diff --git a/.gitattributes b/.gitattributes
index a6344aac8c09253b3b630fb776ae94478aa0275b..12162704622408c46eb465ffdf4ea783500584b8 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -33,3 +33,28 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
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+1/test/vorticity_test_eval_episode_0.gif filter=lfs diff=lfs merge=lfs -text
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+2/test/vorticity_test_eval_episode_0.gif filter=lfs diff=lfs merge=lfs -text
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diff --git a/0/ckpt_latest.zip b/0/ckpt_latest.zip
new file mode 100644
index 0000000000000000000000000000000000000000..76f60d0fe47b5215868163c9ae687ea590f377cd
--- /dev/null
+++ b/0/ckpt_latest.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a51d17efbf590d8cdeefd7ad791de6c1ded1c6951b252f6e0c0acc2606846b96
+size 611606
diff --git a/0/config.yaml b/0/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..955ec25cfabc03ece513e4125260b58d6ffa1544
--- /dev/null
+++ b/0/config.yaml
@@ -0,0 +1,58 @@
+env_id: CylinderJet2D-medium-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 0
+rl_mode: sarl
+total_timesteps: 50000.0
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+continue_training: false
+checkpoint_latest: true
+rl_device: cpu
+eval_callback:
+  _target_: fluidgym.integration.sb3.EvalCallback
+  eval_freq: ${eval_freq}
+  n_eval_episodes: ${n_eval_episodes}
+  use_wandb: ${wandb.enable}
+  checkpoint_latest: ${checkpoint_latest}
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+algorithm:
+  name: PPO
+  obj:
+    _target_: stable_baselines3.ppo.ppo.PPO
+    policy: MlpPolicy
+    learning_rate: 0.0003
+    n_steps: 2048
+    batch_size: 64
+    n_epochs: 10
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_range: 0.2
+    clip_range_vf: null
+    normalize_advantage: true
+    ent_coef: 0.01
+    vf_coef: 0.5
+    max_grad_norm: 0.5
+    use_sde: false
+    sde_sample_freq: -1
+    rollout_buffer_class: null
+    rollout_buffer_kwargs: null
+    target_kl: null
+    stats_window_size: 100
+    tensorboard_log: null
+    verbose: 0
+    seed: ${seed}
+    device: ${rl_device}
+    _init_setup_model: true
+cluster: {}
+test_env_id: ${env_id}
+test_env_kwargs: ${env_kwargs}
+test_rl_mode: ${rl_mode}
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true
diff --git a/0/hydra.yaml b/0/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..04fb3237f168d2f215934ac29dff83f6c5d4276c
--- /dev/null
+++ b/0/hydra.yaml
@@ -0,0 +1,163 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - algorithm=sb3_ppo
+    - env_id=CylinderJet2D-medium-v0
+    - rl_mode=sarl
+    - seed=0
+  job:
+    name: test_sb3
+    chdir: true
+    override_dirname: algorithm=sb3_ppo,env_id=CylinderJet2D-medium-v0,rl_mode=sarl,seed=0
+    id: '0'
+    num: 0
+    config_name: test_sb3
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderJet2D-medium-v0/PPO/0
+    choices:
+      cluster: local
+      algorithm: sb3_ppo
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/0/multirun.yaml b/0/multirun.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0ca53dadfa2bfa5084104bec8eb6229a1f7fcbc6
--- /dev/null
+++ b/0/multirun.yaml
@@ -0,0 +1,221 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - algorithm=sb3_ppo
+    - env_id=CylinderJet2D-medium-v0
+    - rl_mode=sarl
+    - seed=0
+  job:
+    name: test_sb3
+    chdir: true
+    override_dirname: algorithm=sb3_ppo,env_id=CylinderJet2D-medium-v0,rl_mode=sarl,seed=0
+    id: ???
+    num: ???
