700000,912.9,2
 10800000,760.1,2
 10900000,887.7,2
 11000000,832.6,2
 11100000,875.6,2
 11200000,912.5,2
 11300000,891.1,2
 11400000,872.9,2
 11500000,872.8,2
 11600000,917.0,2
 11700000,896.4,2
 11800000,878.4,2
 11900000,899.8,2
 12000000,824.5,2
 12100000,906.6,2
 12200000,880.6,2
 12300000,828.1,2
 12400000,881.9,2
 12500000,875.5,2
 12600000,900.1,2
 12700000,872.8,2
 12800000,865.9,2
 12900000,881.8,2
 13000000,887.9,2
 13100000,878.6,2
 13200000,911.9,2
 13300000,905.3,2
 13400000,900.0,2
 13500000,881.6,2
 13600000,907.8,2
 13700000,861.6,2
 13800000,896.3,2
 13900000,876.2,2
 14000000,836.3,2
 0,0.8,3
 100000,1.3,3
 200000,0.8,3
 300000,2.9,3
 400000,257.1,3
 500000,344.7,3
 600000,439.1,3
 700000,552.1,3
 800000,632.2,3
 900000,551.0,3
 1000000,526.5,3
 1100000,624.4,3
 1200000,694.2,3
 1300000,622.6,3
 1400000,683.4,3
 1500000,822.2,3
 1600000,865.5,3
 1700000,858.8,3
 1800000,854.4,3
 1900000,857.5,3
 2000000,888.6,3
 2100000,841.3,3
 2200000,912.2,3
 2300000,887.4,3
 2400000,882.9,3
 2500000,897.0,3
 2600000,897.0,3
 2700000,880.8,3
 2800000,911.5,3
 2900000,904.2,3
 3000000,831.3,3
 3100000,895.9,3
 3200000,873.8,3
 3300000,898.2,3
 3400000,742.4,3
 3500000,791.8,3
 3600000,913.8,3
 3700000,867.6,3
 3800000,846.5,3
 3900000,879.5,3
 4000000,771.3,3
 4100000,891.3,3
 4200000,903.1,3
 4300000,816.4,3
 4400000,902.5,3
 4500000,889.8,3
 4600000,886.8,3
 4700000,880.1,3
 4800000,884.7,3
 4900000,893.4,3
 5000000,864.7,3
 5100000,767.5,3
 5200000,898.4,3
 5300000,886.8,3
 5400000,904.7,3
 5500000,892.0,3
 5600000,772.3,3
 5700000,805.5,3
 5800000,857.0,3
 5900000,892.9,3
 6000000,891.8,3
 6100000,861.6,3
 6200000,860.8,3
 6300000,908.8,3
 6400000,885.6,3
 6500000,850.8,3
 6600000,892.0,3
 6700000,851.2,3
 6800000,818.2,3
 6900000,882.1,3
 7000000,888.5,3
 7100000,815.9,3
 7200000,892.3,3
 7300000,846.2,3
 7400000,879.4,3
 7500000,885.8,3
 7600000,906.2,3
 7700000,856.8,3
 7800000,920.5,3
 7900000,857.5,3
 8000000,728.5,3
 8100000,882.2,3
 8200000,898.1,3
 8300000,794.5,3
 8400000,759.6,3
 8500000,921.5,3
 8600000,102.1,3
 8700000,866.3,3
 8800000,851.1,3
 8900000,846.1,3
 9000000,863.6,3
 9100000,869.2,3
 9200000,865.6,3
 9300000,895.2,3
 9400000,904.5,3
 9500000,896.0,3
 9600000,840.7,3
 9700000,896.6,3
 9800000,904.6,3
 9900000,904.5,3
 10000000,848.7,3
 10100000,822.7,3
 10200000,883.0,3
 10300000,864.0,3
 10400000,875.7,3
 10500000,863.3,3
 10600000,907.3,3
 10700000,873.1,3
 10800000,826.4,3
 10900000,900.3,3
 11000000,891.5,3
 11100000,868.8,3
 11200000,846.7,3
 11300000,845.8,3
 11400000,888.6,3
 11500000,832.4,3
 11600000,877.6,3
 11700000,731.6,3
 11800000,890.6,3
 11900000,901.8,3
 12000000,463.0,3
 12100000,891.4,3
 12200000,748.7,3
 12300000,730.4,3
 12400000,624.0,3
 12500000,874.1,3
 12600000,863.7,3
 12700000,884.9,3
 12800000,804.1,3
 12900000,794.0,3
 13000000,694.7,3
 13100000,866.9,3
 13200000,817.4,3
 13300000,755.1,3
 13400000,872.0,3
 13500000,836.6,3
 13600000,809.9,3
 13700000,807.4,3
 13800000,853.2,3
 13900000,770.1,3
 14000000,773.3,3
 0,1.2,1
 100000,0.9,1
 200000,1.4,1
 300000,133.1,1
 400000,258.0,1
 500000,373.6,1
 600000,472.8,1
 700000,531.6,1
 800000,621.6,1
 900000,664.0,1
 1000000,636.2,1
 1100000,668.6,1
 1200000,717.0,1
 1300000,793.3,1
 1400000,842.6,1
 1500000,760.8,1
 1600000,836.9,1
 1700000,786.5,1
 1800000,660.7,1
 1900000,893.1,1
 2000000,919.6,1
 2100000,888.8,1
 2200000,908.2,1
 2300000,851.1,1
 2400000,870.5,1
 2500000,877.3,1
 2600000,827.7,1
 2700000,870.3,1
 2800000,884.1,1
 2900000,855.1,1
 3000000,801.5,1
 3100000,889.5,1
 3200000,769.0,1
 3300000,643.0,1
 3400000,826.3,1
 3500000,673.7,1
 3600000,871.4,1
 3700000,753.1,1
 3800000,890.8,1
 3900000,898.4,1
 4000000,762.2,1
 4100000,842.7,1
 4200000,854.7,1
 4300000,794.2,1
 4400000,833.3,1
 4500000,837.2,1
 4600000,853.9,1
 4700000,842.7,1
 4800000,876.3,1
 4900000,897.4,1
 5000000,796.1,1
 5100000,920.6,1
 5200000,875.2,1
 5300000,897.1,1
 5400000,892.9,1
 5500000,735.5,1
 5600000,890.1,1
 5700000,902.3,1
 5800000,810.9,1
 5900000,892.6,1
 6000000,885.1,1
 6100000,874.1,1
 6200000,862.0,1
 6300000,903.9,1
 6400000,904.8,1
 6500000,880.0,1
 6600000,853.8,1
 6700000,879.8,1
 6800000,872.2,1
 6900000,923.8,1
 7000000,808.7,1
 7100000,912.0,1
 7200000,848.8,1
 7300000,898.5,1
 7400000,875.2,1
 7500000,859.7,1
 7600000,889.0,1
 7700000,867.8,1
 7800000,880.4,1
 7900000,889.0,1
 8000000,815.3,1
 8100000,903.6,1
 8200000,922.3,1
 8300000,913.0,1
 8400000,923.4,1
 8500000,859.8,1
 8600000,894.5,1
 8700000,850.8,1
 8800000,914.8,1
 8900000,899.9,1
 9000000,893.1,1
 9100000,871.2,1
 9200000,877.5,1
 9300000,856.9,1
 9400000,875.4,1
 9500000,856.3,1
 9600000,909.5,1
 9700000,903.5,1
 9800000,897.0,1
 9900000,899.1,1
 10000000,857.3,1
 10100000,886.0,1
 10200000,861.1,1
 10300000,638.1,1
 10400000,877.2,1
 10500000,856.5,1
 10600000,904.3,1
 10700000,906.2,1
 10800000,891.4,1
 10900000,813.6,1
 11000000,803.0,1
 11100000,876.1,1
 11200000,866.2,1
 11300000,884.6,1
 11400000,771.1,1
 11500000,884.7,1
 11600000,821.2,1
 11700000,882.0,1
 11800000,835.7,1
 11900000,907.6,1
 12000000,888.2,1
 12100000,833.2,1
 12200000,912.5,1
 12300000,789.9,1
 12400000,881.1,1
 12500000,800.3,1
 12600000,885.1,1
 12700000,823.5,1
 12800000,914.7,1
 12900000,888.9,1
 13000000,807.4,1
 13100000,849.4,1
 13200000,571.3,1
 13300000,883.4,1
 13400000,872.0,1
 13500000,916.8,1
 13600000,855.8,1
 13700000,907.4,1
 13800000,882.4,1
 13900000,824.6,1
 14000000,901.7,1
 0,1.0,1
 100000,1.0,1
 200000,1.5,1
 300000,237.9,1
 400000,378.7,1
 500000,454.4,1
 600000,581.0,1
 700000,587.4,1
 800000,670.9,1
 900000,711.2,1
 1000000,706.9,1
 1100000,814.1,1
 1200000,914.8,1
 1300000,816.6,1
 1400000,884.4,1
 1500000,893.8,1
 1600000,908.1,1
 1700000,875.3,1
 1800000,922.1,1
 1900000,907.7,1
 2000000,904.5,1
 2100000,856.3,1
 2200000,879.3,1
 2300000,899.8,1
 2400000,908.1,1
 2500000,905.2,1
 2600000,874.0,1
 2700000,825.6,1
 2800000,876.4,1
 2900000,809.1,1
 3000000,782.2,1
 3100000,906.9,1
 3200000,843.9,1
 3300000,835.1,1
 3400000,876.7,1
 3500000,861.1,1
 3600000,869.5,1
 3700000,852.4,1
 3800000,847.9,1
 3900000,781.1,1
 4000000,851.2,1
 0,1.0,2
 100000,1.4,2
 200000,180.2,2
 300000,312.6,2
 400000,399.7,2
 500000,421.1,2
 600000,455.4,2
 700000,712.5,2
 800000,739.9,2
 900000,738.3,2
 1000000,686.1,2
 1100000,758.6,2
 1200000,757.3,2
 1300000,732.8,2
 1400000,819.5,2
 1500000,887.0,2
 1600000,879.2,2
 1700000,892.9,2
 1800000,877.4,2
 1900000,901.3,2
 2000000,880.7,2
 2100000,931.2,2
 2200000,881.0,2
 2300000,919.2,2
 2400000,890.3,2
 2500000,876.4,2
 2600000,873.9,2
 2700000,886.1,2
 2800000,869.5,2
 2900000,858.1,2
 3000000,860.5,2
 3100000,901.5,2
 3200000,882.7,2
 3300000,776.5,2
 3400000,898.2,2
 3500000,895.6,2
 3600000,849.7,2
 3700000,895.4,2
 3800000,917.8,2
 3900000,910.7,2
 4000000,862.8,2
--- a/results/tdmpc/lift-cube.csv
+++ b/results/tdmpc/lift-cube.csv
@@ -0,0 +1,110 @@
 step,success,seed
 0,0.0,3
 100000,0.9,3
 200000,0.9,3
 300000,0.5,3
 400000,0.9,3
 500000,0.9,3
 600000,0.9,3
 700000,0.9,3
 800000,1.0,3
 900000,1.0,3
 1000000,0.8,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,0.9,3
 1500000,1.0,3
 1600000,0.9,3
 1700000,0.9,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 2100000,1.0,3
 2200000,0.9,3
 2300000,1.0,3
 2400000,1.0,3
 2500000,1.0,3
 2600000,1.0,3
 0,0.0,2
 100000,0.2,2
 200000,0.8,2
 300000,0.7,2
 400000,0.9,2
 500000,1.0,2
 600000,0.9,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,0.8,2
 1100000,0.7,2
 1200000,1.0,2
 1300000,0.9,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,0.9,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,0.9,2
 2000000,1.0,2
 2100000,1.0,2
 2200000,1.0,2
 2300000,1.0,2
 2400000,1.0,2
 2500000,1.0,2
 2600000,1.0,2
 2700000,1.0,2
 2800000,0.9,2
 2900000,1.0,2
 3000000,1.0,2
 3100000,1.0,2
 3200000,1.0,2
 3300000,1.0,2
 3400000,0.9,2
 3500000,1.0,2
 3600000,1.0,2
 3700000,1.0,2
 3800000,1.0,2
 3900000,1.0,2
 4000000,1.0,2
 0,0.0,1
 100000,0.9,1
 200000,0.9,1
 300000,1.0,1
 400000,0.9,1
 500000,0.9,1
 600000,0.9,1
 700000,0.9,1
 800000,1.0,1
 900000,0.9,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,0.9,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
 2100000,1.0,1
 2200000,1.0,1
 2300000,1.0,1
 2400000,1.0,1
 2500000,1.0,1
 2600000,1.0,1
 2700000,1.0,1
 2800000,1.0,1
 2900000,0.9,1
 3000000,0.9,1
 3100000,0.9,1
 3200000,1.0,1
 3300000,1.0,1
 3400000,1.0,1
 3500000,1.0,1
 3600000,1.0,1
 3700000,1.0,1
 3800000,1.0,1
 3900000,0.9,1
 4000000,1.0,1
--- a/results/tdmpc/mw-assembly.csv
+++ b/results/tdmpc/mw-assembly.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,1.0,3
 300000,0.8,3
 400000,0.5,3
 500000,0.8,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,0.9,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,0.0,2
 200000,0.0,2
 300000,0.0,2
 400000,0.0,2
 500000,0.0,2
 600000,0.0,2
 700000,0.0,2
 800000,0.1,2
 900000,0.3,2
 1000000,0.5,2
 1100000,0.9,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,0.0,1
 200000,0.9,1
 300000,1.0,1
 400000,0.9,1
 500000,1.0,1
 600000,0.9,1
 700000,1.0,1
 800000,1.0,1
 900000,0.9,1
 1000000,1.0,1
 1100000,0.9,1
 1200000,1.0,1
 1300000,0.9,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,0.8,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,0.8,1
 2000000,1.0,1
--- a/results/tdmpc/mw-basketball.csv
+++ b/results/tdmpc/mw-basketball.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,0.4,3
 300000,0.7,3
 400000,0.5,3
 500000,0.0,3
 600000,0.4,3
 700000,0.7,3
 800000,0.4,3
 900000,0.6,3
 1000000,0.6,3
 1100000,0.6,3
 1200000,0.8,3
 1300000,0.6,3
 1400000,0.4,3
 1500000,0.4,3
 1600000,0.6,3
 1700000,0.8,3
 1800000,0.5,3
 1900000,0.8,3
 2000000,0.8,3
 0,0.0,2
 100000,0.1,2
 200000,0.4,2
 300000,0.6,2
 400000,0.6,2
 500000,0.4,2
 600000,0.4,2
 700000,0.2,2
 800000,0.3,2
 900000,0.6,2
 1000000,0.2,2
 1100000,0.6,2
 1200000,0.3,2
 1300000,0.5,2
 1400000,0.7,2
 1500000,1.0,2
 1600000,0.5,2
 1700000,0.6,2
 1800000,0.8,2
 1900000,0.7,2
 2000000,0.9,2
 0,0.0,1
 100000,0.2,1
 200000,0.8,1
 300000,0.3,1
 400000,0.6,1
 500000,0.2,1
 600000,0.1,1
 700000,0.2,1
 800000,0.4,1
 900000,0.4,1
 1000000,0.6,1
 1100000,0.3,1
 1200000,0.3,1
 1300000,0.6,1
 1400000,0.8,1
 1500000,0.4,1
 1600000,0.6,1
 1700000,0.8,1
 1800000,0.7,1
 1900000,0.7,1
 2000000,0.7,1
--- a/results/tdmpc/mw-bin-picking.csv
+++ b/results/tdmpc/mw-bin-picking.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,0.0,3
 300000,0.9,3
 400000,0.8,3
 500000,0.8,3
 600000,0.8,3
 700000,1.0,3
 800000,0.7,3
 900000,0.9,3
 1000000,0.8,3
 1100000,0.9,3
 1200000,0.9,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,0.9,3
 1600000,1.0,3
 1700000,0.8,3
 1800000,0.9,3
 1900000,0.9,3
 2000000,0.9,3
 0,0.0,1
 100000,0.1,1
 200000,0.9,1
 300000,0.9,1
 400000,0.9,1
 500000,0.9,1
 600000,0.8,1
 700000,0.9,1
 800000,0.7,1
 900000,0.9,1
 1000000,0.9,1
 1100000,1.0,1
 1200000,0.8,1
 1300000,0.9,1
 1400000,0.8,1
 1500000,0.9,1
 1600000,0.9,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
