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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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+version https://git-lfs.github.com/spec/v1
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diff --git a/checkpoints/figure5/umaze/transformer/seed_9/final.pt b/checkpoints/figure5/umaze/transformer/seed_9/final.pt
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+version https://git-lfs.github.com/spec/v1
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diff --git a/configs/figure5/flat/adult/seed_0/final.yaml b/configs/figure5/flat/adult/seed_0/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..301f05c1d89f33179218da80d80598af610e8616
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_0/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 0
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 0
diff --git a/configs/figure5/flat/adult/seed_1/final.yaml b/configs/figure5/flat/adult/seed_1/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cde446dad87d195df322347a8927cd5fe5c10cde
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_1/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 1
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 1
diff --git a/configs/figure5/flat/adult/seed_10/final.yaml b/configs/figure5/flat/adult/seed_10/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..727b06a51ad9cb518076aeee8c25dda75649b772
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_10/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 10
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 10
diff --git a/configs/figure5/flat/adult/seed_11/final.yaml b/configs/figure5/flat/adult/seed_11/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2fa72b93ddf4179b76a0010452abda03a511838c
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_11/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 11
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 11
diff --git a/configs/figure5/flat/adult/seed_12/final.yaml b/configs/figure5/flat/adult/seed_12/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2ca6bb1c084c760285bf41faf922435cb0884537
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_12/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 12
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 12
diff --git a/configs/figure5/flat/adult/seed_13/final.yaml b/configs/figure5/flat/adult/seed_13/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b20335070614789a47b8ca519c9ee642c6de6ab2
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_13/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 13
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 13
diff --git a/configs/figure5/flat/adult/seed_14/final.yaml b/configs/figure5/flat/adult/seed_14/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5da1a34c2bf4fe58bb2b98fd1ee140ff320f980e
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_14/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 14
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 14
diff --git a/configs/figure5/flat/adult/seed_15/final.yaml b/configs/figure5/flat/adult/seed_15/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..13c3399d216dba49d0632f58bcca6e07ea230b9b
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_15/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 15
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 15
diff --git a/configs/figure5/flat/adult/seed_16/final.yaml b/configs/figure5/flat/adult/seed_16/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..94d57d2c82982f3dd8ce1898a030cde7c6800dcd
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_16/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 16
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 16
diff --git a/configs/figure5/flat/adult/seed_17/final.yaml b/configs/figure5/flat/adult/seed_17/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..25edf1b34f87b2bca0fb397e0d1e5acc6d7f3578
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_17/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 17
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 17
diff --git a/configs/figure5/flat/adult/seed_18/final.yaml b/configs/figure5/flat/adult/seed_18/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c50091c8f48b07b993653604a0a32441aa9d761b
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_18/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 18
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 18
diff --git a/configs/figure5/flat/adult/seed_19/final.yaml b/configs/figure5/flat/adult/seed_19/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..56e125658466fc4ff671cde207a4eacf4af4e0be
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_19/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 19
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 19
diff --git a/configs/figure5/flat/adult/seed_2/final.yaml b/configs/figure5/flat/adult/seed_2/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0ed1ea05721b1459bd36643bf506b58a716426f6
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_2/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 2
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 2
diff --git a/configs/figure5/flat/adult/seed_3/final.yaml b/configs/figure5/flat/adult/seed_3/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..629a1327f0abc18b30014f6474fb14e535d64636
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_3/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 3