+    config_name: test_sb3
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      algorithm: sb3_ppo
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
+env_id: CylinderJet2D-medium-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 0
+rl_mode: sarl
+total_timesteps: 50000.0
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+continue_training: false
+checkpoint_latest: true
+rl_device: cpu
+eval_callback:
+  _target_: fluidgym.integration.sb3.EvalCallback
+  eval_freq: ${eval_freq}
+  n_eval_episodes: ${n_eval_episodes}
+  use_wandb: ${wandb.enable}
+  checkpoint_latest: ${checkpoint_latest}
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+algorithm:
+  name: PPO
+  obj:
+    _target_: stable_baselines3.ppo.ppo.PPO
+    policy: MlpPolicy
+    learning_rate: 0.0003
+    n_steps: 2048
+    batch_size: 64
+    n_epochs: 10
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_range: 0.2
+    clip_range_vf: null
+    normalize_advantage: true
+    ent_coef: 0.01
+    vf_coef: 0.5
+    max_grad_norm: 0.5
+    use_sde: false
+    sde_sample_freq: -1
+    rollout_buffer_class: null
+    rollout_buffer_kwargs: null
+    target_kl: null
+    stats_window_size: 100
+    tensorboard_log: null
+    verbose: 0
+    seed: ${seed}
+    device: ${rl_device}
+    _init_setup_model: true
+cluster: {}
+test_env_id: ${env_id}
+test_env_kwargs: ${env_kwargs}
+test_rl_mode: ${rl_mode}
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true
diff --git a/0/overrides.yaml b/0/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e2f99ba38cdd6421c9f946cb7e94e627276b47c6
--- /dev/null
+++ b/0/overrides.yaml
@@ -0,0 +1,4 @@
+- algorithm=sb3_ppo
+- env_id=CylinderJet2D-medium-v0
+- rl_mode=sarl
+- seed=0
diff --git a/0/test/test_eval_episode_0.csv b/0/test/test_eval_episode_0.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4c56fde19a6211f882b745acbb9dfa0f0590da3a
--- /dev/null
+++ b/0/test/test_eval_episode_0.csv
@@ -0,0 +1,81 @@
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diff --git a/0/transfer/CylinderJet3D-medium-v0/x-y-vorticity_test_eval_episode_0.gif b/0/transfer/CylinderJet3D-medium-v0/x-y-vorticity_test_eval_episode_0.gif
new file mode 100644
index 0000000000000000000000000000000000000000..a61ba8ea2bf8948007478771fcc8e6d87cc6622d
--- /dev/null
+++ b/0/transfer/CylinderJet3D-medium-v0/x-y-vorticity_test_eval_episode_0.gif
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2809628
diff --git a/0/transfer/CylinderJet3D-medium-v0/x-z-vorticity_test_eval_episode_0.gif b/0/transfer/CylinderJet3D-medium-v0/x-z-vorticity_test_eval_episode_0.gif
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+++ b/0/transfer/CylinderJet3D-medium-v0/x-z-vorticity_test_eval_episode_0.gif
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+size 2613155
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+++ b/0/transfer/CylinderJet3D-medium-v0/y-z-vorticity_test_eval_episode_0.gif
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d3b77905cea1d55e9ce72ae25868bbdf7cf600259e8b4d7cea886e7eca2bcb86
+size 527226
diff --git a/1/ckpt_latest.zip b/1/ckpt_latest.zip
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:528b8bb9da72db319d5e036dcdec9c7f28daed7d668d1a058bd469b114e83019
+size 611610
diff --git a/1/config.yaml b/1/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dbe2753967e07529787b18cfc50928810b1623b5
--- /dev/null
+++ b/1/config.yaml
@@ -0,0 +1,59 @@
+env_id: CylinderJet2D-medium-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 1
+rl_mode: sarl
+total_timesteps: 50000.0
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+continue_training: false
+checkpoint_latest: true
+rl_device: cpu
+eval_callback:
+  _target_: fluidgym.integration.sb3.EvalCallback
+  eval_freq: ${eval_freq}
+  n_eval_episodes: ${n_eval_episodes}
+  use_wandb: ${wandb.enable}
+  checkpoint_latest: ${checkpoint_latest}