 0,0.0,2
 100000,0.0,2
 200000,0.8,2
 300000,0.9,2
 400000,1.0,2
 500000,0.6,2
 600000,0.9,2
 700000,0.9,2
 800000,0.7,2
 900000,1.0,2
 1000000,0.9,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,0.9,2
 1500000,1.0,2
 1600000,0.9,2
 1700000,0.9,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
--- a/results/tdmpc/mw-box-close.csv
+++ b/results/tdmpc/mw-box-close.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.5,3
 200000,0.9,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,0.9,3
 0,0.0,2
 100000,0.4,2
 200000,0.9,2
 300000,1.0,2
 400000,0.9,2
 500000,1.0,2
 600000,0.9,2
 700000,1.0,2
 800000,0.9,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,0.9,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,1.0,1
 200000,1.0,1
 300000,1.0,1
 400000,0.8,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,0.9,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,0.9,1
 1500000,0.9,1
 1600000,1.0,1
 1700000,0.9,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-button-press-topdown-wall.csv
+++ b/results/tdmpc/mw-button-press-topdown-wall.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,1.0,3
 200000,1.0,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,0.9,2
 200000,0.9,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,1.0,1
 200000,1.0,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-button-press-topdown.csv
+++ b/results/tdmpc/mw-button-press-topdown.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0,3
 100000,1,3
 200000,1,3
 300000,1,3
 400000,1,3
 500000,1,3
 600000,1,3
 700000,1,3
 800000,1,3
 900000,1,3
 1000000,1,3
 1100000,1,3
 1200000,1,3
 1300000,1,3
 1400000,1,3
 1500000,1,3
 1600000,1,3
 1700000,1,3
 1800000,1,3
 1900000,1,3
 2000000,1,3
 0,0,1
 100000,1,1
 200000,1,1
 300000,1,1
 400000,1,1
 500000,1,1
 600000,1,1
 700000,1,1
 800000,1,1
 900000,1,1
 1000000,1,1
 1100000,1,1
 1200000,1,1
 1300000,1,1
 1400000,1,1
 1500000,1,1
 1600000,1,1
 1700000,1,1
 1800000,1,1
 1900000,1,1
 2000000,1,1
 0,0,2
 100000,1,2
 200000,1,2
 300000,1,2
 400000,1,2
 500000,1,2
 600000,1,2
 700000,1,2
 800000,1,2
 900000,1,2
 1000000,1,2
 1100000,1,2
 1200000,1,2
 1300000,1,2
 1400000,1,2
 1500000,1,2
 1600000,1,2
 1700000,1,2
 1800000,1,2
 1900000,1,2
 2000000,1,2
--- a/results/tdmpc/mw-button-press-wall.csv
+++ b/results/tdmpc/mw-button-press-wall.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.8,3
 200000,0.8,3
 300000,0.8,3
 400000,1.0,3
 500000,0.9,3
 600000,0.9,3
 700000,0.9,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,0.3,2
 200000,0.5,2
 300000,1.0,2
 400000,1.0,2
 500000,0.6,2
 600000,0.9,2
 700000,1.0,2
 800000,0.8,2
 900000,0.9,2
 1000000,1.0,2
 1100000,0.7,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,0.9,2
 2000000,1.0,2
 0,0.0,1
 100000,0.3,1
 200000,0.3,1
 300000,0.8,1
 400000,0.8,1
 500000,1.0,1
 600000,1.0,1
 700000,0.9,1
 800000,0.4,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,0.9,1
 1900000,0.9,1
 2000000,1.0,1
--- a/results/tdmpc/mw-button-press.csv
+++ b/results/tdmpc/mw-button-press.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.2,3
 200000,0.2,3
 300000,0.4,3
 400000,0.3,3
 500000,0.4,3
 600000,0.6,3
 700000,0.8,3
 800000,0.4,3
 900000,0.6,3
 1000000,0.9,3
 1100000,0.7,3
 1200000,0.3,3
 1300000,0.7,3
 1400000,0.4,3
 1500000,0.6,3
 1600000,0.3,3
 1700000,0.3,3
 1800000,0.6,3
 1900000,0.4,3
 2000000,0.4,3
 0,0.0,2
 100000,0.2,2
 200000,0.3,2
 300000,0.1,2
 400000,0.1,2
 500000,0.1,2
 600000,0.3,2
 700000,0.4,2
 800000,0.7,2
 900000,0.7,2
 1000000,0.4,2
 1100000,0.5,2
 1200000,0.5,2
 1300000,0.7,2
 1400000,0.4,2
 1500000,0.6,2
 1600000,0.6,2
 1700000,0.0,2
 1800000,0.7,2
 1900000,0.5,2
 2000000,0.9,2
 0,0.0,1
 100000,0.1,1
 200000,0.3,1
 300000,0.3,1
 400000,0.2,1
 500000,0.1,1
 600000,0.3,1
 700000,0.5,1
 800000,0.3,1
 900000,0.3,1
 1000000,0.5,1
 1100000,0.8,1
 1200000,0.7,1
 1300000,0.4,1
 1400000,1.0,1
 1500000,0.7,1
 1600000,0.7,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,0.0,1
 2000000,0.9,1
--- a/results/tdmpc/mw-coffee-button.csv
+++ b/results/tdmpc/mw-coffee-button.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,1.0,3
 200000,1.0,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,1.0,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,1.0,1
 200000,1.0,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,0.9,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-coffee-pull.csv
+++ b/results/tdmpc/mw-coffee-pull.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.1,3
 200000,0.4,3
 300000,0.6,3
 400000,0.9,3
 500000,1.0,3
 600000,0.8,3
 700000,0.9,3
 800000,1.0,3
 900000,0.7,3
 1000000,0.9,3
 1100000,1.0,3
 1200000,0.8,3
 1300000,0.9,3
 1400000,0.9,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,0.8,3
 1900000,0.8,3
 2000000,0.8,3
 0,0.0,1
 100000,0.2,1
 200000,0.7,1
 300000,0.9,1
 400000,0.8,1
 500000,0.8,1
 600000,0.9,1
 700000,0.8,1
 800000,1.0,1
 900000,1.0,1
 1000000,0.9,1
 1100000,0.9,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,0.9,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
 0,0.0,2
 100000,0.0,2
 200000,0.1,2
 300000,0.8,2
 400000,1.0,2
 500000,0.8,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,0.9,2
 1600000,1.0,2
 1700000,0.9,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
--- a/results/tdmpc/mw-coffee-push.csv
+++ b/results/tdmpc/mw-coffee-push.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.2,3
 200000,0.1,3
 300000,0.3,3
 400000,0.4,3
 500000,0.9,3
 600000,0.7,3
 700000,0.9,3
 800000,0.8,3
 900000,0.6,3
 1000000,1.0,3
 1100000,0.7,3
 1200000,0.9,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,0.8,3
 1600000,0.9,3
 1700000,0.9,3
 1800000,0.8,3
 1900000,1.0,3
 2000000,0.9,3
 0,0.0,2
 100000,0.0,2
 200000,0.2,2
 300000,0.2,2
 400000,0.5,2
 500000,0.6,2
 600000,0.3,2
 700000,0.7,2
 800000,0.7,2
 900000,0.9,2
 1000000,0.9,2
 1100000,0.9,2
 1200000,1.0,2
 1300000,0.8,2
 1400000,0.9,2
 1500000,0.9,2
 1600000,0.8,2
 1700000,0.8,2
 1800000,0.8,2
 1900000,0.9,2
 2000000,0.9,2
 0,0.0,1
 100000,0.3,1
 200000,0.3,1
 300000,0.2,1
 400000,0.2,1
 500000,0.3,1
 600000,0.4,1
 700000,0.7,1
 800000,0.5,1
 900000,0.4,1
 1000000,0.8,1
 1100000,0.7,1
 1200000,0.9,1
 1300000,0.8,1
 1400000,0.5,1
 1500000,0.9,1
 1600000,0.6,1
 1700000,0.7,1
 1800000,0.9,1
 1900000,0.8,1
 2000000,0.7,1
--- a/results/tdmpc/mw-dial-turn.csv
+++ b/results/tdmpc/mw-dial-turn.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.1,3
 200000,0.7,3
 300000,0.6,3
 400000,0.5,3
 500000,0.7,3
 600000,0.2,3
 700000,0.3,3
 800000,0.5,3
 900000,0.6,3
 1000000,0.6,3
 1100000,0.4,3
 1200000,0.5,3
 1300000,0.3,3
 1400000,0.5,3
 1500000,0.6,3
 1600000,0.6,3
 1700000,0.7,3
 1800000,0.4,3
 1900000,0.7,3
 2000000,0.8,3
 0,0.0,1
 100000,0.0,1
 200000,0.2,1
 300000,0.3,1
 400000,0.2,1
 500000,0.4,1
 600000,0.4,1
 700000,0.2,1
 800000,0.6,1
 900000,0.7,1
 1000000,0.6,1
 1100000,0.8,1
 1200000,0.6,1
 1300000,0.8,1
 1400000,0.2,1
 1500000,0.9,1
 1600000,0.5,1
 1700000,0.7,1
 1800000,0.7,1
 1900000,0.5,1
 2000000,0.6,1
 0,0.0,2
 100000,0.0,2
 200000,0.2,2
 300000,0.4,2
 400000,0.4,2
 500000,0.6,2
 600000,0.4,2
 700000,0.4,2
 800000,0.4,2
 900000,0.4,2
 1000000,0.7,2
 1100000,0.4,2
 1200000,0.7,2
 1300000,0.6,2
 1400000,0.7,2
 1500000,0.6,2
 1600000,0.4,2
 1700000,0.7,2
 1800000,0.6,2
 1900000,0.6,2
 2000000,0.6,2
--- a/results/tdmpc/mw-disassemble.csv
+++ b/results/tdmpc/mw-disassemble.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,0.0,3
 300000,0.0,3
 400000,0.0,3
 500000,0.0,3
 600000,0.0,3
 700000,0.0,3
 800000,0.0,3
 900000,0.0,3
 1000000,0.0,3
 1100000,0.0,3
 1200000,0.0,3
 1300000,0.0,3
 1400000,0.0,3
 1500000,0.0,3
 1600000,0.0,3
 1700000,0.0,3
 1800000,0.0,3
 1900000,0.0,3
 2000000,0.0,3
 0,0.0,2
 100000,0.1,2
 200000,0.4,2
 300000,0.6,2
 400000,0.9,2
 500000,0.7,2
 600000,1.0,2
 700000,0.9,2
 800000,0.8,2
 900000,0.9,2
 1000000,0.8,2
 1100000,0.9,2
 1200000,0.8,2
 1300000,0.8,2
 1400000,1.0,2
 1500000,0.8,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,0.9,2
 2000000,0.7,2
 0,0.0,1
 100000,0.0,1
 200000,0.0,1
 300000,0.0,1
 400000,0.0,1
 500000,0.0,1
 600000,0.0,1
 700000,0.0,1
 800000,0.0,1
 900000,0.0,1
 1000000,0.5,1
 1100000,0.3,1
 1200000,0.8,1
 1300000,0.8,1
 1400000,0.9,1
 1500000,1.0,1
 1600000,0.9,1
 1700000,0.7,1
 1800000,0.9,1
 1900000,1.0,1
 2000000,0.8,1
--- a/results/tdmpc/mw-door-close.csv
+++ b/results/tdmpc/mw-door-close.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0,3
 100000,1,3
 200000,1,3
 300000,1,3
 400000,1,3
 500000,1,3
 600000,1,3
 700000,1,3
 800000,1,3
 900000,1,3
 1000000,1,3
 1100000,1,3
 1200000,1,3
 1300000,1,3
 1400000,1,3
 1500000,1,3
 1600000,1,3
 1700000,1,3
 1800000,1,3
 1900000,1,3
 2000000,1,3
 0,0,1
 100000,1,1
 200000,1,1
 300000,1,1
 400000,1,1
 500000,1,1
 600000,1,1
 700000,1,1
 800000,1,1
 900000,1,1
 1000000,1,1
 1100000,1,1
 1200000,1,1
 1300000,1,1
 1400000,1,1
 1500000,1,1
 1600000,1,1
 1700000,1,1
 1800000,1,1
 1900000,1,1
 2000000,1,1
 0,0,2
 100000,1,2
 200000,1,2
 300000,1,2
 400000,1,2
 500000,1,2
 600000,1,2
 700000,1,2
 800000,1,2
 900000,1,2
 1000000,1,2
 1100000,1,2
 1200000,1,2
 1300000,1,2
 1400000,1,2
 1500000,1,2
 1600000,1,2
 1700000,1,2
 1800000,1,2
 1900000,1,2
 2000000,1,2
--- a/results/tdmpc/mw-door-lock.csv
+++ b/results/tdmpc/mw-door-lock.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,1.0,3
 200000,1.0,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,0.9,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,1.0,1
 200000,1.0,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-door-open.csv
+++ b/results/tdmpc/mw-door-open.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,0.7,3
 300000,0.8,3
 400000,0.8,3
 500000,0.9,3
 600000,1.0,3
 700000,0.7,3
 800000,0.9,3
 900000,1.0,3
 1000000,1.0,3
 1100000,0.9,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,0.7,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,1
 100000,0.5,1
 200000,0.8,1
 300000,1.0,1
 400000,1.0,1
 500000,0.9,1
 600000,1.0,1
 700000,1.0,1
 800000,0.7,1
 900000,0.7,1
 1000000,0.9,1
 1100000,0.9,1
 1200000,1.0,1
 1300000,0.9,1
 1400000,0.8,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,0.9,1
 2000000,0.9,1
 0,0.0,2
 100000,0.8,2
 200000,1.0,2
 300000,0.9,2
 400000,1.0,2
 500000,0.8,2
 600000,1.0,2
 700000,0.9,2
 800000,0.9,2
 900000,1.0,2
 1000000,0.9,2
 1100000,0.8,2
 1200000,1.0,2
 1300000,0.9,2
 1400000,0.9,2
 1500000,1.0,2
 1600000,0.7,2
 1700000,0.9,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,0.9,2
--- a/results/tdmpc/mw-door-unlock.csv
+++ b/results/tdmpc/mw-door-unlock.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.8,3
 200000,1.0,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,0.8,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,1.0,1
 200000,1.0,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-drawer-close.csv
+++ b/results/tdmpc/mw-drawer-close.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.1,3
 100000,0.8,3
 200000,1.0,3
