diff --git "a/mbpo_half_cheetah_v4/main/model_train.csv" "b/mbpo_half_cheetah_v4/main/model_train.csv"
new file mode 100644--- /dev/null
+++ "b/mbpo_half_cheetah_v4/main/model_train.csv"
@@ -0,0 +1,11355 @@
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+3.0,287.0,0.11096473783254623,-40.76488029511638,0.11670026928186417,1972,61600.0,15400.0
+4.0,287.0,0.11096473783254623,-40.69988828477028,0.11573345959186554,1973,61600.0,15400.0
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+6.0,287.0,0.11096473783254623,-40.73441987413588,0.11790735274553299,1975,61600.0,15400.0
+7.0,287.0,0.11096473783254623,-40.71923432409516,0.1172199621796608,1976,61600.0,15400.0
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+1.0,288.0,0.10799245536327362,-40.110212089601625,0.1279413402080536,1978,61800.0,15450.0
+2.0,288.0,0.10799245536327362,-40.3820798101504,0.11644187569618225,1979,61800.0,15450.0
+3.0,288.0,0.10799245536327362,-40.547840544014925,0.11332471668720245,1980,61800.0,15450.0
+4.0,288.0,0.10799245536327362,-40.583246703975455,0.11328695714473724,1981,61800.0,15450.0
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+1.0,289.0,0.10784127563238144,-40.2554015642331,0.11515667289495468,1983,62000.0,15500.0
+2.0,289.0,0.10784127563238144,-40.43767489523554,0.11312279105186462,1984,62000.0,15500.0
+3.0,289.0,0.10784127563238144,-40.42660971433538,0.1144256442785263,1985,62000.0,15500.0
+4.0,289.0,0.10784127563238144,-40.63325888237345,0.11502406001091003,1986,62000.0,15500.0
+5.0,289.0,0.10784127563238144,-40.73850972367903,0.11422515660524368,1987,62000.0,15500.0
+6.0,289.0,0.10784127563238144,-40.61305478570883,0.11441398411989212,1988,62000.0,15500.0
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+2.0,290.0,0.1095397099852562,-40.70925426090696,0.11164338141679764,1991,62200.0,15550.0
+3.0,290.0,0.1095397099852562,-40.59740972322692,0.11597572267055511,1992,62200.0,15550.0
+4.0,290.0,0.1095397099852562,-40.65608066197776,0.11285421252250671,1993,62200.0,15550.0
+5.0,290.0,0.1095397099852562,-40.755495440322186,0.11331751197576523,1994,62200.0,15550.0
+6.0,290.0,0.1095397099852562,-40.60885951352218,0.11337781697511673,1995,62200.0,15550.0
+7.0,290.0,0.1095397099852562,-40.71181894624184,0.11607465147972107,1996,62200.0,15550.0
+0.0,291.0,0.10751350224018097,-40.3991587748293,0.12597793340682983,1997,62400.0,15600.0
+1.0,291.0,0.10751350224018097,-40.5602951987845,0.11024759709835052,1998,62400.0,15600.0
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+4.0,291.0,0.10751350224018097,-40.63804304404337,0.11460039019584656,2001,62400.0,15600.0
+0.0,292.0,0.11023636162281036,-40.573152378627235,0.11173487454652786,2002,62600.0,15650.0
+1.0,292.0,0.10972505807876587,-40.672866930280414,0.11086958646774292,2003,62600.0,15650.0
+2.0,292.0,0.10972505807876587,-40.673675116714165,0.11356790363788605,2004,62600.0,15650.0
+3.0,292.0,0.10972505807876587,-40.54226220578563,0.1119435578584671,2005,62600.0,15650.0
+4.0,292.0,0.10972505807876587,-40.7443233879245,0.11478561162948608,2006,62600.0,15650.0
+5.0,292.0,0.10972505807876587,-40.903063995984134,0.1152854710817337,2007,62600.0,15650.0
+6.0,292.0,0.10972505807876587,-40.788469337930486,0.11731600761413574,2008,62600.0,15650.0
+0.0,293.0,0.1048395186662674,-40.28741934241318,0.10775387287139893,2009,62800.0,15700.0
+1.0,293.0,0.1048395186662674,-40.636604386616526,0.10848848521709442,2010,62800.0,15700.0
+2.0,293.0,0.1048395186662674,-40.77230828758178,0.10880746692419052,2011,62800.0,15700.0
+3.0,293.0,0.1048395186662674,-40.70260657333746,0.10979748517274857,2012,62800.0,15700.0
+4.0,293.0,0.1048395186662674,-40.77985588321841,0.1112123504281044,2013,62800.0,15700.0
+0.0,294.0,0.10702868551015854,-40.61969028117686,0.10984596610069275,2014,63000.0,15750.0
+1.0,294.0,0.10702868551015854,-40.63237655886754,0.11335237324237823,2015,63000.0,15750.0
+2.0,294.0,0.10677779465913773,-40.645584199110026,0.11171787977218628,2016,63000.0,15750.0
+3.0,294.0,0.10677779465913773,-40.751825170478355,0.11310310661792755,2017,63000.0,15750.0
+4.0,294.0,0.10677779465913773,-40.66532775940683,0.1140066608786583,2018,63000.0,15750.0
+5.0,294.0,0.10677779465913773,-40.73548149386881,0.11709503084421158,2019,63000.0,15750.0
+6.0,294.0,0.10677779465913773,-40.637351155763696,0.11418883502483368,2020,63000.0,15750.0
+7.0,294.0,0.10677779465913773,-40.727629348816656,0.11477421224117279,2021,63000.0,15750.0
+0.0,295.0,0.10365687310695648,-40.33238056507188,0.10368277877569199,2022,63200.0,15800.0
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+2.0,295.0,0.10365687310695648,-40.75130067277051,0.10490920394659042,2024,63200.0,15800.0
+3.0,295.0,0.10365687310695648,-40.80612548642796,0.10733555257320404,2025,63200.0,15800.0
+4.0,295.0,0.10365687310695648,-40.7207647007004,0.10879041254520416,2026,63200.0,15800.0
+5.0,295.0,0.10365687310695648,-40.7854505222336,0.10757234692573547,2027,63200.0,15800.0
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