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+algorithm:
+  name: PPO
+  obj:
+    _target_: stable_baselines3.ppo.ppo.PPO
+    policy: MlpPolicy
+    learning_rate: 0.0003
+    n_steps: 2048
+    batch_size: 64
+    n_epochs: 10
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_range: 0.2
+    clip_range_vf: null
+    normalize_advantage: true
+    ent_coef: 0.01
+    vf_coef: 0.5
+    max_grad_norm: 0.5
+    use_sde: false
+    sde_sample_freq: -1
+    rollout_buffer_class: null
+    rollout_buffer_kwargs: null
+    target_kl: null
+    stats_window_size: 100
+    tensorboard_log: null
+    verbose: 0
+    seed: ${seed}
+    device: ${rl_device}
+    _init_setup_model: true
+cluster: {}
+test_env_id: CylinderJet3D-medium-v0
+test_env_kwargs:
+  local_2d_obs: true
+test_rl_mode: marl
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true
diff --git a/1/hydra.yaml b/1/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b37853bc38711e69590813f869121193d4d39961
--- /dev/null
+++ b/1/hydra.yaml
@@ -0,0 +1,166 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderJet2D-medium-v0
+    - algorithm=sb3_ppo
+    - seed=1
+    - rl_mode=sarl
+    - test_env_id=CylinderJet3D-medium-v0
+    - test_rl_mode=marl
+    - +test_env_kwargs.local_2d_obs=True
+  job:
+    name: test_sb3
+    chdir: true
+    override_dirname: +test_env_kwargs.local_2d_obs=True,algorithm=sb3_ppo,env_id=CylinderJet2D-medium-v0,rl_mode=sarl,seed=1,test_env_id=CylinderJet3D-medium-v0,test_rl_mode=marl
+    id: '0'
+    num: 0
+    config_name: test_sb3
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderJet2D-medium-v0/PPO/1
+    choices:
+      cluster: local
+      algorithm: sb3_ppo
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/1/multirun.yaml b/1/multirun.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f3cc05ccd69f82e894e7aef638d24a4a22c1ff47
--- /dev/null
+++ b/1/multirun.yaml
@@ -0,0 +1,225 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderJet2D-medium-v0
+    - algorithm=sb3_ppo
+    - seed=1
+    - rl_mode=sarl
+    - test_env_id=CylinderJet3D-medium-v0
+    - test_rl_mode=marl
+    - +test_env_kwargs.local_2d_obs=True
+  job:
+    name: test_sb3
+    chdir: true
+    override_dirname: +test_env_kwargs.local_2d_obs=True,algorithm=sb3_ppo,env_id=CylinderJet2D-medium-v0,rl_mode=sarl,seed=1,test_env_id=CylinderJet3D-medium-v0,test_rl_mode=marl
+    id: ???
+    num: ???
+    config_name: test_sb3
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      algorithm: sb3_ppo
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
+env_id: CylinderJet2D-medium-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 1
+rl_mode: sarl
+total_timesteps: 50000.0
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+continue_training: false
+checkpoint_latest: true
+rl_device: cpu
+eval_callback:
+  _target_: fluidgym.integration.sb3.EvalCallback
+  eval_freq: ${eval_freq}
+  n_eval_episodes: ${n_eval_episodes}
+  use_wandb: ${wandb.enable}
+  checkpoint_latest: ${checkpoint_latest}
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+algorithm:
+  name: PPO
+  obj:
+    _target_: stable_baselines3.ppo.ppo.PPO
+    policy: MlpPolicy
+    learning_rate: 0.0003
+    n_steps: 2048
+    batch_size: 64
+    n_epochs: 10
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_range: 0.2
+    clip_range_vf: null
+    normalize_advantage: true
+    ent_coef: 0.01
+    vf_coef: 0.5
+    max_grad_norm: 0.5
+    use_sde: false
+    sde_sample_freq: -1
+    rollout_buffer_class: null
+    rollout_buffer_kwargs: null
+    target_kl: null
+    stats_window_size: 100
+    tensorboard_log: null
+    verbose: 0
+    seed: ${seed}
+    device: ${rl_device}
+    _init_setup_model: true
+cluster: {}
+test_env_id: CylinderJet3D-medium-v0
+test_env_kwargs:
+  local_2d_obs: true
+test_rl_mode: marl