 300000,0.9,3
 400000,1.0,3
 500000,0.9,3
 600000,0.9,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,0.9,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.2,1
 100000,0.9,1
 200000,1.0,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,0.9,1
 900000,1.0,1
 1000000,1.0,1
 1100000,0.8,1
 1200000,0.9,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,0.9,1
 0,0.4,2
 100000,1.0,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,0.9,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,0.9,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,0.8,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
--- a/results/tdmpc/mw-drawer-open.csv
+++ b/results/tdmpc/mw-drawer-open.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,1.0,3
 200000,0.9,3
 300000,1.0,3
 400000,1.0,3
 500000,0.9,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,0.9,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,1.0,2
 200000,0.9,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,0.9,1
 200000,1.0,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-faucet-close.csv
+++ b/results/tdmpc/mw-faucet-close.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.9,3
 200000,1.0,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,1
 100000,0.9,1
 200000,1.0,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,0.9,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,0.9,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,0.9,1
 0,0.0,2
 100000,0.2,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,0.9,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
--- a/results/tdmpc/mw-faucet-open.csv
+++ b/results/tdmpc/mw-faucet-open.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,1.0,3
 200000,1.0,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,0.9,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,1.0,2
 200000,1.0,2
 300000,0.4,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,0.9,1
 200000,1.0,1
 300000,0.9,1
 400000,1.0,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,0.9,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-hammer.csv
+++ b/results/tdmpc/mw-hammer.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.9,3
 200000,1.0,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,1
 100000,1.0,1
 200000,1.0,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
 0,0.0,2
 100000,1.0,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
--- a/results/tdmpc/mw-hand-insert.csv
+++ b/results/tdmpc/mw-hand-insert.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.7,3
 200000,0.9,3
 300000,0.9,3
 400000,0.9,3
 500000,1.0,3
 600000,0.9,3
 700000,0.9,3
 800000,1.0,3
 900000,1.0,3
 1000000,0.9,3
 1100000,1.0,3
 1200000,0.9,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,0.9,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,0.9,3
 0,0.0,1
 100000,0.7,1
 200000,0.9,1
 300000,0.9,1
 400000,0.9,1
 500000,1.0,1
 600000,0.9,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,0.7,1
 1500000,0.8,1
 1600000,0.8,1
 1700000,1.0,1
 1800000,0.9,1
 1900000,0.9,1
 2000000,1.0,1
 0,0.0,2
 100000,0.4,2
 200000,0.7,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,0.8,2
 1400000,0.8,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,0.9,2
 1800000,1.0,2
 1900000,0.9,2
 2000000,1.0,2
--- a/results/tdmpc/mw-handle-press-side.csv
+++ b/results/tdmpc/mw-handle-press-side.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,1.0,3
 200000,1.0,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,0.9,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,0.9,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,0.9,3
 1700000,1.0,3
 1800000,0.9,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,1
 100000,1.0,1
 200000,0.9,1
 300000,1.0,1
 400000,1.0,1
 500000,0.9,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,0.9,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
 0,0.1,2
 100000,1.0,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
--- a/results/tdmpc/mw-handle-press.csv
+++ b/results/tdmpc/mw-handle-press.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.3,3
 100000,1.0,3
 200000,1.0,3
 300000,1.0,3
 400000,1.0,3
 500000,0.8,3
 600000,0.9,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,0.9,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.2,2
 100000,1.0,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,0.9,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,0.9,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.2,1
 100000,0.9,1
 200000,1.0,1
 300000,0.9,1
 400000,0.7,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,0.8,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-handle-pull-side.csv
+++ b/results/tdmpc/mw-handle-pull-side.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,0.1,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,1
 100000,1.0,1
 200000,0.9,1
 300000,1.0,1
 400000,0.9,1
 500000,1.0,1
 600000,0.9,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,0.9,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,0.9,1
 1900000,1.0,1
 2000000,1.0,1
 0,0.0,2
 100000,1.0,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
--- a/results/tdmpc/mw-handle-pull.csv
+++ b/results/tdmpc/mw-handle-pull.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.9,3
 200000,0.8,3
 300000,1.0,3
 400000,0.7,3
 500000,0.7,3
 600000,1.0,3
 700000,0.9,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,0.9,3
 1300000,0.9,3
 1400000,0.9,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,0.9,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,1
 100000,0.0,1
 200000,0.4,1
 300000,1.0,1
 400000,1.0,1
 500000,0.7,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,0.8,1
 1000000,0.9,1
 1100000,1.0,1
 1200000,0.9,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
 0,0.0,2
 100000,0.0,2
 200000,1.0,2
 300000,0.9,2
 400000,0.9,2
 500000,1.0,2
 600000,0.9,2
 700000,1.0,2
 800000,0.9,2
 900000,0.9,2
 1000000,0.9,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,0.9,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
--- a/results/tdmpc/mw-lever-pull.csv
+++ b/results/tdmpc/mw-lever-pull.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.4,3
 200000,0.8,3
 300000,0.8,3
 400000,0.3,3
 500000,0.8,3
 600000,0.4,3
 700000,0.5,3
 800000,0.5,3
 900000,0.7,3
 1000000,0.4,3
 1100000,0.2,3
 1200000,0.4,3
 1300000,0.2,3
 1400000,0.5,3
 1500000,0.4,3
 1600000,0.3,3
 1700000,0.6,3
 1800000,0.6,3
 1900000,0.4,3
 2000000,0.1,3
 0,0.0,1
 100000,0.0,1
 200000,0.5,1
 300000,0.5,1
 400000,0.6,1
 500000,0.3,1
 600000,0.1,1
 700000,0.4,1
 800000,0.2,1
 900000,0.4,1
 1000000,0.7,1
 1100000,0.3,1
 1200000,0.1,1
 1300000,0.0,1
 1400000,0.6,1
 1500000,0.5,1
 1600000,0.8,1
 1700000,0.3,1
 1800000,0.5,1
 1900000,0.3,1
 2000000,0.3,1
 0,0.0,2
 100000,0.1,2
 200000,0.7,2
 300000,0.5,2
 400000,0.2,2
 500000,0.8,2
 600000,0.4,2
 700000,0.2,2
 800000,0.3,2
 900000,0.8,2
 1000000,0.3,2
 1100000,0.1,2
 1200000,0.2,2
 1300000,0.3,2
 1400000,0.3,2
 1500000,0.6,2
 1600000,0.8,2
 1700000,0.3,2
 1800000,0.7,2
 1900000,0.7,2
 2000000,0.3,2
--- a/results/tdmpc/mw-peg-insert-side.csv
+++ b/results/tdmpc/mw-peg-insert-side.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.7,3
 200000,0.8,3
 300000,0.9,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,0.9,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,0.9,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,0.9,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,0.9,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,1.0,1
 200000,1.0,1
 300000,1.0,1
 400000,1.0,1
 500000,0.9,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,0.9,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,0.9,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,0.9,1
 1900000,1.0,1
 2000000,0.9,1
--- a/results/tdmpc/mw-peg-unplug-side.csv
+++ b/results/tdmpc/mw-peg-unplug-side.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.6,3
 200000,0.9,3
 300000,0.7,3
 400000,0.9,3
 500000,1.0,3
 600000,0.5,3
 700000,0.7,3
 800000,0.8,3
 900000,0.7,3
 1000000,1.0,3
 1100000,0.6,3
 1200000,0.8,3
 1300000,0.8,3
 1400000,0.7,3
 1500000,0.8,3
 1600000,0.9,3
 1700000,0.8,3
 1800000,0.9,3
 1900000,0.7,3
 2000000,0.6,3
 0,0.0,2
 100000,0.6,2
 200000,0.8,2
 300000,0.8,2
 400000,0.9,2
 500000,0.3,2
 600000,0.6,2
 700000,0.7,2
 800000,0.8,2
 900000,0.8,2
 1000000,0.8,2
 1100000,0.9,2
 1200000,0.9,2
 1300000,0.9,2
 1400000,0.9,2
 1500000,0.9,2
 1600000,0.8,2
 1700000,1.0,2
 1800000,0.6,2
 1900000,0.9,2
 2000000,0.7,2
 0,0.0,1
 100000,0.7,1
 200000,0.8,1
 300000,0.8,1
 400000,0.6,1
 500000,0.6,1
 600000,0.5,1
 700000,0.8,1
 800000,0.6,1
 900000,0.9,1
 1000000,0.8,1
 1100000,0.7,1
 1200000,1.0,1
 1300000,0.7,1
 1400000,0.7,1
 1500000,0.9,1
 1600000,0.9,1
 1700000,1.0,1
 1800000,0.8,1
 1900000,0.9,1
 2000000,0.9,1
--- a/results/tdmpc/mw-pick-out-of-hole.csv
+++ b/results/tdmpc/mw-pick-out-of-hole.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,0.6,3
 300000,0.9,3
 400000,0.9,3
 500000,0.6,3
 600000,0.9,3
 700000,0.9,3
 800000,1.0,3
 900000,0.9,3
 1000000,0.9,3
 1100000,1.0,3
 1200000,0.8,3
 1300000,0.9,3
 1400000,1.0,3
 1500000,0.9,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,0.8,3
 2000000,1.0,3
 0,0.0,2
 100000,0.0,2
 200000,0.9,2
 300000,0.9,2
 400000,0.6,2
 500000,0.9,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,0.9,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,0.9,2
 1500000,0.9,2
 1600000,0.9,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,0.0,1
 200000,0.9,1
 300000,0.8,1
 400000,1.0,1
 500000,0.9,1
 600000,0.9,1
 700000,0.9,1
 800000,0.7,1
 900000,0.8,1
 1000000,1.0,1
 1100000,0.8,1
 1200000,0.7,1
 1300000,1.0,1
 1400000,0.9,1
 1500000,0.8,1
 1600000,0.9,1
 1700000,0.9,1
 1800000,0.9,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-pick-place-wall.csv
+++ b/results/tdmpc/mw-pick-place-wall.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,0.0,3
 300000,0.0,3
 400000,0.0,3
 500000,0.0,3
 600000,0.0,3
 700000,0.0,3
 800000,0.0,3
 900000,0.0,3
 1000000,0.0,3
 1100000,0.0,3
 1200000,0.2,3
 1300000,0.2,3
 1400000,0.0,3
 1500000,0.3,3
 1600000,0.2,3
 1700000,0.0,3
 1800000,0.3,3
 1900000,0.5,3
 2000000,0.6,3
 0,0.0,2
 100000,0.0,2
 200000,0.0,2
 300000,0.0,2
 400000,0.0,2
 500000,0.0,2
 600000,0.0,2
 700000,0.0,2
 800000,0.0,2
 900000,0.0,2
 1000000,0.0,2
 1100000,0.0,2
 1200000,0.0,2
 1300000,0.0,2
 1400000,0.0,2
 1500000,0.0,2
 1600000,0.0,2
 1700000,0.0,2
 1800000,0.0,2
 1900000,0.0,2
 2000000,0.0,2
 0,0.0,1
 100000,0.0,1
 200000,0.0,1
 300000,0.0,1
 400000,0.0,1
 500000,0.0,1
 600000,0.0,1
 700000,0.0,1
 800000,0.0,1
 900000,0.0,1
 1000000,0.0,1
 1100000,0.0,1
 1200000,0.0,1
 1300000,0.0,1
 1400000,0.0,1
 1500000,0.0,1
 1600000,0.0,1
 1700000,0.0,1
 1800000,0.0,1
 1900000,0.0,1
 2000000,0.0,1
--- a/results/tdmpc/mw-pick-place.csv
+++ b/results/tdmpc/mw-pick-place.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,0.0,3
 300000,0.5,3
 400000,0.6,3
 500000,0.8,3
 600000,0.5,3
 700000,0.7,3
 800000,0.9,3
