diff --git a/best_configs/hail-etienne2_expA.json b/best_configs/hail-etienne2_expA.json
new file mode 100644
index 0000000..a43762d
--- /dev/null
+++ b/best_configs/hail-etienne2_expA.json
@@ -0,0 +1,33 @@
+{
+    "experiment": "A",
+    "trainenv": {
+        "stop_on_collision": false,
+        "safe_actions_collision_method": null,
+        "abort_unsafe_collision_method": null
+    },
+    "policy": {
+        "learning_rate": 0.0003,
+        "learning_rate_decay": 1.0,
+        "clip_ratio": 0.2,
+        "iterations_per_epoch": 100,
+        "hidden_layer_size": 10,
+        "n_hidden_layers": 3,
+        "activation": 0,
+        "option": 0
+    },
+    "value": {
+        "learning_rate": 0.001,
+        "iterations_per_epoch": 1000
+    },
+    "discriminator": {
+        "learning_rate": 0.001,
+        "weight_decay": 0.0001,
+        "iterations_per_epoch": 100,
+        "n_hidden_layers_element": 3,
+        "n_hidden_layers_global": 2,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 100,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/best_configs/hail-etienne2_expB.json b/best_configs/hail-etienne2_expB.json
new file mode 100644
index 0000000..6425d4f
--- /dev/null
+++ b/best_configs/hail-etienne2_expB.json
@@ -0,0 +1,33 @@
+{
+    "experiment": "B",
+    "trainenv": {
+        "stop_on_collision": false,
+        "safe_actions_collision_method": null,
+        "abort_unsafe_collision_method": null
+    },
+    "policy": {
+        "learning_rate": 0.0003,
+        "learning_rate_decay": 1.0,
+        "clip_ratio": 0.2,
+        "iterations_per_epoch": 100,
+        "hidden_layer_size": 10,
+        "n_hidden_layers": 3,
+        "activation": 0,
+        "option": 0
+    },
+    "value": {
+        "learning_rate": 0.001,
+        "iterations_per_epoch": 1000
+    },
+    "discriminator": {
+        "learning_rate": 0.001,
+        "weight_decay": 0.0001,
+        "iterations_per_epoch": 100,
+        "n_hidden_layers_element": 3,
+        "n_hidden_layers_global": 2,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 100,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/best_configs/hail-etienne3_expA.json b/best_configs/hail-etienne3_expA.json
new file mode 100644
index 0000000..91775ab
--- /dev/null
+++ b/best_configs/hail-etienne3_expA.json
@@ -0,0 +1,33 @@
+{
+    "experiment": "A",
+    "trainenv": {
+        "stop_on_collision": false,
+        "safe_actions_collision_method": null,
+        "abort_unsafe_collision_method": null
+    },
+    "policy": {
+        "learning_rate": 0.0003,
+        "learning_rate_decay": 1.0,
+        "clip_ratio": 0.2,
+        "iterations_per_epoch": 100,
+        "hidden_layer_size": 40,
+        "n_hidden_layers": 3,
+        "activation": 0,
+        "option": 0
+    },
+    "value": {
+        "learning_rate": 0.001,
+        "iterations_per_epoch": 1000
+    },
+    "discriminator": {
+        "learning_rate": 0.001,
+        "weight_decay": 0.0001,
+        "iterations_per_epoch": 100,
+        "n_hidden_layers_element": 3,
+        "n_hidden_layers_global": 2,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 100,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/best_configs/hail-etienne3_expB.json b/best_configs/hail-etienne3_expB.json
new file mode 100644
index 0000000..c75cfb5
--- /dev/null
+++ b/best_configs/hail-etienne3_expB.json
@@ -0,0 +1,33 @@
+{
+    "experiment": "B",
+    "trainenv": {
+        "stop_on_collision": false,
+        "safe_actions_collision_method": null,
+        "abort_unsafe_collision_method": null
+    },
+    "policy": {
+        "learning_rate": 0.0003,
+        "learning_rate_decay": 1.0,
+        "clip_ratio": 0.2,
+        "iterations_per_epoch": 100,
+        "hidden_layer_size": 40,
+        "n_hidden_layers": 3,
+        "activation": 0,
+        "option": 0
+    },
+    "value": {
+        "learning_rate": 0.001,
+        "iterations_per_epoch": 1000
+    },
+    "discriminator": {
+        "learning_rate": 0.001,
+        "weight_decay": 0.0001,
+        "iterations_per_epoch": 100,
+        "n_hidden_layers_element": 3,
+        "n_hidden_layers_global": 2,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 100,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/best_configs/shail-etienne2_expA.json b/best_configs/shail-etienne2_expA.json
new file mode 100644
index 0000000..a3f6b90
--- /dev/null
+++ b/best_configs/shail-etienne2_expA.json
@@ -0,0 +1,33 @@
+{
+    "experiment": "A",
+    "trainenv": {
+        "stop_on_collision": false,
+        "safe_actions_collision_method": "circle",
+        "abort_unsafe_collision_method": "circle"