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true
diff --git a/1/overrides.yaml b/1/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c6fe1c26cf1078ee9c6679caf8c3eefa8fa1dfab
--- /dev/null
+++ b/1/overrides.yaml
@@ -0,0 +1,7 @@
+- env_id=CylinderJet2D-medium-v0
+- algorithm=sb3_ppo
+- seed=1
+- rl_mode=sarl
+- test_env_id=CylinderJet3D-medium-v0
+- test_rl_mode=marl
+- +test_env_kwargs.local_2d_obs=True
diff --git a/1/test/test_eval_episode_0.csv b/1/test/test_eval_episode_0.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8919b85a0bdce0082e2881e10067b16b26f7e948
--- /dev/null
+++ b/1/test/test_eval_episode_0.csv
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new file mode 100644
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+oid sha256:4d1d56c15560313084caf19ac3c1fb89b93901cf556104891094c33327dfb646
+size 611606
diff --git a/2/config.yaml b/2/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6e9689619835e55e9da5d2685dae541c43e2a725
--- /dev/null
+++ b/2/config.yaml
@@ -0,0 +1,59 @@
+env_id: CylinderJet2D-medium-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 2
+rl_mode: sarl
+total_timesteps: 50000.0
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+continue_training: false
+checkpoint_latest: true
+rl_device: cpu
+eval_callback:
+  _target_: fluidgym.integration.sb3.EvalCallback
+  eval_freq: ${eval_freq}
+  n_eval_episodes: ${n_eval_episodes}
+  use_wandb: ${wandb.enable}
+  checkpoint_latest: ${checkpoint_latest}
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+algorithm:
+  name: PPO
+  obj:
+    _target_: stable_baselines3.ppo.ppo.PPO
+    policy: MlpPolicy
+    learning_rate: 0.0003
+    n_steps: 2048
+    batch_size: 64
+    n_epochs: 10
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_range: 0.2
+    clip_range_vf: null
+    normalize_advantage: true
+    ent_coef: 0.01
+    vf_coef: 0.5
+    max_grad_norm: 0.5
+    use_sde: false
+    sde_sample_freq: -1
+    rollout_buffer_class: null
+    rollout_buffer_kwargs: null
+    target_kl: null
+    stats_window_size: 100
+    tensorboard_log: null
+    verbose: 0
+    seed: ${seed}
+    device: ${rl_device}
+    _init_setup_model: true
+cluster: {}
+test_env_id: CylinderJet3D-medium-v0
+test_env_kwargs:
+  local_2d_obs: true
+test_rl_mode: marl
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true
diff --git a/2/hydra.yaml b/2/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..571d86ffa97fff158acef53a9f306f86134b16bd
--- /dev/null
+++ b/2/hydra.yaml
@@ -0,0 +1,166 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderJet2D-medium-v0
+    - algorithm=sb3_ppo
+    - seed=2
+    - rl_mode=sarl
+    - test_env_id=CylinderJet3D-medium-v0
+    - test_rl_mode=marl
+    - +test_env_kwargs.local_2d_obs=True
+  job:
+    name: test_sb3
+    chdir: true
+    override_dirname: +test_env_kwargs.local_2d_obs=True,algorithm=sb3_ppo,env_id=CylinderJet2D-medium-v0,rl_mode=sarl,seed=2,test_env_id=CylinderJet3D-medium-v0,test_rl_mode=marl
+    id: '0'
+    num: 0
+    config_name: test_sb3
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderJet2D-medium-v0/PPO/2
+    choices:
+      cluster: local
+      algorithm: sb3_ppo
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/2/multirun.yaml b/2/multirun.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e5c4891ac38e1a1b67ed2cb3a7a851bbed7f2a27
--- /dev/null
+++ b/2/multirun.yaml
@@ -0,0 +1,225 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderJet2D-medium-v0
+    - algorithm=sb3_ppo
+    - seed=2
+    - rl_mode=sarl
+    - test_env_id=CylinderJet3D-medium-v0
+    - test_rl_mode=marl
+    - +test_env_kwargs.local_2d_obs=True
+  job:
+    name: test_sb3
+    chdir: true
+    override_dirname: +test_env_kwargs.local_2d_obs=True,algorithm=sb3_ppo,env_id=CylinderJet2D-medium-v0,rl_mode=sarl,seed=2,test_env_id=CylinderJet3D-medium-v0,test_rl_mode=marl
+    id: ???