 900000,0.8,3
 1000000,0.7,3
 1100000,0.9,3
 1200000,1.0,3
 1300000,0.8,3
 1400000,0.7,3
 1500000,0.6,3
 1600000,0.7,3
 1700000,0.9,3
 1800000,0.8,3
 1900000,0.8,3
 2000000,1.0,3
 0,0.0,1
 100000,0.0,1
 200000,0.5,1
 300000,0.2,1
 400000,0.6,1
 500000,0.5,1
 600000,0.6,1
 700000,0.6,1
 800000,1.0,1
 900000,0.5,1
 1000000,0.8,1
 1100000,0.4,1
 1200000,0.6,1
 1300000,0.9,1
 1400000,0.7,1
 1500000,0.4,1
 1600000,0.5,1
 1700000,0.7,1
 1800000,0.5,1
 1900000,0.7,1
 2000000,1.0,1
 0,0.0,2
 100000,0.0,2
 200000,0.7,2
 300000,0.7,2
 400000,0.5,2
 500000,0.3,2
 600000,0.1,2
 700000,0.3,2
 800000,0.7,2
 900000,0.2,2
 1000000,0.6,2
 1100000,0.4,2
 1200000,0.6,2
 1300000,0.4,2
 1400000,0.7,2
 1500000,0.7,2
 1600000,1.0,2
 1700000,0.9,2
 1800000,0.7,2
 1900000,0.6,2
 2000000,0.8,2
--- a/results/tdmpc/mw-plate-slide-back-side.csv
+++ b/results/tdmpc/mw-plate-slide-back-side.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,1.0,3
 200000,1.0,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,0.9,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,0.9,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,1.0,1
 200000,1.0,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,0.8,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-plate-slide-back.csv
+++ b/results/tdmpc/mw-plate-slide-back.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,1.0,3
 200000,0.9,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,1
 100000,1.0,1
 200000,1.0,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
 0,0.0,2
 100000,0.6,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,0.9,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,0.9,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
--- a/results/tdmpc/mw-plate-slide-side.csv
+++ b/results/tdmpc/mw-plate-slide-side.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.4,3
 200000,0.5,3
 300000,0.9,3
 400000,0.5,3
 500000,0.8,3
 600000,1.0,3
 700000,0.4,3
 800000,0.6,3
 900000,0.2,3
 1000000,0.5,3
 1100000,0.6,3
 1200000,0.4,3
 1300000,0.7,3
 1400000,0.4,3
 1500000,0.4,3
 1600000,0.8,3
 1700000,0.4,3
 1800000,0.7,3
 1900000,0.7,3
 2000000,0.5,3
 0,0.0,2
 100000,0.5,2
 200000,0.8,2
 300000,0.3,2
 400000,0.9,2
 500000,0.6,2
 600000,0.6,2
 700000,0.6,2
 800000,0.4,2
 900000,0.6,2
 1000000,0.6,2
 1100000,0.8,2
 1200000,0.4,2
 1300000,0.7,2
 1400000,0.7,2
 1500000,0.5,2
 1600000,0.6,2
 1700000,0.5,2
 1800000,0.8,2
 1900000,0.6,2
 2000000,0.9,2
 0,0.0,1
 100000,0.4,1
 200000,0.8,1
 300000,0.4,1
 400000,0.9,1
 500000,0.9,1
 600000,0.7,1
 700000,0.5,1
 800000,0.5,1
 900000,0.5,1
 1000000,0.5,1
 1100000,0.5,1
 1200000,0.7,1
 1300000,0.7,1
 1400000,0.7,1
 1500000,0.7,1
 1600000,0.3,1
 1700000,0.8,1
 1800000,0.6,1
 1900000,0.6,1
 2000000,0.7,1
--- a/results/tdmpc/mw-plate-slide.csv
+++ b/results/tdmpc/mw-plate-slide.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,1.0,3
 200000,1.0,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,1.0,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,1.0,1
 200000,1.0,1
 300000,0.9,1
 400000,1.0,1
 500000,0.9,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,0.9,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-push-back.csv
+++ b/results/tdmpc/mw-push-back.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,0.0,3
 300000,0.0,3
 400000,0.0,3
 500000,0.0,3
 600000,1.0,3
 700000,0.8,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,0.0,2
 200000,0.1,2
 300000,0.0,2
 400000,0.1,2
 500000,0.5,2
 600000,1.0,2
 700000,1.0,2
 800000,0.9,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,0.0,1
 200000,0.1,1
 300000,0.5,1
 400000,0.7,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,0.8,1
 1000000,1.0,1
 1100000,0.9,1
 1200000,1.0,1
 1300000,0.9,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,0.9,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-push-wall.csv
+++ b/results/tdmpc/mw-push-wall.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.2,3
 200000,0.7,3
 300000,0.9,3
 400000,0.9,3
 500000,0.9,3
 600000,1.0,3
 700000,0.8,3
 800000,1.0,3
 900000,0.9,3
 1000000,1.0,3
 1100000,0.8,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,0.9,3
 1600000,0.9,3
 1700000,0.8,3
 1800000,0.9,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,0.0,2
 200000,0.6,2
 300000,0.6,2
 400000,0.9,2
 500000,0.8,2
 600000,0.7,2
 700000,0.9,2
 800000,0.8,2
 900000,0.9,2
 1000000,1.0,2
 1100000,0.8,2
 1200000,1.0,2
 1300000,0.8,2
 1400000,1.0,2
 1500000,0.7,2
 1600000,0.9,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,0.3,1
 200000,1.0,1
 300000,0.8,1
 400000,0.9,1
 500000,0.9,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,0.9,1
 1500000,0.9,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,0.9,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-push.csv
+++ b/results/tdmpc/mw-push.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.6,3
 200000,0.6,3
 300000,0.8,3
 400000,1.0,3
 500000,1.0,3
 600000,0.7,3
 700000,0.9,3
 800000,0.8,3
 900000,1.0,3
 1000000,1.0,3
 1100000,0.9,3
 1200000,0.7,3
 1300000,0.7,3
 1400000,0.9,3
 1500000,1.0,3
 1600000,0.9,3
 1700000,0.9,3
 1800000,0.9,3
 1900000,0.9,3
 2000000,0.7,3
 0,0.0,2
 100000,0.2,2
 200000,0.6,2
 300000,1.0,2
 400000,0.8,2
 500000,0.9,2
 600000,1.0,2
 700000,1.0,2
 800000,0.9,2
 900000,1.0,2
 1000000,1.0,2
 1100000,0.9,2
 1200000,1.0,2
 1300000,0.9,2
 1400000,1.0,2
 1500000,0.9,2
 1600000,1.0,2
 1700000,0.9,2
 1800000,1.0,2
 1900000,0.9,2
 2000000,1.0,2
 0,0.0,1
 100000,0.8,1
 200000,0.8,1
 300000,1.0,1
 400000,0.9,1
 500000,1.0,1
 600000,0.9,1
 700000,1.0,1
 800000,0.9,1
 900000,0.9,1
 1000000,0.6,1
 1100000,0.8,1
 1200000,0.8,1
 1300000,0.9,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,0.8,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,0.9,1
 2000000,0.9,1
--- a/results/tdmpc/mw-reach-wall.csv
+++ b/results/tdmpc/mw-reach-wall.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,1.0,3
 200000,0.8,3
 300000,0.9,3
 400000,1.0,3
 500000,0.9,3
 600000,1.0,3
 700000,0.7,3
 800000,1.0,3
 900000,0.9,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,0.9,3
 1300000,1.0,3
 1400000,0.9,3
 1500000,1.0,3
 1600000,0.8,3
 1700000,1.0,3
 1800000,0.9,3
 1900000,1.0,3
 2000000,0.9,3
 0,0.0,2
 100000,0.8,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,1.0,2
 600000,0.9,2
 700000,1.0,2
 800000,1.0,2
 900000,0.9,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,0.4,2
 1500000,0.9,2
 1600000,0.5,2
 1700000,0.9,2
 1800000,1.0,2
 1900000,0.9,2
 2000000,1.0,2
 0,0.0,1
 100000,1.0,1
 200000,1.0,1
 300000,0.8,1
 400000,0.9,1
 500000,0.9,1
 600000,0.6,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,0.9,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,0.7,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,0.4,1
 1800000,0.2,1
 1900000,0.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-reach.csv
+++ b/results/tdmpc/mw-reach.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.9,3
 200000,0.9,3
 300000,0.4,3
 400000,0.7,3
 500000,1.0,3
 600000,1.0,3
 700000,0.9,3
 800000,1.0,3
 900000,1.0,3
 1000000,0.9,3
 1100000,0.9,3
 1200000,1.0,3
 1300000,0.6,3
 1400000,1.0,3
 1500000,0.5,3
 1600000,1.0,3
 1700000,0.9,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,0.9,3
 0,0.0,2
 100000,0.9,2
 200000,1.0,2
 300000,0.8,2
 400000,0.7,2
 500000,1.0,2
 600000,1.0,2
 700000,0.9,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,0.1,2
 1200000,0.5,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,0.9,2
 1600000,0.9,2
 1700000,0.9,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
 0,0.0,1
 100000,1.0,1
 200000,0.9,1
 300000,1.0,1
 400000,0.9,1
 500000,0.7,1
 600000,0.7,1
 700000,1.0,1
 800000,0.6,1
 900000,0.6,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,0.9,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,0.9,1
 1800000,0.4,1
 1900000,0.9,1
 2000000,1.0,1
--- a/results/tdmpc/mw-shelf-place.csv
+++ b/results/tdmpc/mw-shelf-place.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,0.0,3
 300000,0.0,3
 400000,0.4,3
 500000,0.9,3
 600000,1.0,3
 700000,1.0,3
 800000,0.8,3
 900000,1.0,3
 1000000,1.0,3
 1100000,0.6,3
 1200000,0.9,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,0.9,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,0.0,2
 200000,1.0,2
 300000,0.8,2
 400000,1.0,2
 500000,0.8,2
 600000,0.9,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,0.9,2
 1200000,1.0,2
 1300000,0.9,2
 1400000,0.8,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,0.4,2
 2000000,1.0,2
 0,0.0,1
 100000,0.0,1
 200000,0.0,1
 300000,0.0,1
 400000,0.0,1
 500000,0.0,1
 600000,0.0,1
 700000,0.0,1
 800000,0.0,1
 900000,0.0,1
 1000000,0.0,1
 1100000,0.0,1
 1200000,0.0,1
 1300000,0.0,1
 1400000,0.0,1
 1500000,0.0,1
 1600000,0.0,1
 1700000,0.0,1
 1800000,0.0,1
 1900000,0.2,1
 2000000,0.1,1
--- a/results/tdmpc/mw-soccer.csv
+++ b/results/tdmpc/mw-soccer.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.4,3
 200000,0.7,3
 300000,0.7,3
 400000,1.0,3
 500000,1.0,3
 600000,0.9,3
 700000,1.0,3
 800000,0.9,3
 900000,0.8,3
 1000000,0.9,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,0.9,3
 1500000,0.9,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,0.9,3
 2000000,1.0,3
 0,0.0,1
 100000,0.4,1
 200000,0.2,1
 300000,0.6,1
 400000,0.7,1
 500000,1.0,1
 600000,0.8,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,0.9,1
 1100000,0.9,1
 1200000,0.9,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,0.9,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
 0,0.0,2
 100000,0.1,2
 200000,0.3,2
 300000,0.7,2
 400000,0.6,2
 500000,0.6,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,0.8,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,0.9,2
 1800000,0.9,2
 1900000,0.9,2
 2000000,0.8,2
--- a/results/tdmpc/mw-stick-pull.csv
+++ b/results/tdmpc/mw-stick-pull.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.5,3
 200000,0.3,3
 300000,0.9,3
 400000,0.7,3
 500000,0.8,3
 600000,0.8,3
 700000,0.9,3
 800000,0.7,3
 900000,0.9,3
 1000000,0.7,3
 1100000,0.7,3
 1200000,0.7,3
 1300000,0.9,3
 1400000,0.9,3
 1500000,0.8,3
 1600000,0.8,3
 1700000,0.9,3
 1800000,0.9,3
 1900000,0.8,3
 2000000,0.9,3
 0,0.0,1
 100000,0.0,1
 200000,0.5,1
 300000,0.4,1
 400000,0.6,1
 500000,0.7,1
 600000,0.6,1
 700000,0.6,1
 800000,0.9,1
 900000,0.8,1
 1000000,0.7,1
 1100000,0.6,1
 1200000,0.8,1
 1300000,0.6,1
 1400000,0.6,1
 1500000,0.9,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,0.7,1
 1900000,0.9,1
 2000000,1.0,1
 0,0.0,2
 100000,0.0,2
 200000,0.0,2
 300000,0.6,2
 400000,0.7,2
 500000,0.6,2
 600000,0.7,2
 700000,0.5,2
 800000,0.9,2
 900000,0.9,2
 1000000,0.5,2
 1100000,0.7,2
 1200000,0.9,2
 1300000,0.2,2
 1400000,0.9,2
 1500000,0.7,2
 1600000,0.8,2
 1700000,0.9,2
 1800000,1.0,2
 1900000,0.8,2
 2000000,0.9,2
--- a/results/tdmpc/mw-stick-push.csv
+++ b/results/tdmpc/mw-stick-push.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,0.8,3
 300000,0.9,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,0.7,3
 1000000,0.8,3
