diff --git a/test_policies/bc/expA/config.json b/test_policies/bc/expA/config.json
new file mode 100644
index 0000000..42fee47
--- /dev/null
+++ b/test_policies/bc/expA/config.json
@@ -0,0 +1,15 @@
+{
+    "experiment": "A",
+    "trainenv": {
+        "stop_on_collision": false
+    },
+    "policy": {
+        "learning_rate": 0.0003,
+        "learning_rate_decay": 1.0,
+        "hidden_layer_size": 40,
+        "n_hidden_layers": 2,
+        "activation": 0
+    },
+    "train_epochs": 300,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/test_policies/bc/expB/config.json b/test_policies/bc/expB/config.json
new file mode 100644
index 0000000..9d81a2f
--- /dev/null
+++ b/test_policies/bc/expB/config.json
@@ -0,0 +1,15 @@
+{
+    "experiment": "B",
+    "trainenv": {
+        "stop_on_collision": false
+    },
+    "policy": {
+        "learning_rate": 0.0003,
+        "learning_rate_decay": 1.0,
+        "hidden_layer_size": 40,
+        "n_hidden_layers": 2,
+        "activation": 0
+    },
+    "train_epochs": 300,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/test_policies/gail/expA/config.json b/test_policies/gail/expA/config.json
new file mode 100644
index 0000000..e254f61
--- /dev/null
+++ b/test_policies/gail/expA/config.json
@@ -0,0 +1,31 @@
+{
+    "experiment": "A",
+    "trainenv": {
+        "stop_on_collision": false
+    },
+    "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": 2,
+        "activation": 0
+    },
+    "value": {
+        "learning_rate": 0.0001,
+        "weight_decay": 0.001,
+        "iterations_per_epoch": 1000
+    },
+    "discriminator": {
+        "learning_rate": 0.001,
+        "weight_decay": 0.0001,
+        "iterations_per_epoch": 100,
+        "n_hidden_layers_element": 4,
+        "n_hidden_layers_global": 1,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 100,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/test_policies/gail/expB/config.json b/test_policies/gail/expB/config.json
new file mode 100644
index 0000000..b05e446
--- /dev/null
+++ b/test_policies/gail/expB/config.json
@@ -0,0 +1,31 @@
+{
+    "experiment": "B",
+    "trainenv": {
+        "stop_on_collision": false
+    },
+    "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": 2,
+        "activation": 0
+    },
+    "value": {
+        "learning_rate": 0.0001,
+        "weight_decay": 0.001,
+        "iterations_per_epoch": 1000
+    },
+    "discriminator": {
+        "learning_rate": 0.001,
+        "weight_decay": 0.0001,
+        "iterations_per_epoch": 100,
+        "n_hidden_layers_element": 4,
+        "n_hidden_layers_global": 1,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 100,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/test_policies/hail-etienne/expA/config.json b/test_policies/hail-etienne/expA/config.json
new file mode 100644
index 0000000..dbf59ca
--- /dev/null
+++ b/test_policies/hail-etienne/expA/config.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": 20,
+        "n_hidden_layers": 4,
+        "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/test_policies/hail-etienne/expB/config.json b/test_policies/hail-etienne/expB/config.json
new file mode 100644
index 0000000..0fae03f
--- /dev/null
+++ b/test_policies/hail-etienne/expB/config.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": 20,
+        "n_hidden_layers": 4,
+        "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/test_policies/hail/expA/config.json b/test_policies/hail/expA/config.json
new file mode 100644
index 0000000..ca9fe11
--- /dev/null
+++ b/test_policies/hail/expA/config.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": 2,
+        "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": 4,
+        "n_hidden_layers_global": 1,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 90,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/test_policies/hail/expB/config.json b/test_policies/hail/expB/config.json
new file mode 100644
index 0000000..a93d5e1
--- /dev/null
+++ b/test_policies/hail/expB/config.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": 20,
+        "n_hidden_layers": 2,
+        "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": 4,
+        "n_hidden_layers_global": 2,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 85,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/test_policies/shail-etienne/expA/config.json b/test_policies/shail-etienne/expA/config.json
new file mode 100644
index 0000000..6de9706
--- /dev/null
+++ b/test_policies/shail-etienne/expA/config.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": 20,
+        "n_hidden_layers": 4,
+        "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/test_policies/shail-etienne/expB/config.json b/test_policies/shail-etienne/expB/config.json
new file mode 100644
index 0000000..04139c2
--- /dev/null
+++ b/test_policies/shail-etienne/expB/config.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": 20,
+        "n_hidden_layers": 4,
+        "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/test_policies/shail/expA/config.json b/test_policies/shail/expA/config.json
new file mode 100644
index 0000000..76472e0
--- /dev/null
+++ b/test_policies/shail/expA/config.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": 2,
+        "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": 4,
+        "n_hidden_layers_global": 1,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 90,
+    "seed": 0
+}
\ No newline at end of file
diff --git a/test_policies/shail/expB/config.json b/test_policies/shail/expB/config.json
new file mode 100644
index 0000000..3a35200
--- /dev/null
+++ b/test_policies/shail/expB/config.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": 20,
+        "n_hidden_layers": 2,
+        "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": 4,
+        "n_hidden_layers_global": 2,
+        "hidden_layer_size": 10,
+        "activation": 0
+    },
+    "train_epochs": 85,
+    "seed": 0
+}
\ No newline at end of file