+    num: ???
+    config_name: test_sb3
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      algorithm: sb3_ppo
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
+env_id: CylinderJet2D-medium-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 2
+rl_mode: sarl
+total_timesteps: 50000.0
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+continue_training: false
+checkpoint_latest: true
+rl_device: cpu
+eval_callback:
+  _target_: fluidgym.integration.sb3.EvalCallback
+  eval_freq: ${eval_freq}
+  n_eval_episodes: ${n_eval_episodes}
+  use_wandb: ${wandb.enable}
+  checkpoint_latest: ${checkpoint_latest}
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+algorithm:
+  name: PPO
+  obj:
+    _target_: stable_baselines3.ppo.ppo.PPO
+    policy: MlpPolicy
+    learning_rate: 0.0003
+    n_steps: 2048
+    batch_size: 64
+    n_epochs: 10
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_range: 0.2
+    clip_range_vf: null
+    normalize_advantage: true
+    ent_coef: 0.01
+    vf_coef: 0.5
+    max_grad_norm: 0.5
+    use_sde: false
+    sde_sample_freq: -1
+    rollout_buffer_class: null
+    rollout_buffer_kwargs: null
+    target_kl: null
+    stats_window_size: 100
+    tensorboard_log: null
+    verbose: 0
+    seed: ${seed}
+    device: ${rl_device}
+    _init_setup_model: true
+cluster: {}
+test_env_id: CylinderJet3D-medium-v0
+test_env_kwargs:
+  local_2d_obs: true
+test_rl_mode: marl
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true
diff --git a/2/overrides.yaml b/2/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..41ae1dec9de126573339e926a028c5fda7b9cb34
--- /dev/null
+++ b/2/overrides.yaml
@@ -0,0 +1,7 @@
+- env_id=CylinderJet2D-medium-v0
+- algorithm=sb3_ppo
+- seed=2
+- rl_mode=sarl
+- test_env_id=CylinderJet3D-medium-v0
+- test_rl_mode=marl
+- +test_env_kwargs.local_2d_obs=True
diff --git a/2/test/test_eval_episode_0.csv b/2/test/test_eval_episode_0.csv
new file mode 100644
index 0000000000000000000000000000000000000000..861562bbcef983297dc200a70259add80c9a7109
--- /dev/null
+++ b/2/test/test_eval_episode_0.csv
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diff --git a/2/test/vorticity_test_eval_episode_0.gif b/2/test/vorticity_test_eval_episode_0.gif
new file mode 100644
index 0000000000000000000000000000000000000000..d806b94be61a264c3d35900f4307a822336cc084
--- /dev/null
+++ b/2/test/vorticity_test_eval_episode_0.gif
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:544916cacb125fe983aef367c247cc696002935dc6a01409aef01abbfaa66479
+size 2482482
diff --git a/2/training_log.csv b/2/training_log.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28ae68f85826ac2124009465a9e457be74ebd14a
--- /dev/null
+++ b/2/training_log.csv
@@ -0,0 +1,113 @@
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diff --git a/2/transfer/CylinderJet3D-medium-v0/x-y-vorticity_test_eval_episode_0.gif b/2/transfer/CylinderJet3D-medium-v0/x-y-vorticity_test_eval_episode_0.gif
new file mode 100644
index 0000000000000000000000000000000000000000..85ead62b2f907756922b7570f4f29553ed569836
--- /dev/null
+++ b/2/transfer/CylinderJet3D-medium-v0/x-y-vorticity_test_eval_episode_0.gif
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4055d402741f628680ab4270dd5857cb927c72f0c5c08992892e5d7e6d21c889
+size 3033993
diff --git a/2/transfer/CylinderJet3D-medium-v0/x-z-vorticity_test_eval_episode_0.gif b/2/transfer/CylinderJet3D-medium-v0/x-z-vorticity_test_eval_episode_0.gif
new file mode 100644
index 0000000000000000000000000000000000000000..662d7db8907191e76aa5393e51f9698d14d28a9b
--- /dev/null
+++ b/2/transfer/CylinderJet3D-medium-v0/x-z-vorticity_test_eval_episode_0.gif