 1100000,0.8,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,0.9,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,1
 100000,0.8,1
 200000,0.6,1
 300000,0.9,1
 400000,0.9,1
 500000,1.0,1
 600000,1.0,1
 700000,0.9,1
 800000,0.8,1
 900000,0.8,1
 1000000,0.9,1
 1100000,0.9,1
 1200000,0.9,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,0.9,1
 1900000,1.0,1
 2000000,0.9,1
 0,0.0,2
 100000,0.7,2
 200000,0.8,2
 300000,1.0,2
 400000,1.0,2
 500000,0.9,2
 600000,0.9,2
 700000,0.9,2
 800000,0.9,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,0.9,2
--- a/results/tdmpc/mw-sweep-into.csv
+++ b/results/tdmpc/mw-sweep-into.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.7,3
 200000,0.8,3
 300000,1.0,3
 400000,0.9,3
 500000,0.9,3
 600000,1.0,3
 700000,0.8,3
 800000,0.9,3
 900000,1.0,3
 1000000,0.9,3
 1100000,1.0,3
 1200000,0.9,3
 1300000,1.0,3
 1400000,0.9,3
 1500000,0.9,3
 1600000,0.9,3
 1700000,1.0,3
 1800000,0.9,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,1.0,2
 200000,0.9,2
 300000,1.0,2
 400000,0.9,2
 500000,1.0,2
 600000,0.8,2
 700000,0.9,2
 800000,1.0,2
 900000,0.8,2
 1000000,1.0,2
 1100000,0.7,2
 1200000,0.9,2
 1300000,0.8,2
 1400000,0.9,2
 1500000,0.8,2
 1600000,1.0,2
 1700000,0.9,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,0.9,2
 0,0.0,1
 100000,1.0,1
 200000,0.7,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,0.7,1
 700000,0.8,1
 800000,0.9,1
 900000,1.0,1
 1000000,0.8,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,0.9,1
 1400000,1.0,1
 1500000,0.9,1
 1600000,0.8,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/mw-sweep.csv
+++ b/results/tdmpc/mw-sweep.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,1.0,3
 200000,1.0,3
 300000,1.0,3
 400000,0.6,3
 500000,0.9,3
 600000,0.9,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,0.8,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,2
 100000,0.9,2
 200000,1.0,2
 300000,1.0,2
 400000,0.7,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,0.9,2
 1900000,1.0,2
 2000000,0.9,2
 0,0.0,1
 100000,1.0,1
 200000,0.9,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,1.0,1
 700000,0.9,1
 800000,0.9,1
 900000,0.8,1
 1000000,1.0,1
 1100000,0.9,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,0.9,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,0.9,1
 2000000,1.0,1
--- a/results/tdmpc/mw-window-close.csv
+++ b/results/tdmpc/mw-window-close.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,1.0,3
 200000,1.0,3
 300000,1.0,3
 400000,1.0,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,1.0,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,1.0,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,1
 100000,1.0,1
 200000,1.0,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
 0,0.0,2
 100000,1.0,2
 200000,1.0,2
 300000,0.9,2
 400000,1.0,2
 500000,1.0,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
--- a/results/tdmpc/mw-window-open.csv
+++ b/results/tdmpc/mw-window-open.csv
@@ -0,0 +1,64 @@
 step,success,seed
 0,0.0,3
 100000,0.9,3
 200000,1.0,3
 300000,0.9,3
 400000,0.8,3
 500000,1.0,3
 600000,1.0,3
 700000,1.0,3
 800000,0.6,3
 900000,1.0,3
 1000000,1.0,3
 1100000,1.0,3
 1200000,1.0,3
 1300000,0.9,3
 1400000,1.0,3
 1500000,1.0,3
 1600000,1.0,3
 1700000,1.0,3
 1800000,1.0,3
 1900000,1.0,3
 2000000,1.0,3
 0,0.0,1
 100000,0.9,1
 200000,1.0,1
 300000,1.0,1
 400000,1.0,1
 500000,1.0,1
 600000,1.0,1
 700000,1.0,1
 800000,1.0,1
 900000,1.0,1
 1000000,1.0,1
 1100000,1.0,1
 1200000,1.0,1
 1300000,1.0,1
 1400000,1.0,1
 1500000,1.0,1
 1600000,1.0,1
 1700000,1.0,1
 1800000,1.0,1
 1900000,1.0,1
 2000000,1.0,1
 0,0.0,2
 100000,1.0,2
 200000,1.0,2
 300000,1.0,2
 400000,1.0,2
 500000,0.9,2
 600000,1.0,2
 700000,1.0,2
 800000,1.0,2
 900000,1.0,2
 1000000,1.0,2
 1100000,1.0,2
 1200000,1.0,2
 1300000,1.0,2
 1400000,1.0,2
 1500000,1.0,2
 1600000,1.0,2
 1700000,1.0,2
 1800000,1.0,2
 1900000,1.0,2
 2000000,1.0,2
--- a/results/tdmpc/myo-hand-key-turn-hard.csv
+++ b/results/tdmpc/myo-hand-key-turn-hard.csv
@@ -0,0 +1,127 @@
 step,success,seed
 0,0.0,3
 50000,0.0,3
 100000,0.0,3
 150000,0.0,3
 200000,0.0,3
 250000,0.0,3
 300000,0.0,3
 350000,0.0,3
 400000,0.0,3
 450000,0.0,3
 500000,0.0,3
 550000,0.0,3
 600000,0.0,3
 650000,0.0,3
 700000,0.0,3
 750000,0.0,3
 800000,0.1,3
 850000,0.3,3
 900000,0.1,3
 950000,0.1,3
 1000000,0.0,3
 1050000,0.7,3
 1100000,0.1,3
 1150000,0.4,3
 1200000,0.6,3
 1250000,0.5,3
 1300000,0.3,3
 1350000,0.3,3
 1400000,0.5,3
 1450000,0.1,3
 1500000,0.2,3
 1550000,0.2,3
 1600000,0.2,3
 1650000,0.4,3
 1700000,0.7,3
 1750000,0.4,3
 1800000,0.7,3
 1850000,0.4,3
 1900000,0.5,3
 1950000,0.4,3
 2000000,0.3,3
 2000000,0.3,3
 0,0.0,2
 50000,0.0,2
 100000,0.0,2
 150000,0.0,2
 200000,0.0,2
 250000,0.0,2
 300000,0.0,2
 350000,0.0,2
 400000,0.0,2
 450000,0.1,2
 500000,0.4,2
 550000,0.6,2
 600000,0.6,2
 650000,0.5,2
 700000,0.5,2
 750000,0.3,2
 800000,0.5,2
 850000,0.5,2
 900000,0.6,2
 950000,0.3,2
 1000000,0.5,2
 1050000,0.3,2
 1100000,0.7,2
 1150000,0.7,2
 1200000,0.8,2
 1250000,0.7,2
 1300000,0.8,2
 1350000,0.9,2
 1400000,1.0,2
 1450000,0.9,2
 1500000,0.8,2
 1550000,1.0,2
 1600000,0.8,2
 1650000,0.9,2
 1700000,0.8,2
 1750000,0.9,2
 1800000,1.0,2
 1850000,0.9,2
 1900000,0.8,2
 1950000,0.8,2
 2000000,1.0,2
 2000000,1.0,2
 0,0.0,1
 50000,0.0,1
 100000,0.0,1
 150000,0.0,1
 200000,0.0,1
 250000,0.0,1
 300000,0.0,1
 350000,0.0,1
 400000,0.0,1
 450000,0.0,1
 500000,0.0,1
 550000,0.0,1
 600000,0.0,1
 650000,0.0,1
 700000,0.0,1
 750000,0.0,1
 800000,0.0,1
 850000,0.0,1
 900000,0.0,1
 950000,0.0,1
 1000000,0.0,1
 1050000,0.3,1
 1100000,0.1,1
 1150000,0.0,1
 1200000,0.1,1
 1250000,0.2,1
 1300000,0.5,1
 1350000,0.5,1
 1400000,0.6,1
 1450000,0.9,1
 1500000,0.8,1
 1550000,1.0,1
 1600000,1.0,1
 1650000,0.6,1
 1700000,0.5,1
 1750000,0.5,1
 1800000,0.7,1
 1850000,0.7,1
 1900000,0.8,1
 1950000,0.7,1
 2000000,0.6,1
 2000000,0.6,1
--- a/results/tdmpc/myo-hand-key-turn.csv
+++ b/results/tdmpc/myo-hand-key-turn.csv
@@ -0,0 +1,127 @@
 step,success,seed
 0,0.0,3
 50000,0.0,3
 100000,0.4,3
 150000,1.0,3
 200000,1.0,3
 250000,1.0,3
 300000,1.0,3
 350000,1.0,3
 400000,1.0,3
 450000,1.0,3
 500000,1.0,3
 550000,1.0,3
 600000,1.0,3
 650000,1.0,3
 700000,1.0,3
 750000,1.0,3
 800000,1.0,3
 850000,1.0,3
 900000,1.0,3
 950000,1.0,3
 1000000,1.0,3
 1050000,1.0,3
 1100000,1.0,3
 1150000,1.0,3
 1200000,1.0,3
 1250000,1.0,3
 1300000,1.0,3
 1350000,1.0,3
 1400000,1.0,3
 1450000,1.0,3
 1500000,1.0,3
 1550000,1.0,3
 1600000,1.0,3
 1650000,1.0,3
 1700000,1.0,3
 1750000,1.0,3
 1800000,1.0,3
 1850000,1.0,3
 1900000,1.0,3
 1950000,1.0,3
 2000000,1.0,3
 2000000,1.0,3
 0,0.0,2
 50000,0.0,2
 100000,1.0,2
 150000,1.0,2
 200000,1.0,2
 250000,1.0,2
 300000,1.0,2
 350000,1.0,2
 400000,1.0,2
 450000,1.0,2
 500000,1.0,2
 550000,1.0,2
 600000,1.0,2
 650000,1.0,2
 700000,1.0,2
 750000,1.0,2
 800000,1.0,2
 850000,1.0,2
 900000,1.0,2
 950000,1.0,2
 1000000,1.0,2
 1050000,1.0,2
 1100000,1.0,2
 1150000,1.0,2
 1200000,1.0,2
 1250000,1.0,2
 1300000,1.0,2
 1350000,1.0,2
 1400000,1.0,2
 1450000,1.0,2
 1500000,1.0,2
 1550000,1.0,2
 1600000,1.0,2
 1650000,0.5,2
 1700000,1.0,2
 1750000,0.9,2
 1800000,1.0,2
 1850000,1.0,2
 1900000,0.8,2
 1950000,1.0,2
 2000000,1.0,2
 2000000,1.0,2
 0,0.0,1
 50000,0.0,1
 100000,1.0,1
 150000,1.0,1
 200000,1.0,1
 250000,1.0,1
 300000,1.0,1
 350000,1.0,1
 400000,1.0,1
 450000,1.0,1
 500000,1.0,1
 550000,1.0,1
 600000,1.0,1
 650000,1.0,1
 700000,1.0,1
 750000,1.0,1
 800000,1.0,1
 850000,1.0,1
 900000,1.0,1
 950000,1.0,1
 1000000,1.0,1
 1050000,1.0,1
 1100000,1.0,1
 1150000,1.0,1
 1200000,1.0,1
 1250000,1.0,1
 1300000,1.0,1
 1350000,1.0,1
 1400000,1.0,1
 1450000,1.0,1
 1500000,1.0,1
 1550000,1.0,1
 1600000,1.0,1
 1650000,1.0,1
 1700000,1.0,1
 1750000,1.0,1
 1800000,1.0,1
 1850000,1.0,1
 1900000,0.9,1
 1950000,1.0,1
 2000000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/myo-hand-obj-hold-hard.csv
+++ b/results/tdmpc/myo-hand-obj-hold-hard.csv
@@ -0,0 +1,127 @@
 step,success,seed
 0,0.0,3
 50000,0.0,3
 100000,0.0,3
 150000,0.0,3
 200000,0.0,3
 250000,0.0,3
 300000,0.0,3
 350000,0.0,3
 400000,0.0,3
 450000,0.0,3
 500000,0.0,3
 550000,0.1,3
 600000,0.0,3
 650000,0.0,3
 700000,0.0,3
 750000,0.0,3
 800000,0.1,3
 850000,0.1,3
 900000,0.0,3
 950000,0.1,3
 1000000,0.0,3
 1050000,0.0,3
 1100000,0.1,3
 1150000,0.0,3
 1200000,0.0,3
 1250000,0.1,3
 1300000,0.0,3
 1350000,0.0,3
 1400000,0.0,3
 1450000,0.0,3
 1500000,0.0,3
 1550000,0.0,3
 1600000,0.0,3
 1650000,0.1,3
 1700000,0.2,3
 1750000,0.0,3
 1800000,0.2,3
 1850000,0.0,3
 1900000,0.2,3
 1950000,0.2,3
 2000000,0.1,3
 2000000,0.1,3
 0,0.0,1
 50000,0.0,1
 100000,0.0,1
 150000,0.0,1
 200000,0.0,1
 250000,0.1,1
 300000,0.0,1
 350000,0.0,1
 400000,0.2,1
 450000,0.1,1
 500000,0.1,1
 550000,0.0,1
 600000,0.2,1
 650000,0.0,1
 700000,0.0,1
 750000,0.1,1
 800000,0.0,1
 850000,0.1,1
 900000,0.1,1
 950000,0.2,1
 1000000,0.2,1
 1050000,0.4,1
 1100000,0.2,1
 1150000,0.2,1
 1200000,0.2,1
 1250000,0.1,1
 1300000,0.1,1
 1350000,0.1,1
 1400000,0.2,1
 1450000,0.4,1
 1500000,0.3,1
 1550000,0.3,1
 1600000,0.3,1
 1650000,0.5,1
 1700000,0.4,1
 1750000,0.2,1
 1800000,0.1,1
 1850000,0.2,1
 1900000,0.2,1
 1950000,0.4,1
 2000000,0.3,1
 2000000,0.3,1
 0,0.0,2
 50000,0.0,2
 100000,0.0,2
 150000,0.0,2
 200000,0.0,2
 250000,0.0,2
 300000,0.0,2
 350000,0.0,2
 400000,0.0,2
 450000,0.0,2
 500000,0.0,2
 550000,0.0,2
 600000,0.0,2
 650000,0.2,2
 700000,0.0,2
 750000,0.0,2
 800000,0.0,2
 850000,0.0,2
 900000,0.0,2
 950000,0.0,2
 1000000,0.0,2
 1050000,0.0,2
 1100000,0.0,2
 1150000,0.0,2
 1200000,0.0,2
 1250000,0.0,2
 1300000,0.0,2
 1350000,0.1,2
 1400000,0.0,2
 1450000,0.0,2
 1500000,0.0,2
 1550000,0.0,2
 1600000,0.0,2
 1650000,0.0,2
 1700000,0.1,2
 1750000,0.0,2
 1800000,0.0,2
 1850000,0.0,2
 1900000,0.0,2
 1950000,0.0,2
 2000000,0.1,2
 2000000,0.1,2
--- a/results/tdmpc/myo-hand-obj-hold.csv
+++ b/results/tdmpc/myo-hand-obj-hold.csv
@@ -0,0 +1,127 @@
 step,success,seed
 0,0.0,3
 50000,0.0,3
 100000,0.0,3
 150000,0.0,3
 200000,0.0,3
 250000,0.0,3
 300000,0.0,3
 350000,0.0,3
 400000,0.0,3
 450000,0.0,3
 500000,0.0,3
 550000,0.0,3
 600000,0.0,3
 650000,0.0,3
 700000,0.1,3
 750000,0.4,3
 800000,0.1,3
 850000,1.0,3
 900000,1.0,3
 950000,1.0,3
 1000000,1.0,3
 1050000,1.0,3
 1100000,0.6,3
 1150000,1.0,3
 1200000,1.0,3
 1250000,1.0,3
 1300000,1.0,3
 1350000,1.0,3
 1400000,1.0,3
 1450000,0.9,3
 1500000,1.0,3
 1550000,1.0,3
 1600000,1.0,3
 1650000,1.0,3
 1700000,1.0,3
 1750000,1.0,3
 1800000,1.0,3
 1850000,1.0,3
 1900000,1.0,3
 1950000,1.0,3
 2000000,0.9,3
 2000000,0.9,3
 0,0.0,2
 50000,0.0,2
 100000,0.0,2
 150000,0.0,2
 200000,0.0,2
 250000,0.0,2
 300000,0.0,2
 350000,0.0,2
 400000,0.0,2
 450000,0.0,2
 500000,0.0,2
 550000,0.0,2
 600000,0.0,2
 650000,0.0,2
 700000,0.0,2
 750000,0.2,2
 800000,0.0,2
 850000,0.0,2
 900000,0.0,2
 950000,0.0,2
 1000000,0.0,2
 1050000,0.0,2
 1100000,0.0,2
 1150000,0.0,2
 1200000,0.0,2
 1250000,0.0,2
 1300000,0.0,2
 1350000,0.0,2
 1400000,0.0,2
 1450000,0.0,2
 1500000,0.0,2
 1550000,0.0,2
 1600000,0.0,2
 1650000,0.0,2