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 3
diff --git a/configs/figure5/flat/adult/seed_4/final.yaml b/configs/figure5/flat/adult/seed_4/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2cad197b733c4d2cf890dcfc23de673f75fab4d6
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_4/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 4
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 4
diff --git a/configs/figure5/flat/adult/seed_5/final.yaml b/configs/figure5/flat/adult/seed_5/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7bac14f8ad2ac6028d29675350b6d8480fbf2a73
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_5/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 5
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 5
diff --git a/configs/figure5/flat/adult/seed_6/final.yaml b/configs/figure5/flat/adult/seed_6/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..664df4267bad21520b31d1bbbe17ac1a3c05ef24
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_6/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 6
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 6
diff --git a/configs/figure5/flat/adult/seed_7/final.yaml b/configs/figure5/flat/adult/seed_7/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ce88b87182b91802e7132ab997f981a6256a6e34
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_7/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 7
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 7
diff --git a/configs/figure5/flat/adult/seed_8/final.yaml b/configs/figure5/flat/adult/seed_8/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..54e8cee6d1f58e82355e29725d72f18378feb177
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_8/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 8
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 8
diff --git a/configs/figure5/flat/adult/seed_9/final.yaml b/configs/figure5/flat/adult/seed_9/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d8021a123beecce804f30b9fde8d3a8e5079dab7
--- /dev/null
+++ b/configs/figure5/flat/adult/seed_9/final.yaml
@@ -0,0 +1,89 @@
+policy:
+  name: connectome_rate
+  actor_kwargs:
+    dt: 0.01
+    tau_init: 0.02
+    use_lora: false
+    input_target: sensory
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+connectome:
+  species: adult
+  kind: original
+  adult_dir: larva/data/adult
+  chunksize: 250000
+  min_syn_count: 1
+  normalization: row_l1
+  global_gain: 1.0
+  sensory_selector:
+    source: classification
+    field: flow
+    include:
+    - afferent
+  output_selector:
+    source: classification
+    field: super_class
+    include:
+    - motor
+  polarity:
+    unknown_action: zero
+    nt_signs:
+      ACH: 1.0
+      GLUT: 1.0
+      GABA: -1.0
+      DA: 1.0
+      SER: 1.0
+      OCT: 1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 9
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 9
diff --git a/configs/figure5/flat/mlp/seed_0/final.yaml b/configs/figure5/flat/mlp/seed_0/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..54376f27b31334d05aa1bdbb78638c3700f49705
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_0/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 0
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 0
diff --git a/configs/figure5/flat/mlp/seed_1/final.yaml b/configs/figure5/flat/mlp/seed_1/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..058ea32f01970937cb2c7f8952548c02bc71a68d
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_1/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 1
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 1
diff --git a/configs/figure5/flat/mlp/seed_10/final.yaml b/configs/figure5/flat/mlp/seed_10/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dca309b1bf19c1b618dea3c7cbf13b6c872269b8
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_10/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 10
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 10
diff --git a/configs/figure5/flat/mlp/seed_11/final.yaml b/configs/figure5/flat/mlp/seed_11/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..13a2101670dbf9a502f9f9e021bd01d8eebc8eb7
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_11/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 11
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 11
diff --git a/configs/figure5/flat/mlp/seed_12/final.yaml b/configs/figure5/flat/mlp/seed_12/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..309c4df18a41cccbde4e2c8c03ecc31ed063130b
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_12/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 12
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 12
diff --git a/configs/figure5/flat/mlp/seed_13/final.yaml b/configs/figure5/flat/mlp/seed_13/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..aacc6e1b5f9cf91ba062cb0db0a207ea84398197
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_13/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 13
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 13
diff --git a/configs/figure5/flat/mlp/seed_14/final.yaml b/configs/figure5/flat/mlp/seed_14/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b71cf14d786958c2b5d70f805255f937102551e7
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_14/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 14
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 14