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2750929
diff --git a/2/transfer/CylinderJet3D-medium-v0/y-z-vorticity_test_eval_episode_0.gif b/2/transfer/CylinderJet3D-medium-v0/y-z-vorticity_test_eval_episode_0.gif
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--- /dev/null
+++ b/2/transfer/CylinderJet3D-medium-v0/y-z-vorticity_test_eval_episode_0.gif
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 544502
diff --git a/3/ckpt_latest.zip b/3/ckpt_latest.zip
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:a7036d242b6f2c31d4bc096751f2f0ca999971d037ce55b41bad0cdf8a23d2aa
+size 611608
diff --git a/3/config.yaml b/3/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d08ab88f54403bd545560c30406c0cdf1891a4d6
--- /dev/null
+++ b/3/config.yaml
@@ -0,0 +1,59 @@
+env_id: CylinderJet2D-medium-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 3
+rl_mode: sarl
+total_timesteps: 50000.0
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+continue_training: false
+checkpoint_latest: true
+rl_device: cpu
+eval_callback:
+  _target_: fluidgym.integration.sb3.EvalCallback
+  eval_freq: ${eval_freq}
+  n_eval_episodes: ${n_eval_episodes}
+  use_wandb: ${wandb.enable}
+  checkpoint_latest: ${checkpoint_latest}
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+algorithm:
+  name: PPO
+  obj:
+    _target_: stable_baselines3.ppo.ppo.PPO
+    policy: MlpPolicy
+    learning_rate: 0.0003
+    n_steps: 2048
+    batch_size: 64
+    n_epochs: 10
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_range: 0.2
+    clip_range_vf: null
+    normalize_advantage: true
+    ent_coef: 0.01
+    vf_coef: 0.5
+    max_grad_norm: 0.5
+    use_sde: false
+    sde_sample_freq: -1
+    rollout_buffer_class: null
+    rollout_buffer_kwargs: null
+    target_kl: null
+    stats_window_size: 100
+    tensorboard_log: null
+    verbose: 0
+    seed: ${seed}
+    device: ${rl_device}
+    _init_setup_model: true
+cluster: {}
+test_env_id: CylinderJet3D-medium-v0
+test_env_kwargs:
+  local_2d_obs: true
+test_rl_mode: marl
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true
diff --git a/3/hydra.yaml b/3/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9d2033dea31f99717d1af76cbc4e42a75be13dfb
--- /dev/null
+++ b/3/hydra.yaml
@@ -0,0 +1,166 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderJet2D-medium-v0
+    - algorithm=sb3_ppo
+    - seed=3
+    - rl_mode=sarl
+    - test_env_id=CylinderJet3D-medium-v0
+    - test_rl_mode=marl
+    - +test_env_kwargs.local_2d_obs=True
+  job:
+    name: test_sb3
+    chdir: true
+    override_dirname: +test_env_kwargs.local_2d_obs=True,algorithm=sb3_ppo,env_id=CylinderJet2D-medium-v0,rl_mode=sarl,seed=3,test_env_id=CylinderJet3D-medium-v0,test_rl_mode=marl
+    id: '0'
+    num: 0
+    config_name: test_sb3
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderJet2D-medium-v0/PPO/3
+    choices:
+      cluster: local
+      algorithm: sb3_ppo
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/3/multirun.yaml b/3/multirun.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ca71fc0e70e1d3432cbaf412e8bade88d08fa216
--- /dev/null
+++ b/3/multirun.yaml
@@ -0,0 +1,225 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderJet2D-medium-v0
+    - algorithm=sb3_ppo
+    - seed=3
+    - rl_mode=sarl
+    - test_env_id=CylinderJet3D-medium-v0
+    - test_rl_mode=marl
+    - +test_env_kwargs.local_2d_obs=True
+  job:
+    name: test_sb3
+    chdir: true
+    override_dirname: +test_env_kwargs.local_2d_obs=True,algorithm=sb3_ppo,env_id=CylinderJet2D-medium-v0,rl_mode=sarl,seed=3,test_env_id=CylinderJet3D-medium-v0,test_rl_mode=marl
+    id: ???