 1700000,0.0,2
 1750000,0.3,2
 1800000,0.0,2
 1850000,0.1,2
 1900000,0.1,2
 1950000,0.1,2
 2000000,0.0,2
 2000000,0.0,2
 0,0.0,1
 50000,0.0,1
 100000,0.0,1
 150000,0.0,1
 200000,0.0,1
 250000,0.0,1
 300000,0.0,1
 350000,0.0,1
 400000,0.0,1
 450000,0.0,1
 500000,0.0,1
 550000,0.0,1
 600000,0.0,1
 650000,0.0,1
 700000,0.0,1
 750000,0.0,1
 800000,0.0,1
 850000,0.0,1
 900000,0.0,1
 950000,0.0,1
 1000000,0.2,1
 1050000,0.9,1
 1100000,0.9,1
 1150000,1.0,1
 1200000,1.0,1
 1250000,1.0,1
 1300000,1.0,1
 1350000,1.0,1
 1400000,1.0,1
 1450000,1.0,1
 1500000,1.0,1
 1550000,1.0,1
 1600000,1.0,1
 1650000,1.0,1
 1700000,1.0,1
 1750000,1.0,1
 1800000,1.0,1
 1850000,1.0,1
 1900000,1.0,1
 1950000,1.0,1
 2000000,1.0,1
 2000000,1.0,1
--- a/results/tdmpc/myo-hand-pen-twirl-hard.csv
+++ b/results/tdmpc/myo-hand-pen-twirl-hard.csv
@@ -0,0 +1,127 @@
 step,success,seed
 0,0.0,3
 50000,0.0,3
 100000,0.0,3
 150000,0.0,3
 200000,0.1,3
 250000,0.1,3
 300000,0.1,3
 350000,0.1,3
 400000,0.1,3
 450000,0.3,3
 500000,0.2,3
 550000,0.1,3
 600000,0.3,3
 650000,0.2,3
 700000,0.0,3
 750000,0.1,3
 800000,0.4,3
 850000,0.1,3
 900000,0.0,3
 950000,0.2,3
 1000000,0.5,3
 1050000,0.6,3
 1100000,0.7,3
 1150000,0.2,3
 1200000,0.5,3
 1250000,0.2,3
 1300000,0.5,3
 1350000,0.6,3
 1400000,0.3,3
 1450000,0.5,3
 1500000,0.4,3
 1550000,0.2,3
 1600000,0.6,3
 1650000,0.4,3
 1700000,0.3,3
 1750000,0.4,3
 1800000,0.3,3
 1850000,0.6,3
 1900000,0.3,3
 1950000,0.3,3
 2000000,0.7,3
 2000000,0.7,3
 0,0.0,1
 50000,0.0,1
 100000,0.0,1
 150000,0.2,1
 200000,0.1,1
 250000,0.0,1
 300000,0.1,1
 350000,0.2,1
 400000,0.2,1
 450000,0.0,1
 500000,0.1,1
 550000,0.1,1
 600000,0.1,1
 650000,0.1,1
 700000,0.1,1
 750000,0.0,1
 800000,0.2,1
 850000,0.2,1
 900000,0.1,1
 950000,0.2,1
 1000000,0.2,1
 1050000,0.2,1
 1100000,0.2,1
 1150000,0.1,1
 1200000,0.3,1
 1250000,0.1,1
 1300000,0.4,1
 1350000,0.1,1
 1400000,0.2,1
 1450000,0.5,1
 1500000,0.4,1
 1550000,0.4,1
 1600000,0.5,1
 1650000,0.3,1
 1700000,0.4,1
 1750000,0.2,1
 1800000,0.2,1
 1850000,0.4,1
 1900000,0.2,1
 1950000,0.4,1
 2000000,0.3,1
 2000000,0.3,1
 0,0.0,2
 50000,0.0,2
 100000,0.0,2
 150000,0.0,2
 200000,0.0,2
 250000,0.0,2
 300000,0.0,2
 350000,0.0,2
 400000,0.0,2
 450000,0.0,2
 500000,0.0,2
 550000,0.1,2
 600000,0.0,2
 650000,0.2,2
 700000,0.0,2
 750000,0.0,2
 800000,0.2,2
 850000,0.2,2
 900000,0.2,2
 950000,0.0,2
 1000000,0.1,2
 1050000,0.3,2
 1100000,0.3,2
 1150000,0.1,2
 1200000,0.4,2
 1250000,0.2,2
 1300000,0.4,2
 1350000,0.1,2
 1400000,0.3,2
 1450000,0.4,2
 1500000,0.7,2
 1550000,0.5,2
 1600000,0.4,2
 1650000,0.3,2
 1700000,0.7,2
 1750000,0.5,2
 1800000,0.3,2
 1850000,0.3,2
 1900000,0.5,2
 1950000,0.2,2
 2000000,0.3,2
 2000000,0.3,2
--- a/results/tdmpc/myo-hand-pen-twirl.csv
+++ b/results/tdmpc/myo-hand-pen-twirl.csv
@@ -0,0 +1,126 @@
 step,success,seed
 0,0.0,1
 50000,0.0,1
 100000,0.0,1
 150000,0.0,1
 200000,0.0,1
 250000,0.0,1
 300000,0.0,1
 350000,0.0,1
 400000,0.0,1
 450000,0.0,1
 500000,0.0,1
 550000,0.0,1
 600000,0.0,1
 650000,0.0,1
 700000,0.0,1
 750000,0.0,1
 800000,0.0,1
 850000,0.0,1
 900000,0.0,1
 950000,0.1,1
 1000000,0.0,1
 1050000,0.0,1
 1100000,0.0,1
 1150000,0.1,1
 1200000,0.2,1
 1250000,0.0,1
 1300000,0.2,1
 1350000,0.0,1
 1400000,0.0,1
 1450000,0.0,1
 1500000,0.0,1
 1550000,0.1,1
 1600000,0.3,1
 1650000,0.1,1
 1700000,0.0,1
 1750000,0.0,1
 1800000,0.0,1
 1850000,0.1,1
 1900000,0.0,1
 1950000,0.1,1
 2000000,0.1,1
 0,0.0,3
 50000,0.0,3
 100000,0.0,3
 150000,0.1,3
 200000,0.0,3
 250000,0.0,3
 300000,0.1,3
 350000,0.1,3
 400000,0.0,3
 450000,0.2,3
 500000,0.0,3
 550000,0.1,3
 600000,0.0,3
 650000,0.0,3
 700000,0.0,3
 750000,0.2,3
 800000,0.0,3
 850000,0.0,3
 900000,0.0,3
 950000,0.2,3
 1000000,0.0,3
 1050000,0.1,3
 1100000,0.1,3
 1150000,0.1,3
 1200000,0.0,3
 1250000,0.2,3
 1300000,0.2,3
 1350000,0.2,3
 1400000,0.1,3
 1450000,0.2,3
 1500000,0.0,3
 1550000,0.1,3
 1600000,0.2,3
 1650000,0.0,3
 1700000,0.1,3
 1750000,0.1,3
 1800000,0.3,3
 1850000,0.4,3
 1900000,0.0,3
 1950000,0.1,3
 2000000,0.1,3
 2000000,0.1,3
 0,0.0,2
 50000,0.0,2
 100000,0.0,2
 150000,0.1,2
 200000,0.0,2
 250000,0.0,2
 300000,0.0,2
 350000,0.0,2
 400000,0.0,2
 450000,0.0,2
 500000,0.0,2
 550000,0.1,2
 600000,0.0,2
 650000,0.1,2
 700000,0.0,2
 750000,0.0,2
 800000,0.1,2
 850000,0.0,2
 900000,0.2,2
 950000,0.1,2
 1000000,0.1,2
 1050000,0.1,2
 1100000,0.1,2
 1150000,0.0,2
 1200000,0.1,2
 1250000,0.0,2
 1300000,0.0,2
 1350000,0.1,2
 1400000,0.1,2
 1450000,0.1,2
 1500000,0.1,2
 1550000,0.0,2
 1600000,0.2,2
 1650000,0.0,2
 1700000,0.1,2
 1750000,0.3,2
 1800000,0.0,2
 1850000,0.0,2
 1900000,0.0,2
 1950000,0.0,2
 2000000,0.0,2
 2000000,0.0,2
--- a/results/tdmpc/myo-hand-pose-hard.csv
+++ b/results/tdmpc/myo-hand-pose-hard.csv
@@ -0,0 +1,127 @@
 step,success,seed
 0,0,3
 50000,0,3
 100000,0,3
 150000,0,3
 200000,0,3
 250000,0,3
 300000,0,3
 350000,0,3
 400000,0,3
 450000,0,3
 500000,0,3
 550000,0,3
 600000,0,3
 650000,0,3
 700000,0,3
 750000,0,3
 800000,0,3
 850000,0,3
 900000,0,3
 950000,0,3
 1000000,0,3
 1050000,0,3
 1100000,0,3
 1150000,0,3
 1200000,0,3
 1250000,0,3
 1300000,0,3
 1350000,0,3
 1400000,0,3
 1450000,0,3
 1500000,0,3
 1550000,0,3
 1600000,0,3
 1650000,0,3
 1700000,0,3
 1750000,0,3
 1800000,0,3
 1850000,0,3
 1900000,0,3
 1950000,0,3
 2000000,0,3
 2000000,0,3
 0,0,1
 50000,0,1
 100000,0,1
 150000,0,1
 200000,0,1
 250000,0,1
 300000,0,1
 350000,0,1
 400000,0,1
 450000,0,1
 500000,0,1
 550000,0,1
 600000,0,1
 650000,0,1
 700000,0,1
 750000,0,1
 800000,0,1
 850000,0,1
 900000,0,1
 950000,0,1
 1000000,0,1
 1050000,0,1
 1100000,0,1
 1150000,0,1
 1200000,0,1
 1250000,0,1
 1300000,0,1
 1350000,0,1
 1400000,0,1
 1450000,0,1
 1500000,0,1
 1550000,0,1
 1600000,0,1
 1650000,0,1
 1700000,0,1
 1750000,0,1
 1800000,0,1
 1850000,0,1
 1900000,0,1
 1950000,0,1
 2000000,0,1
 2000000,0,1
 0,0,2
 50000,0,2
 100000,0,2
 150000,0,2
 200000,0,2
 250000,0,2
 300000,0,2
 350000,0,2
 400000,0,2
 450000,0,2
 500000,0,2
 550000,0,2
 600000,0,2
 650000,0,2
 700000,0,2
 750000,0,2
 800000,0,2
 850000,0,2
 900000,0,2
 950000,0,2
 1000000,0,2
 1050000,0,2
 1100000,0,2
 1150000,0,2
 1200000,0,2
 1250000,0,2
 1300000,0,2
 1350000,0,2
 1400000,0,2
 1450000,0,2
 1500000,0,2
 1550000,0,2
 1600000,0,2
 1650000,0,2
 1700000,0,2
 1750000,0,2
 1800000,0,2
 1850000,0,2
 1900000,0,2
 1950000,0,2
 2000000,0,2
 2000000,0,2
--- a/results/tdmpc/myo-hand-pose.csv
+++ b/results/tdmpc/myo-hand-pose.csv
@@ -0,0 +1,116 @@
 step,success,seed
 0,0.0,1
 50000,0.0,1
 100000,0.0,1
 150000,0.0,1
 200000,0.0,1
 250000,0.0,1
 300000,0.0,1
 350000,0.0,1
 400000,0.0,1
 450000,0.0,1
 500000,0.0,1
 550000,0.0,1
 600000,0.0,1
 650000,0.0,1
 700000,0.0,1
 750000,0.0,1
 800000,0.0,1
 850000,1.0,1
 900000,1.0,1
 950000,1.0,1
 1000000,0.9,1
 1050000,1.0,1
 1100000,1.0,1
 1150000,1.0,1
 1200000,1.0,1
 1250000,1.0,1
 1300000,1.0,1
 1350000,1.0,1
 1400000,1.0,1
 1450000,1.0,1
 2000000,1.0,1
 0,0.0,3
 50000,0.0,3
 100000,0.0,3
 150000,0.5,3
 200000,0.9,3
 250000,0.6,3
 300000,0.6,3
 350000,0.3,3
 400000,0.4,3
 450000,0.8,3
 500000,0.1,3
 550000,0.4,3
 600000,0.6,3
 650000,0.9,3
 700000,0.9,3
 750000,0.6,3
 800000,0.9,3
 850000,0.9,3
 900000,1.0,3
 950000,0.9,3
 1000000,1.0,3
 1050000,0.9,3
 1100000,1.0,3
 1150000,1.0,3
 1200000,0.7,3
 1250000,0.9,3
 1300000,1.0,3
 1350000,0.8,3
 1400000,0.9,3
 1450000,0.8,3
 1500000,1.0,3
 1550000,1.0,3
 1600000,1.0,3
 1650000,1.0,3
 1700000,1.0,3
 1750000,1.0,3
 1800000,1.0,3
 1850000,1.0,3
 1900000,1.0,3
 1950000,1.0,3
 2000000,0.7,3
 2000000,0.7,3
 0,0.0,2
 50000,0.0,2
 100000,0.0,2
 150000,0.0,2
 200000,0.0,2
 250000,0.0,2
 300000,0.0,2
 350000,0.0,2
 400000,1.0,2
 450000,1.0,2
 500000,1.0,2
 550000,1.0,2
 600000,1.0,2
 650000,1.0,2
 700000,1.0,2
 750000,1.0,2
 800000,1.0,2
 850000,1.0,2
 900000,1.0,2
 950000,1.0,2
 1000000,0.9,2
 1050000,1.0,2
 1100000,1.0,2
 1150000,1.0,2
 1200000,1.0,2
 1250000,1.0,2
 1300000,1.0,2
 1350000,1.0,2
 1400000,1.0,2
 1450000,1.0,2
 1500000,1.0,2
 1550000,1.0,2
 1600000,1.0,2
 1650000,0.4,2
 1700000,1.0,2
 1750000,1.0,2
 1800000,1.0,2
 1850000,1.0,2
 1900000,0.5,2
 1950000,1.0,2
 2000000,0.2,2
 2000000,0.2,2
--- a/results/tdmpc/myo-hand-reach-hard.csv
+++ b/results/tdmpc/myo-hand-reach-hard.csv
@@ -0,0 +1,127 @@
 step,success,seed
 0,0.0,3
 50000,0.0,3
 100000,0.0,3
 150000,0.1,3
 200000,0.1,3
 250000,0.3,3
 300000,0.4,3
 350000,0.5,3
 400000,0.4,3
 450000,0.6,3
 500000,0.7,3
 550000,0.8,3
 600000,0.8,3
 650000,0.5,3
 700000,0.6,3
 750000,0.9,3
 800000,0.7,3
 850000,0.8,3
 900000,0.7,3
 950000,1.0,3
 1000000,0.7,3
 1050000,0.8,3
 1100000,0.9,3
 1150000,0.7,3
 1200000,0.8,3
 1250000,0.6,3
 1300000,0.5,3
 1350000,0.5,3
 1400000,0.5,3
 1450000,0.6,3
 1500000,0.6,3
 1550000,0.4,3
 1600000,0.3,3
 1650000,0.8,3
 1700000,0.3,3
 1750000,0.6,3
 1800000,0.5,3
 1850000,0.4,3
 1900000,0.9,3
 1950000,0.7,3
 2000000,0.7,3
 2000000,0.7,3
 0,0.0,1
 50000,0.0,1
 100000,0.0,1
 150000,0.0,1
 200000,0.0,1
 250000,0.0,1
 300000,0.0,1
 350000,0.0,1
 400000,0.0,1
 450000,0.0,1
 500000,0.0,1
 550000,0.0,1
 600000,0.2,1
 650000,0.2,1
 700000,0.3,1
 750000,0.4,1
 800000,0.2,1
 850000,0.3,1
 900000,0.6,1
 950000,0.6,1
 1000000,0.5,1
 1050000,0.6,1
 1100000,0.2,1
 1150000,0.7,1
 1200000,0.6,1
 1250000,0.4,1
 1300000,0.4,1
 1350000,0.9,1
 1400000,0.7,1
 1450000,0.8,1
 1500000,0.8,1
 1550000,0.8,1
 1600000,0.3,1
 1650000,0.6,1
 1700000,0.6,1
 1750000,0.6,1
 1800000,0.3,1
 1850000,0.3,1
 1900000,0.3,1
 1950000,0.4,1
 2000000,0.2,1
 2000000,0.2,1
 0,0.0,2
 50000,0.0,2
 100000,0.0,2
 150000,0.0,2
 200000,0.0,2
 250000,0.0,2
 300000,0.1,2
 350000,0.0,2
 400000,0.2,2
 450000,0.2,2
 500000,0.3,2
 550000,0.3,2
 600000,0.7,2
 650000,0.5,2
 700000,0.9,2
 750000,0.5,2
 800000,0.5,2
 850000,0.8,2
 900000,0.7,2
 950000,0.8,2
 1000000,0.9,2
 1050000,0.6,2
 1100000,0.7,2
 1150000,0.8,2
 1200000,0.8,2
 1250000,0.5,2
 1300000,0.3,2
 1350000,0.5,2
 1400000,0.2,2
 1450000,0.7,2
 1500000,0.5,2
 1550000,0.5,2
 1600000,0.7,2
 1650000,0.5,2
 1700000,0.6,2
 1750000,0.6,2
 1800000,0.5,2
 1850000,0.3,2
 1900000,0.2,2
 1950000,0.2,2
 2000000,0.7,2
 2000000,0.7,2
--- a/results/tdmpc/myo-hand-reach.csv
+++ b/results/tdmpc/myo-hand-reach.csv
@@ -0,0 +1,127 @@
 step,success,seed
 0,0.0,1
 50000,1.0,1
 100000,0.5,1
 150000,0.6,1
 200000,1.0,1
 250000,1.0,1
 300000,1.0,1
 350000,0.9,1
 400000,1.0,1
 450000,1.0,1
 500000,0.0,1
 550000,1.0,1
 600000,1.0,1
 650000,1.0,1
 700000,0.9,1
 750000,1.0,1
 800000,1.0,1
 850000,1.0,1
 900000,1.0,1
 950000,1.0,1
 1000000,1.0,1
 1050000,1.0,1
 1100000,1.0,1
 1150000,0.9,1
 1200000,1.0,1
 1250000,1.0,1
 1300000,1.0,1
 1350000,1.0,1
 1400000,1.0,1
 1450000,1.0,1
 1500000,1.0,1
 1550000,1.0,1
 1600000,1.0,1
 1650000,1.0,1
 1700000,1.0,1
 1750000,1.0,1
 1800000,1.0,1
 1850000,1.0,1
 1900000,0.9,1
 1950000,1.0,1
 2000000,1.0,1
 2000000,1.0,1
 0,0.0,2
 50000,0.2,2
 100000,0.0,2
 150000,1.0,2
 200000,0.9,2
 250000,1.0,2
 300000,0.1,2
 350000,0.9,2
 400000,1.0,2
 450000,1.0,2
 500000,1.0,2
 550000,0.8,2
 600000,0.6,2
 650000,1.0,2
 700000,1.0,2
 750000,1.0,2
 800000,1.0,2