+    },
+    "policy": {
+        "learning_rate": 0.0003,
+        "learning_rate_decay": 1.0,
+        "clip_ratio": 0.2,
+        "iterations_per_epoch": 100,
+        "hidden_layer_size": 10,
+        "n_hidden_layers": 3,
+        "activation": 0,
+        "option": 0
+    },
+    "value": {
+        "learning_rate": 0.001,
+        "iterations_per_epoch": 1000
+    },
+    "discriminator": {
+        "learning_rate": 0.001,
+        "weight_decay": 0.0001,
+        "iterations_per_epoch": 100,
+        "n_hidden_layers_element": 3,
+        "n_hidden_layers_global": 2,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 100,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/best_configs/shail-etienne2_expB.json b/best_configs/shail-etienne2_expB.json
new file mode 100644
index 0000000..096f2ea
--- /dev/null
+++ b/best_configs/shail-etienne2_expB.json
@@ -0,0 +1,33 @@
+{
+    "experiment": "B",
+    "trainenv": {
+        "stop_on_collision": false,
+        "safe_actions_collision_method": "circle",
+        "abort_unsafe_collision_method": "circle"
+    },
+    "policy": {
+        "learning_rate": 0.0003,
+        "learning_rate_decay": 1.0,
+        "clip_ratio": 0.2,
+        "iterations_per_epoch": 100,
+        "hidden_layer_size": 10,
+        "n_hidden_layers": 3,
+        "activation": 0,
+        "option": 0
+    },
+    "value": {
+        "learning_rate": 0.001,
+        "iterations_per_epoch": 1000
+    },
+    "discriminator": {
+        "learning_rate": 0.001,
+        "weight_decay": 0.0001,
+        "iterations_per_epoch": 100,
+        "n_hidden_layers_element": 3,
+        "n_hidden_layers_global": 2,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 100,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/best_configs/shail-etienne3_expA.json b/best_configs/shail-etienne3_expA.json
new file mode 100644
index 0000000..385d63d
--- /dev/null
+++ b/best_configs/shail-etienne3_expA.json
@@ -0,0 +1,33 @@
+{
+    "experiment": "A",
+    "trainenv": {
+        "stop_on_collision": false,
+        "safe_actions_collision_method": "circle",
+        "abort_unsafe_collision_method": "circle"
+    },
+    "policy": {
+        "learning_rate": 0.0003,
+        "learning_rate_decay": 1.0,
+        "clip_ratio": 0.2,
+        "iterations_per_epoch": 100,
+        "hidden_layer_size": 40,
+        "n_hidden_layers": 3,
+        "activation": 0,
+        "option": 0
+    },
+    "value": {
+        "learning_rate": 0.001,
+        "iterations_per_epoch": 1000
+    },
+    "discriminator": {
+        "learning_rate": 0.001,
+        "weight_decay": 0.0001,
+        "iterations_per_epoch": 100,
+        "n_hidden_layers_element": 3,
+        "n_hidden_layers_global": 2,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 100,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/best_configs/shail-etienne3_expB.json b/best_configs/shail-etienne3_expB.json
new file mode 100644
index 0000000..d0d0b69
--- /dev/null
+++ b/best_configs/shail-etienne3_expB.json
@@ -0,0 +1,33 @@
+{
+    "experiment": "B",
+    "trainenv": {
+        "stop_on_collision": false,
+        "safe_actions_collision_method": "circle",
+        "abort_unsafe_collision_method": "circle"
+    },
+    "policy": {
+        "learning_rate": 0.0003,
+        "learning_rate_decay": 1.0,
+        "clip_ratio": 0.2,
+        "iterations_per_epoch": 100,
+        "hidden_layer_size": 40,
+        "n_hidden_layers": 3,
+        "activation": 0,
+        "option": 0
+    },
+    "value": {
+        "learning_rate": 0.001,
+        "iterations_per_epoch": 1000
+    },
+    "discriminator": {
+        "learning_rate": 0.001,
+        "weight_decay": 0.0001,
+        "iterations_per_epoch": 100,
+        "n_hidden_layers_element": 3,
+        "n_hidden_layers_global": 2,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 100,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/eval_experiments.py b/eval_experiments.py
index 3eed2ed..f9f1c8e 100644
--- a/eval_experiments.py
+++ b/eval_experiments.py
@@ -12,7 +12,7 @@ def main(method:str='expert', folder:str=None, locations=[(0,0)], skip_running=F
         env_kwargs={'stop_on_collision':True, 'max_episode_steps':1000}
     elif method in ['hail']:
         env = 'NormalizedOptionsEvalEnv'
-        env_kwargs={'stop_on_collision':True, 'max_episode_steps':1000}
+        env_kwargs={'stop_on_collision':True, 'max_episode_steps':1000, 'safe_actions_collision_method': None, 'abort_unsafe_collision_method': None}
     elif method in ['shail']:
         env = 'NormalizedSafeOptionsEvalEnv'
         env_kwargs={'stop_on_collision':True, 'max_episode_steps':1000}