+    num: ???
+    config_name: test_sb3
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      algorithm: sb3_ppo
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
+env_id: CylinderJet2D-medium-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 3
+rl_mode: sarl
+total_timesteps: 50000.0
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+continue_training: false
+checkpoint_latest: true
+rl_device: cpu
+eval_callback:
+  _target_: fluidgym.integration.sb3.EvalCallback
+  eval_freq: ${eval_freq}
+  n_eval_episodes: ${n_eval_episodes}
+  use_wandb: ${wandb.enable}
+  checkpoint_latest: ${checkpoint_latest}
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+algorithm:
+  name: PPO
+  obj:
+    _target_: stable_baselines3.ppo.ppo.PPO
+    policy: MlpPolicy
+    learning_rate: 0.0003
+    n_steps: 2048
+    batch_size: 64
+    n_epochs: 10
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_range: 0.2
+    clip_range_vf: null
+    normalize_advantage: true
+    ent_coef: 0.01
+    vf_coef: 0.5
+    max_grad_norm: 0.5
+    use_sde: false
+    sde_sample_freq: -1
+    rollout_buffer_class: null
+    rollout_buffer_kwargs: null
+    target_kl: null
+    stats_window_size: 100
+    tensorboard_log: null
+    verbose: 0
+    seed: ${seed}
+    device: ${rl_device}
+    _init_setup_model: true
+cluster: {}
+test_env_id: CylinderJet3D-medium-v0
+test_env_kwargs:
+  local_2d_obs: true
+test_rl_mode: marl
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true
diff --git a/3/overrides.yaml b/3/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..da21ce222a067962d6e366f3e5b71f9788ca4044
--- /dev/null
+++ b/3/overrides.yaml
@@ -0,0 +1,7 @@
+- env_id=CylinderJet2D-medium-v0
+- algorithm=sb3_ppo
+- seed=3
+- rl_mode=sarl
+- test_env_id=CylinderJet3D-medium-v0
+- test_rl_mode=marl
+- +test_env_kwargs.local_2d_obs=True
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new file mode 100644
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new file mode 100644
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diff --git a/3/transfer/CylinderJet3D-medium-v0/x-y-vorticity_test_eval_episode_0.gif b/3/transfer/CylinderJet3D-medium-v0/x-y-vorticity_test_eval_episode_0.gif
new file mode 100644
index 0000000000000000000000000000000000000000..16650e765bb76331c8d8c02566a91f72ac2a7584
--- /dev/null
+++ b/3/transfer/CylinderJet3D-medium-v0/x-y-vorticity_test_eval_episode_0.gif
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91ed9ada4592bb4b6a9442839d72a830107482128b3b572b8efb732e49b08f0b
+size 3025535
diff --git a/3/transfer/CylinderJet3D-medium-v0/x-z-vorticity_test_eval_episode_0.gif b/3/transfer/CylinderJet3D-medium-v0/x-z-vorticity_test_eval_episode_0.gif
new file mode 100644
index 0000000000000000000000000000000000000000..5f85efa4011e7e1869abef17a6985202c09ec2cf
--- /dev/null
+++ b/3/transfer/CylinderJet3D-medium-v0/x-z-vorticity_test_eval_episode_0.gif
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2841739
diff --git a/3/transfer/CylinderJet3D-medium-v0/y-z-vorticity_test_eval_episode_0.gif b/3/transfer/CylinderJet3D-medium-v0/y-z-vorticity_test_eval_episode_0.gif
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--- /dev/null
+++ b/3/transfer/CylinderJet3D-medium-v0/y-z-vorticity_test_eval_episode_0.gif
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+version https://git-lfs.github.com/spec/v1
+oid sha256:fef59ad3896f5a5d0e5d605b37f56c883619f4abf8330e0bea7c3a8ed49d82a3
+size 542095
diff --git a/4/ckpt_latest.zip b/4/ckpt_latest.zip
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index 0000000000000000000000000000000000000000..bf4266456d26b066617c99101675530bccb61039
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
+oid sha256:100c18074ea276a5350e692ab1683deab0c5e1f05e20a8e9972cf34b33fd706a