 850000,1.0,2
 900000,1.0,2
 950000,1.0,2
 1000000,1.0,2
 1050000,1.0,2
 1100000,1.0,2
 1150000,1.0,2
 1200000,0.9,2
 1250000,1.0,2
 1300000,1.0,2
 1350000,1.0,2
 1400000,1.0,2
 1450000,1.0,2
 1500000,1.0,2
 1550000,1.0,2
 1600000,1.0,2
 1650000,1.0,2
 1700000,1.0,2
 1750000,1.0,2
 1800000,1.0,2
 1850000,1.0,2
 1900000,1.0,2
 1950000,1.0,2
 2000000,1.0,2
 2000000,1.0,2
 0,0.0,3
 50000,0.9,3
 100000,1.0,3
 150000,1.0,3
 200000,1.0,3
 250000,0.8,3
 300000,1.0,3
 350000,1.0,3
 400000,0.9,3
 450000,1.0,3
 500000,1.0,3
 550000,1.0,3
 600000,1.0,3
 650000,1.0,3
 700000,1.0,3
 750000,1.0,3
 800000,1.0,3
 850000,1.0,3
 900000,1.0,3
 950000,1.0,3
 1000000,1.0,3
 1050000,1.0,3
 1100000,1.0,3
 1150000,1.0,3
 1200000,1.0,3
 1250000,1.0,3
 1300000,1.0,3
 1350000,0.9,3
 1400000,1.0,3
 1450000,1.0,3
 1500000,1.0,3
 1550000,0.9,3
 1600000,1.0,3
 1650000,1.0,3
 1700000,1.0,3
 1750000,1.0,3
 1800000,1.0,3
 1850000,1.0,3
 1900000,1.0,3
 1950000,1.0,3
 2000000,1.0,3
 2000000,1.0,3
--- a/results/tdmpc/pendulum-spin.csv
+++ b/results/tdmpc/pendulum-spin.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,101.9,3
 100000,829.0,3
 200000,869.8,3
 300000,833.8,3
 400000,818.4,3
 500000,845.3,3
 600000,832.5,3
 700000,865.0,3
 800000,826.5,3
 900000,826.8,3
 1000000,847.3,3
 1100000,847.0,3
 1200000,864.2,3
 1300000,843.2,3
 1400000,829.7,3
 1500000,840.1,3
 1600000,841.5,3
 1700000,811.2,3
 1800000,834.2,3
 1900000,829.6,3
 2000000,827.0,3
 2100000,815.7,3
 2200000,805.0,3
 2300000,855.2,3
 2400000,829.7,3
 2500000,846.8,3
 2600000,830.3,3
 2700000,838.6,3
 2800000,864.4,3
 2900000,869.9,3
 3000000,857.2,3
 3100000,825.4,3
 3200000,828.7,3
 3300000,825.0,3
 3400000,830.6,3
 3500000,833.4,3
 3600000,821.1,3
 3700000,864.2,3
 3800000,842.8,3
 3900000,852.0,3
 4000000,795.1,3
 0,127.6,1
 100000,807.7,1
 200000,838.9,1
 300000,839.2,1
 400000,796.9,1
 500000,854.1,1
 600000,832.4,1
 700000,873.5,1
 800000,861.5,1
 900000,873.6,1
 1000000,839.6,1
 1100000,834.1,1
 1200000,811.6,1
 1300000,834.4,1
 1400000,819.6,1
 1500000,850.9,1
 1600000,844.6,1
 1700000,873.3,1
 1800000,837.2,1
 1900000,852.2,1
 2000000,842.4,1
 2100000,850.8,1
 2200000,836.4,1
 2300000,802.6,1
 2400000,819.2,1
 2500000,820.0,1
 2600000,844.3,1
 2700000,855.3,1
 2800000,847.9,1
 2900000,823.7,1
 3000000,841.6,1
 3100000,844.1,1
 3200000,824.5,1
 3300000,813.4,1
 3400000,846.5,1
 3500000,863.6,1
 3600000,821.9,1
 3700000,867.4,1
 3800000,867.0,1
 3900000,861.9,1
 4000000,846.6,1
 0,130.8,2
 100000,882.4,2
 200000,837.4,2
 300000,841.0,2
 400000,877.4,2
 500000,840.0,2
 600000,881.1,2
 700000,843.0,2
 800000,824.0,2
 900000,848.0,2
 1000000,846.7,2
 1100000,835.5,2
 1200000,850.5,2
 1300000,821.3,2
 1400000,829.8,2
 1500000,855.4,2
 1600000,852.2,2
 1700000,868.4,2
 1800000,873.0,2
 1900000,823.2,2
 2000000,845.7,2
 2100000,836.4,2
 2200000,865.2,2
 2300000,819.8,2
 2400000,815.8,2
 2500000,843.0,2
 2600000,891.6,2
 2700000,845.1,2
 2800000,834.1,2
 2900000,859.2,2
 3000000,830.5,2
 3100000,832.7,2
 3200000,875.7,2
 3300000,865.9,2
 3400000,850.1,2
 3500000,863.3,2
 3600000,864.0,2
 3700000,858.4,2
 3800000,836.0,2
 3900000,863.3,2
 4000000,855.6,2
--- a/results/tdmpc/pendulum-swingup.csv
+++ b/results/tdmpc/pendulum-swingup.csv
@@ -0,0 +1,155 @@
 step,reward,seed
 0,1.2,3
 100000,280.0,3
 200000,876.8,3
 300000,832.6,3
 400000,800.1,3
 500000,832.6,3
 600000,831.2,3
 700000,887.8,3
 800000,811.9,3
 900000,807.8,3
 1000000,786.4,3
 1100000,840.2,3
 1200000,874.7,3
 1300000,843.0,3
 1400000,800.4,3
 1500000,842.4,3
 1600000,833.6,3
 1700000,779.6,3
 1800000,832.3,3
 1900000,814.7,3
 2000000,820.4,3
 2100000,796.5,3
 2200000,772.8,3
 2300000,848.4,3
 2400000,809.3,3
 2500000,854.2,3
 2600000,823.7,3
 2700000,836.4,3
 2800000,871.7,3
 2900000,884.6,3
 3000000,862.7,3
 0,0.0,3
 100000,800.1,3
 200000,816.2,3
 300000,834.9,3
 400000,885.3,3
 500000,800.5,3
 600000,847.8,3
 700000,855.0,3
 800000,832.9,3
 900000,897.9,3
 1000000,824.1,3
 1100000,761.3,3
 1200000,878.7,3
 1300000,824.9,3
 1400000,834.2,3
 1500000,852.7,3
 1600000,878.5,3
 1700000,842.0,3
 1800000,856.9,3
 1900000,854.4,3
 2000000,804.1,3
 2100000,802.4,3
 2200000,843.5,3
 2300000,822.1,3
 2400000,786.3,3
 2500000,856.8,3
 2600000,815.7,3
 2700000,819.5,3
 2800000,877.9,3
 2900000,827.0,3
 3000000,794.5,3
 3100000,809.3,3
 3200000,831.5,3
 3300000,826.7,3
 3400000,859.2,3
 3500000,893.5,3
 3600000,857.3,3
 3700000,803.9,3
 3800000,812.2,3
 3900000,827.5,3
 4000000,836.7,3
 0,0.0,1
 100000,349.0,1
 200000,816.7,1
 300000,828.2,1
 400000,761.5,1
 500000,855.5,1
 600000,792.1,1
 700000,876.0,1
 800000,877.3,1
 900000,873.7,1
 1000000,820.6,1
 1100000,804.6,1
 1200000,770.0,1
 1300000,806.9,1
 1400000,785.6,1
 1500000,841.5,1
 1600000,837.8,1
 1700000,882.8,1
 1800000,826.2,1
 1900000,844.1,1
 2000000,833.6,1
 2100000,835.5,1
 2200000,826.4,1
 2300000,765.6,1
 2400000,784.0,1
 2500000,647.3,1
 2600000,831.1,1
 2700000,849.7,1
 2800000,833.0,1
 2900000,798.2,1
 3000000,815.5,1
 3100000,823.0,1
 3200000,796.7,1
 3300000,779.4,1
 3400000,827.2,1
 3500000,858.0,1
 3600000,794.8,1
 3700000,873.9,1
 3800000,870.8,1
 3900000,861.3,1
 4000000,764.5,1
 0,0.0,2
 100000,100.0,2
 200000,0.0,2
 300000,4.1,2
 400000,0.0,2
 500000,98.6,2
 600000,294.7,2
 700000,0.0,2
 800000,0.0,2
 900000,0.0,2
 1000000,200.0,2
 1100000,0.0,2
 1200000,0.0,2
 1300000,0.0,2
 1400000,0.0,2
 1500000,98.0,2
 1600000,100.0,2
 1700000,193.4,2
 1800000,97.6,2
 1900000,100.0,2
 2000000,0.0,2
 2100000,0.0,2
 2200000,0.0,2
 2300000,0.0,2
 2400000,100.0,2
 2500000,0.0,2
 2600000,99.1,2
 2700000,100.0,2
 2800000,185.8,2
 2900000,0.0,2
 3000000,0.0,2
 3100000,0.0,2
 3200000,198.7,2
 3300000,0.0,2
 3400000,0.0,2
 3500000,99.2,2
 3600000,98.8,2
 3700000,100.0,2
 3800000,100.0,2
 3900000,0.0,2
 4000000,200.0,2
--- a/results/tdmpc/pick-cube.csv
+++ b/results/tdmpc/pick-cube.csv
@@ -0,0 +1,122 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,0.0,3
 300000,0.0,3
 400000,0.0,3
 500000,0.1,3
 600000,0.1,3
 700000,0.6,3
 800000,0.2,3
 900000,0.4,3
 1000000,0.5,3
 1100000,0.4,3
 1200000,0.8,3
 1300000,0.8,3
 1400000,0.7,3
 1500000,0.8,3
 1600000,0.5,3
 1700000,0.6,3
 1800000,0.8,3
 1900000,1.0,3
 2000000,0.9,3
 2100000,1.0,3
 2200000,0.9,3
 2300000,1.0,3
 2400000,1.0,3
 2500000,0.9,3
 2600000,0.9,3
 2700000,1.0,3
 2800000,0.7,3
 2900000,1.0,3
 3000000,1.0,3
 3100000,0.9,3
 3200000,1.0,3
 3300000,1.0,3
 3400000,0.8,3
 3500000,1.0,3
 3600000,0.8,3
 3700000,1.0,3
 3800000,0.9,3
 0,0.0,2
 100000,0.0,2
 200000,0.0,2
 300000,0.0,2
 400000,0.0,2
 500000,0.0,2
 600000,0.1,2
 700000,0.3,2
 800000,0.6,2
 900000,0.7,2
 1000000,0.4,2
 1100000,0.3,2
 1200000,0.6,2
 1300000,0.5,2
 1400000,0.7,2
 1500000,0.8,2
 1600000,0.7,2
 1700000,0.6,2
 1800000,0.9,2
 1900000,1.0,2
 2000000,0.9,2
 2100000,0.8,2
 2200000,0.9,2
 2300000,0.9,2
 2400000,1.0,2
 2500000,0.8,2
 2600000,1.0,2
 2700000,0.8,2
 2800000,1.0,2
 2900000,1.0,2
 3000000,0.9,2
 3100000,1.0,2
 3200000,0.9,2
 3300000,1.0,2
 3400000,0.9,2
 3500000,1.0,2
 3600000,0.6,2
 3700000,1.0,2
 3800000,0.9,2
 3900000,1.0,2
 4000000,1.0,2
 0,0.0,1
 100000,0.0,1
 200000,0.0,1
 300000,0.0,1
 400000,0.0,1
 500000,0.3,1
 600000,0.2,1
 700000,0.5,1
 800000,0.4,1
 900000,0.4,1
 1000000,0.4,1
 1100000,0.4,1
 1200000,0.7,1
 1300000,0.8,1
 1400000,0.5,1
 1500000,0.8,1
 1600000,0.6,1
 1700000,0.8,1
 1800000,0.8,1
 1900000,0.6,1
 2000000,1.0,1
 2100000,0.7,1
 2200000,0.9,1
 2300000,0.9,1
 2400000,0.8,1
 2500000,0.9,1
 2600000,1.0,1
 2700000,0.9,1
 2800000,0.8,1
 2900000,1.0,1
 3000000,1.0,1
 3100000,1.0,1
 3200000,0.8,1
 3300000,1.0,1
 3400000,0.9,1
 3500000,0.9,1
 3600000,0.8,1
 3700000,1.0,1
 3800000,1.0,1
 3900000,0.9,1
 4000000,0.9,1
--- a/results/tdmpc/pick-ycb.csv
+++ b/results/tdmpc/pick-ycb.csv
@@ -0,0 +1,360 @@
 step,success,seed
 0,0.0,3
 100000,0.0,3
 200000,0.0,3
 300000,0.0,3
 400000,0.0,3
 500000,0.0,3
 600000,0.0,3
 700000,0.0,3
 800000,0.0,3
 900000,0.0,3
 1000000,0.0,3
 1100000,0.0,3
 1200000,0.0,3
 1300000,0.0,3
 1400000,0.0,3
 1500000,0.0,3
 1600000,0.0,3
 1700000,0.0,3
 1800000,0.0,3
 1900000,0.0,3
 2000000,0.0,3
 2100000,0.0,3
 2200000,0.0,3
 2300000,0.0,3
 2400000,0.0,3
 2500000,0.0,3
 2600000,0.0,3
 2700000,0.0,3
 2800000,0.0,3
 2900000,0.0,3
 3000000,0.0,3
 3100000,0.0,3
 3200000,0.0,3
 3300000,0.0,3
 3400000,0.0,3
 3500000,0.0,3
 3600000,0.0,3
 3700000,0.0,3
 3800000,0.1,3
 3900000,0.0,3
 4000000,0.0,3
 4100000,0.0,3
 4200000,0.0,3
 4300000,0.0,3
 4400000,0.0,3
 4500000,0.0,3
 4600000,0.0,3
 4700000,0.0,3
 4800000,0.0,3
 4900000,0.0,3
 5000000,0.0,3
 5100000,0.0,3
 5200000,0.0,3
 5300000,0.0,3
 5400000,0.0,3
 5500000,0.0,3
 5600000,0.0,3
 5700000,0.0,3
 5800000,0.0,3
 5900000,0.0,3
 6000000,0.0,3
 6100000,0.0,3
 6200000,0.0,3
 6300000,0.0,3
 6400000,0.0,3
 6500000,0.0,3
 6600000,0.0,3
 6700000,0.0,3
 6800000,0.0,3
 6900000,0.0,3
 7000000,0.0,3
 7100000,0.0,3
 7200000,0.0,3
 7300000,0.0,3
 7400000,0.0,3
 7500000,0.0,3
 7600000,0.0,3
 0,0.0,2
 100000,0.0,2
 200000,0.0,2
 300000,0.0,2
 400000,0.0,2
 500000,0.0,2
 600000,0.0,2
 700000,0.0,2
 800000,0.0,2
 900000,0.0,2
 1000000,0.0,2
 1100000,0.0,2
 1200000,0.0,2
 1300000,0.0,2
 1400000,0.0,2
 1500000,0.0,2
 1600000,0.0,2
 1700000,0.0,2
 1800000,0.0,2
 1900000,0.0,2
 2000000,0.0,2
 2100000,0.0,2
 2200000,0.0,2
 2300000,0.0,2
 2400000,0.0,2
 2500000,0.0,2
 2600000,0.0,2
 2700000,0.0,2
 2800000,0.0,2
 2900000,0.0,2
 3000000,0.0,2
 3100000,0.0,2
 3200000,0.0,2
 3300000,0.0,2
 3400000,0.0,2
 3500000,0.0,2
 3600000,0.0,2
 3700000,0.0,2
 3800000,0.0,2
 3900000,0.0,2
 4000000,0.0,2
 4100000,0.0,2
 4200000,0.0,2
 4300000,0.0,2
 4400000,0.0,2
 4500000,0.0,2
 4600000,0.0,2
 4700000,0.0,2
 4800000,0.0,2
 4900000,0.0,2
 5000000,0.0,2
 5100000,0.0,2
 5200000,0.0,2
 5300000,0.0,2
 5400000,0.0,2
 5500000,0.0,2
 5600000,0.0,2
 5700000,0.0,2
 5800000,0.0,2
 5900000,0.0,2
 6000000,0.0,2
 6100000,0.0,2
 6200000,0.0,2
 6300000,0.0,2
 6400000,0.0,2
 6500000,0.0,2
 6600000,0.0,2
 6700000,0.0,2
 6800000,0.0,2
 6900000,0.0,2
 7000000,0.0,2
 7100000,0.0,2
 7200000,0.0,2
 7300000,0.0,2
 7400000,0.0,2
 7500000,0.0,2
 7600000,0.0,2
 7700000,0.0,2
 7800000,0.0,2
 7900000,0.0,2
 8000000,0.0,2
 8100000,0.0,2
 8200000,0.0,2
 8300000,0.0,2
 8400000,0.0,2
 8500000,0.0,2
 8600000,0.0,2
 8700000,0.0,2
 8800000,0.0,2
 8900000,0.0,2
 9000000,0.0,2
 9100000,0.0,2
 9200000,0.0,2
 9300000,0.0,2
 9400000,0.0,2
 9500000,0.0,2
 9600000,0.0,2
 9700000,0.0,2
 9800000,0.0,2
 9900000,0.0,2
 10000000,0.0,2
 10100000,0.0,2
 10200000,0.0,2
 10300000,0.0,2
 10400000,0.0,2
 10500000,0.0,2
 10600000,0.0,2
 10700000,0.0,2
 10800000,0.0,2
 10900000,0.0,2
 11000000,0.0,2
 11100000,0.0,2
 11200000,0.0,2
 11300000,0.0,2
 11400000,0.0,2
 11500000,0.0,2
 11600000,0.0,2
 11700000,0.0,2
 11800000,0.0,2
 11900000,0.0,2
 12000000,0.0,2
 12100000,0.0,2
 12200000,0.0,2
 12300000,0.0,2
 12400000,0.0,2
 12500000,0.0,2
 12600000,0.0,2
 12700000,0.0,2
 12800000,0.0,2
 12900000,0.0,2
 13000000,0.0,2
 13100000,0.0,2
 13200000,0.0,2
 13300000,0.0,2
 13400000,0.0,2