diff --git a/configs/figure5/flat/mlp/seed_15/final.yaml b/configs/figure5/flat/mlp/seed_15/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1b7689de8f107f93b8e07ea9f2d877ac8b0c1b98
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_15/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 15
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 15
diff --git a/configs/figure5/flat/mlp/seed_16/final.yaml b/configs/figure5/flat/mlp/seed_16/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b047bfef90469505c7e08c1f0ed4b786e923e463
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_16/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 16
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 16
diff --git a/configs/figure5/flat/mlp/seed_17/final.yaml b/configs/figure5/flat/mlp/seed_17/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d7672124dccbe1665130f8bd45c1ed7f5c7a673c
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_17/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 17
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 17
diff --git a/configs/figure5/flat/mlp/seed_18/final.yaml b/configs/figure5/flat/mlp/seed_18/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..069c94cf80ec333a23ce5685207940a6715ab58f
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_18/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 18
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 18
diff --git a/configs/figure5/flat/mlp/seed_19/final.yaml b/configs/figure5/flat/mlp/seed_19/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..31a5606cca84f4275d00e8f90378cde7721684f7
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_19/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 19
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 19
diff --git a/configs/figure5/flat/mlp/seed_2/final.yaml b/configs/figure5/flat/mlp/seed_2/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5265343ba37c0706029981149a3159d75a767335
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_2/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 2
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 2
diff --git a/configs/figure5/flat/mlp/seed_3/final.yaml b/configs/figure5/flat/mlp/seed_3/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..68d0a0b052fee4a050e27f5a21b90f489dc6f798
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_3/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 3
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 3
diff --git a/configs/figure5/flat/mlp/seed_4/final.yaml b/configs/figure5/flat/mlp/seed_4/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..91dc8984a620c8c790f59b99e62a77ddb5f0dbc1
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_4/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 4
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 4
diff --git a/configs/figure5/flat/mlp/seed_5/final.yaml b/configs/figure5/flat/mlp/seed_5/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4161e6c61464f3d7fb0fa72d6bc033cb69407103
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_5/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 5
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 5
diff --git a/configs/figure5/flat/mlp/seed_6/final.yaml b/configs/figure5/flat/mlp/seed_6/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..637a3d268ac61b3389ef1990cbc6dbc6574a0bd2
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_6/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 6
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 6
diff --git a/configs/figure5/flat/mlp/seed_7/final.yaml b/configs/figure5/flat/mlp/seed_7/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c53e9ddb3eb55f9b01332799523414e5f066ed24
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_7/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 7
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 7
diff --git a/configs/figure5/flat/mlp/seed_8/final.yaml b/configs/figure5/flat/mlp/seed_8/final.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d281aad03f1223ab3784d90d5f5834a5f531352e
--- /dev/null
+++ b/configs/figure5/flat/mlp/seed_8/final.yaml
@@ -0,0 +1,62 @@
+policy:
+  name: mlp
+  actor_kwargs:
+    hidden:
+    - 1378
+    - 1378
+    activation: relu
+  value_hidden:
+  - 256
+  - 256
+  value_activation: relu
+  log_std_init: -1.0
+env:
+  env_id: Ant-v5
+  friction_values: &id001
+  - 1.0
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: &id002
+    enabled: true
+    forward_cap_mps: 2.2
+    inversion_threshold_degrees: 90.0
+    inversion_persistence_steps: 10
+    action_scale: 0.9
+resolved_env:
+  env_id: Ant-v5
+  friction_values: *id001
+  steps_per_context: 1000000000
+  cycle: false
+  append_zero_goal_features: true
+  stabilization: *id002
+  schedule_seed: 8
+ppo:
+  total_timesteps: 200000
+  n_envs: 4
+  n_steps: 512
+  seq_len: 64
+  n_epochs: 10
+  n_minibatches: 4
+  gamma: 0.99
+  lam: 0.95
+  clip_range: 0.2
+  vf_clip_range: 0.2
+  lr: 0.0001
+  vf_coef: 0.5
+  ent_coef: 0.0
+  max_grad_norm: 0.5
+  normalize_reward: true
+  normalize_observation: true
+  observation_clip: 10.0
+  rollout_heartbeat: 128
+  best_checkpoint_mode: stability_velocity
+  best_checkpoint_window: 100
+  best_checkpoint_min_episodes: 20
+  best_checkpoint_min_forward_velocity: 1.5
+  best_checkpoint_max_high_z_termination_rate: 0.15
+  best_checkpoint_max_inverted_completion_rate: 0.05
+  best_checkpoint_max_functional_failure_rate: 0.2
+evaluation:
+  run_robustness: true
+seed: 8