 13500000,0.0,2
 13600000,0.0,2
 13700000,0.0,2
 13800000,0.0,2
 13900000,0.0,2
 14000000,0.0,2
 0,0.0,1
 100000,0.0,1
 200000,0.0,1
 300000,0.0,1
 400000,0.0,1
 500000,0.0,1
 600000,0.0,1
 700000,0.0,1
 800000,0.0,1
 900000,0.0,1
 1000000,0.0,1
 1100000,0.0,1
 1200000,0.0,1
 1300000,0.0,1
 1400000,0.0,1
 1500000,0.0,1
 1600000,0.0,1
 1700000,0.0,1
 1800000,0.0,1
 1900000,0.0,1
 2000000,0.0,1
 2100000,0.0,1
 2200000,0.0,1
 2300000,0.0,1
 2400000,0.0,1
 2500000,0.0,1
 2600000,0.0,1
 2700000,0.0,1
 2800000,0.0,1
 2900000,0.0,1
 3000000,0.0,1
 3100000,0.0,1
 3200000,0.0,1
 3300000,0.0,1
 3400000,0.0,1
 3500000,0.0,1
 3600000,0.0,1
 3700000,0.0,1
 3800000,0.0,1
 3900000,0.0,1
 4000000,0.0,1
 4100000,0.0,1
 4200000,0.0,1
 4300000,0.0,1
 4400000,0.0,1
 4500000,0.0,1
 4600000,0.0,1
 4700000,0.1,1
 4800000,0.0,1
 4900000,0.0,1
 5000000,0.0,1
 5100000,0.0,1
 5200000,0.0,1
 5300000,0.0,1
 5400000,0.0,1
 5500000,0.0,1
 5600000,0.0,1
 5700000,0.0,1
 5800000,0.0,1
 5900000,0.0,1
 6000000,0.0,1
 6100000,0.0,1
 6200000,0.0,1
 6300000,0.0,1
 6400000,0.0,1
 6500000,0.0,1
 6600000,0.0,1
 6700000,0.0,1
 6800000,0.0,1
 6900000,0.0,1
 7000000,0.0,1
 7100000,0.0,1
 7200000,0.0,1
 7300000,0.0,1
 7400000,0.0,1
 7500000,0.0,1
 7600000,0.0,1
 7700000,0.0,1
 7800000,0.0,1
 7900000,0.0,1
 8000000,0.0,1
 8100000,0.0,1
 8200000,0.0,1
 8300000,0.0,1
 8400000,0.0,1
 8500000,0.0,1
 8600000,0.0,1
 8700000,0.0,1
 8800000,0.0,1
 8900000,0.0,1
 9000000,0.0,1
 9100000,0.0,1
 9200000,0.0,1
 9300000,0.0,1
 9400000,0.0,1
 9500000,0.0,1
 9600000,0.0,1
 9700000,0.0,1
 9800000,0.0,1
 9900000,0.0,1
 10000000,0.0,1
 10100000,0.0,1
 10200000,0.0,1
 10300000,0.0,1
 10400000,0.0,1
 10500000,0.0,1
 10600000,0.0,1
 10700000,0.0,1
 10800000,0.0,1
 10900000,0.0,1
 11000000,0.0,1
 11100000,0.0,1
 11200000,0.0,1
 11300000,0.0,1
 11400000,0.0,1
 11500000,0.0,1
 11600000,0.0,1
 11700000,0.0,1
 11800000,0.0,1
 11900000,0.0,1
 12000000,0.0,1
 12100000,0.0,1
 12200000,0.0,1
 12300000,0.0,1
 12400000,0.0,1
 12500000,0.0,1
 12600000,0.0,1
 12700000,0.0,1
 12800000,0.0,1
 12900000,0.0,1
 13000000,0.0,1
 13100000,0.0,1
 13200000,0.0,1
 13300000,0.0,1
 13400000,0.0,1
 13500000,0.0,1
 13600000,0.0,1
 13700000,0.0,1
 13800000,0.0,1
 13900000,0.0,1
 14000000,0.0,1
--- a/results/tdmpc/quadruped-run.csv
+++ b/results/tdmpc/quadruped-run.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,103.9,1
 100000,332.7,1
 200000,711.9,1
 300000,745.4,1
 400000,787.7,1
 500000,744.3,1
 600000,776.6,1
 700000,838.9,1
 800000,830.2,1
 900000,850.0,1
 1000000,851.8,1
 1100000,852.4,1
 1200000,845.2,1
 1300000,840.5,1
 1400000,850.7,1
 1500000,847.7,1
 1600000,886.6,1
 1700000,850.5,1
 1800000,872.5,1
 1900000,859.5,1
 2000000,857.0,1
 2100000,858.8,1
 2200000,851.1,1
 2300000,857.1,1
 2400000,872.4,1
 2500000,850.0,1
 2600000,879.0,1
 2700000,871.0,1
 2800000,865.8,1
 2900000,856.7,1
 3000000,874.2,1
 3100000,851.5,1
 3200000,859.5,1
 3300000,883.1,1
 3400000,866.5,1
 3500000,872.6,1
 3600000,882.2,1
 3700000,851.8,1
 3800000,850.7,1
 3900000,869.1,1
 4000000,859.9,1
 0,202.2,3
 100000,853.9,3
 200000,883.9,3
 300000,833.4,3
 400000,908.0,3
 500000,906.0,3
 600000,906.4,3
 700000,903.1,3
 800000,911.9,3
 900000,937.7,3
 1000000,926.6,3
 1100000,921.0,3
 1200000,945.1,3
 1300000,956.7,3
 1400000,937.4,3
 1500000,951.5,3
 1600000,936.5,3
 1700000,950.3,3
 1800000,944.4,3
 1900000,955.9,3
 2000000,948.7,3
 2100000,941.0,3
 2200000,947.2,3
 2300000,944.0,3
 2400000,947.9,3
 2500000,944.1,3
 2600000,931.1,3
 2700000,946.6,3
 2800000,950.9,3
 2900000,945.0,3
 3000000,946.0,3
 3100000,948.3,3
 3200000,915.8,3
 3300000,946.0,3
 3400000,945.1,3
 3500000,923.4,3
 3600000,948.0,3
 3700000,940.5,3
 3800000,949.0,3
 3900000,941.8,3
 4000000,946.7,3
 0,54.5,2
 100000,295.2,2
 200000,761.4,2
 300000,847.7,2
 400000,863.7,2
 500000,918.0,2
 600000,902.8,2
 700000,907.8,2
 800000,938.5,2
 900000,899.8,2
 1000000,902.2,2
 1100000,919.7,2
 1200000,933.5,2
 1300000,922.5,2
 1400000,927.0,2
 1500000,923.6,2
 1600000,940.4,2
 1700000,937.4,2
 1800000,945.3,2
 1900000,934.0,2
 2000000,933.4,2
 2100000,944.7,2
 2200000,944.5,2
 2300000,936.8,2
 2400000,942.8,2
 2500000,939.5,2
 2600000,933.4,2
 2700000,938.4,2
 2800000,943.8,2
 2900000,936.4,2
 3000000,939.9,2
 3100000,935.3,2
 3200000,931.0,2
 3300000,928.8,2
 3400000,916.6,2
 3500000,935.0,2
 3600000,930.0,2
 3700000,945.3,2
 3800000,925.6,2
 3900000,932.1,2
 4000000,927.7,2
--- a/results/tdmpc/quadruped-walk.csv
+++ b/results/tdmpc/quadruped-walk.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,206.7,3
 100000,835.9,3
 200000,920.4,3
 300000,873.5,3
 400000,918.8,3
 500000,937.9,3
 600000,903.5,3
 700000,925.0,3
 800000,939.3,3
 900000,953.7,3
 1000000,945.3,3
 1100000,954.0,3
 1200000,958.8,3
 1300000,962.3,3
 1400000,956.2,3
 1500000,949.5,3
 1600000,962.4,3
 1700000,953.6,3
 1800000,963.7,3
 1900000,953.8,3
 2000000,957.9,3
 2100000,943.7,3
 2200000,960.2,3
 2300000,956.8,3
 2400000,939.1,3
 2500000,956.6,3
 2600000,947.6,3
 2700000,951.8,3
 2800000,957.3,3
 2900000,924.6,3
 3000000,946.6,3
 3100000,968.0,3
 3200000,943.5,3
 3300000,304.1,3
 3400000,477.4,3
 3500000,12.5,3
 3600000,209.4,3
 3700000,299.1,3
 3800000,312.4,3
 3900000,108.0,3
 4000000,294.8,3
 0,106.4,1
 100000,629.6,1
 200000,940.3,1
 300000,940.1,1
 400000,907.5,1
 500000,900.6,1
 600000,954.9,1
 700000,961.3,1
 800000,952.3,1
 900000,956.3,1
 1000000,964.8,1
 1100000,931.6,1
 1200000,951.6,1
 1300000,964.6,1
 1400000,962.5,1
 1500000,949.2,1
 1600000,964.5,1
 1700000,962.3,1
 1800000,954.7,1
 1900000,956.1,1
 2000000,956.8,1
 2100000,938.3,1
 2200000,947.2,1
 2300000,964.3,1
 2400000,969.0,1
 2500000,904.5,1
 2600000,958.6,1
 2700000,806.6,1
 2800000,199.3,1
 2900000,962.0,1
 3000000,924.8,1
 3100000,296.4,1
 3200000,295.7,1
 3300000,950.0,1
 3400000,904.0,1
 3500000,288.0,1
 3600000,693.4,1
 3700000,307.1,1
 3800000,219.0,1
 3900000,323.3,1
 4000000,279.6,1
 0,51.6,2
 100000,826.6,2
 200000,917.8,2
 300000,903.7,2
 400000,831.0,2
 500000,905.5,2
 600000,932.5,2
 700000,936.8,2
 800000,959.2,2
 900000,948.2,2
 1000000,942.4,2
 1100000,954.2,2
 1200000,972.5,2
 1300000,967.9,2
 1400000,968.6,2
 1500000,972.2,2
 1600000,963.0,2
 1700000,956.3,2
 1800000,959.9,2
 1900000,957.7,2
 2000000,955.3,2
 2100000,961.6,2
 2200000,958.9,2
 2300000,937.7,2
 2400000,884.0,2
 2500000,199.9,2
 2600000,208.8,2
 2700000,119.6,2
 2800000,198.1,2
 2900000,272.3,2
 3000000,291.2,2
 3100000,215.6,2
 3200000,300.1,2
 3300000,8.8,2
 3400000,194.4,2
 3500000,42.0,2
 3600000,10.8,2
 3700000,300.5,2
 3800000,205.2,2
 3900000,293.6,2
 4000000,12.9,2
--- a/results/tdmpc/reacher-easy.csv
+++ b/results/tdmpc/reacher-easy.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,23.3,3
 100000,934.0,3
 200000,983.5,3
 300000,970.1,3
 400000,887.6,3
 500000,985.7,3
 600000,980.4,3
 700000,981.1,3
 800000,986.4,3
 900000,948.3,3
 1000000,987.9,3
 1100000,985.4,3
 1200000,988.4,3
 1300000,983.1,3
 1400000,985.8,3
 1500000,981.6,3
 1600000,989.7,3
 1700000,988.3,3
 1800000,983.7,3
 1900000,987.0,3
 2000000,981.2,3
 2100000,983.8,3
 2200000,981.6,3
 2300000,984.7,3
 2400000,990.7,3
 2500000,983.1,3
 2600000,968.1,3
 2700000,984.8,3
 2800000,981.5,3
 2900000,989.5,3
 3000000,984.0,3
 3100000,984.3,3
 3200000,966.4,3
 3300000,984.7,3
 3400000,985.8,3
 3500000,960.2,3
 3600000,984.9,3
 3700000,986.1,3
 3800000,981.3,3
 3900000,986.5,3
 4000000,987.9,3
 0,62.2,1
 100000,734.1,1
 200000,712.4,1
 300000,854.4,1
 400000,980.6,1
 500000,986.8,1
 600000,985.3,1
 700000,981.5,1
 800000,893.1,1
 900000,989.2,1
 1000000,981.9,1
 1100000,980.1,1
 1200000,987.7,1
 1300000,983.8,1
 1400000,989.2,1
 1500000,983.3,1
 1600000,984.6,1
 1700000,985.0,1
 1800000,991.7,1
 1900000,985.7,1
 2000000,980.5,1
 2100000,985.9,1
 2200000,981.4,1
 2300000,982.6,1
 2400000,987.4,1
 2500000,981.3,1
 2600000,988.9,1
 2700000,984.6,1
 2800000,991.2,1
 2900000,983.0,1
 3000000,986.7,1
 3100000,988.7,1
 3200000,986.8,1
 3300000,983.7,1
 3400000,989.3,1
 3500000,986.6,1
 3600000,985.4,1
 3700000,978.9,1
 3800000,984.6,1
 3900000,986.2,1
 4000000,987.7,1
 0,99.9,2
 100000,828.5,2
 200000,885.4,2
 300000,982.1,2
 400000,982.2,2
 500000,988.6,2
 600000,986.5,2
 700000,983.4,2
 800000,984.3,2
 900000,981.1,2
 1000000,982.2,2
 1100000,986.2,2
 1200000,984.4,2
 1300000,989.2,2
 1400000,985.1,2
 1500000,984.5,2
 1600000,983.4,2
 1700000,989.5,2
 1800000,983.9,2
 1900000,981.7,2
 2000000,982.5,2
 2100000,978.3,2
 2200000,985.0,2
 2300000,988.5,2
 2400000,988.9,2
 2500000,987.0,2
 2600000,982.8,2
 2700000,986.9,2
 2800000,985.9,2
 2900000,979.1,2
 3000000,984.0,2
 3100000,982.1,2
 3200000,985.2,2
 3300000,985.2,2
 3400000,980.5,2
 3500000,985.0,2
 3600000,989.3,2
 3700000,986.8,2
 3800000,980.3,2
 3900000,986.0,2
 4000000,983.1,2
--- a/results/tdmpc/reacher-hard.csv
+++ b/results/tdmpc/reacher-hard.csv
@@ -0,0 +1,124 @@
 step,reward,seed
 0,1.2,3
 100000,760.7,3
 200000,975.2,3
 300000,965.4,3
 400000,969.8,3
 500000,967.3,3
 600000,972.1,3
 700000,974.6,3
 800000,979.4,3
 900000,973.7,3
 1000000,969.1,3
 1100000,977.0,3
 1200000,957.4,3
 1300000,975.2,3
 1400000,973.4,3
 1500000,970.4,3
 1600000,981.8,3
 1700000,980.0,3
 1800000,974.0,3
 1900000,973.3,3
 2000000,970.2,3
 2100000,972.4,3
 2200000,975.6,3
 2300000,977.3,3
 2400000,976.5,3
 2500000,971.3,3
 2600000,977.9,3
 2700000,966.7,3
 2800000,974.3,3
 2900000,979.2,3
 3000000,976.9,3
 3100000,974.4,3
 3200000,976.5,3
 3300000,974.9,3
 3400000,955.3,3
 3500000,971.2,3
 3600000,973.2,3
 3700000,977.7,3
 3800000,971.7,3
 3900000,976.4,3
 4000000,979.8,3
 0,20.7,2
 100000,675.1,2
 200000,962.9,2
 300000,862.6,2
 400000,965.0,2
 500000,947.2,2
 600000,971.4,2
 700000,962.8,2
 800000,970.3,2
 900000,869.0,2
 1000000,972.9,2
 1100000,975.6,2
 1200000,969.4,2
 1300000,975.4,2
 1400000,978.3,2
 1500000,978.0,2
 1600000,876.2,2
 1700000,978.6,2
 1800000,971.9,2
 1900000,969.9,2
 2000000,968.4,2
 2100000,970.5,2
 2200000,978.1,2
 2300000,968.5,2
 2400000,971.1,2
 2500000,973.1,2
 2600000,971.9,2
 2700000,977.5,2
 2800000,970.1,2
 2900000,969.3,2
 3000000,979.0,2
 3100000,871.9,2
 3200000,976.3,2
 3300000,978.9,2
 3400000,976.1,2
 3500000,979.0,2
 3600000,882.4,2
 3700000,883.5,2
 3800000,971.7,2
 3900000,982.8,2
 4000000,984.7,2
 0,7.4,1
 100000,975.1,1
 200000,972.0,1
 300000,969.9,1
 400000,975.6,1
 500000,970.6,1
 600000,973.2,1
 700000,970.0,1
 800000,965.7,1
 900000,871.3,1
 1000000,968.7,1
 1100000,969.4,1
 1200000,971.8,1
 1300000,970.1,1
 1400000,981.5,1
 1500000,970.8,1
 1600000,981.1,1
 1700000,975.3,1
 1800000,979.6,1
 1900000,977.7,1
 2000000,968.7,1
 2100000,881.4,1
 2200000,969.1,1
 2300000,972.5,1
 2400000,967.7,1
 2500000,970.1,1
 2600000,973.3,1
 2700000,971.8,1
 2800000,973.7,1
 2900000,972.1,1
 3000000,975.0,1
 3100000,975.9,1
 3200000,975.4,1
 3300000,972.2,1
 3400000,979.4,1
 3500000,978.1,1
 3600000,974.4,1
 3700000,965.9,1
 3800000,974.9,1
 3900000,976.7,1
 4000000,972.3,1
--- a/Show More
+++ b/Show More