+size 611604
diff --git a/4/config.yaml b/4/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..850ef74861fae06e8c40ce504b4d7904d62fe56a
--- /dev/null
+++ b/4/config.yaml
@@ -0,0 +1,59 @@
+env_id: CylinderJet2D-medium-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 4
+rl_mode: sarl
+total_timesteps: 50000.0
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+continue_training: false
+checkpoint_latest: true
+rl_device: cpu
+eval_callback:
+  _target_: fluidgym.integration.sb3.EvalCallback
+  eval_freq: ${eval_freq}
+  n_eval_episodes: ${n_eval_episodes}
+  use_wandb: ${wandb.enable}
+  checkpoint_latest: ${checkpoint_latest}
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+algorithm:
+  name: PPO
+  obj:
+    _target_: stable_baselines3.ppo.ppo.PPO
+    policy: MlpPolicy
+    learning_rate: 0.0003
+    n_steps: 2048
+    batch_size: 64
+    n_epochs: 10
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_range: 0.2
+    clip_range_vf: null
+    normalize_advantage: true
+    ent_coef: 0.01
+    vf_coef: 0.5
+    max_grad_norm: 0.5
+    use_sde: false
+    sde_sample_freq: -1
+    rollout_buffer_class: null
+    rollout_buffer_kwargs: null
+    target_kl: null
+    stats_window_size: 100
+    tensorboard_log: null
+    verbose: 0
+    seed: ${seed}
+    device: ${rl_device}
+    _init_setup_model: true
+cluster: {}
+test_env_id: CylinderJet3D-medium-v0
+test_env_kwargs:
+  local_2d_obs: true
+test_rl_mode: marl
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true
diff --git a/4/hydra.yaml b/4/hydra.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..46b7f6761dc5fd59a39982bb107b4a268528cec8
--- /dev/null
+++ b/4/hydra.yaml
@@ -0,0 +1,166 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderJet2D-medium-v0
+    - algorithm=sb3_ppo
+    - seed=4
+    - rl_mode=sarl
+    - test_env_id=CylinderJet3D-medium-v0
+    - test_rl_mode=marl
+    - +test_env_kwargs.local_2d_obs=True
+  job:
+    name: test_sb3
+    chdir: true
+    override_dirname: +test_env_kwargs.local_2d_obs=True,algorithm=sb3_ppo,env_id=CylinderJet2D-medium-v0,rl_mode=sarl,seed=4,test_env_id=CylinderJet3D-medium-v0,test_rl_mode=marl
+    id: '0'
+    num: 0
+    config_name: test_sb3
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderJet2D-medium-v0/PPO/4
+    choices:
+      cluster: local
+      algorithm: sb3_ppo
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
diff --git a/4/multirun.yaml b/4/multirun.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e5d2fcbbe6b3871985efaffe19220a3d313dffc8
--- /dev/null
+++ b/4/multirun.yaml
@@ -0,0 +1,225 @@
+hydra:
+  run:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+  sweep:
+    dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed}
+    subdir: ''
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: MULTIRUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .
+  overrides:
+    hydra:
+    - hydra.mode=MULTIRUN
+    task:
+    - env_id=CylinderJet2D-medium-v0
+    - algorithm=sb3_ppo
+    - seed=4
+    - rl_mode=sarl
+    - test_env_id=CylinderJet3D-medium-v0
+    - test_rl_mode=marl
+    - +test_env_kwargs.local_2d_obs=True
+  job:
+    name: test_sb3
+    chdir: true
+    override_dirname: +test_env_kwargs.local_2d_obs=True,algorithm=sb3_ppo,env_id=CylinderJet2D-medium-v0,rl_mode=sarl,seed=4,test_env_id=CylinderJet3D-medium-v0,test_rl_mode=marl
+    id: ???
+    num: ???
+    config_name: test_sb3
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /cephfs/users/becktepe/git_projects/FluidGym
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs
+      schema: file
+      provider: main
+    - path: hydra_plugins.hydra_colorlog.conf
+      schema: pkg
+      provider: hydra-colorlog
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: ???
+    choices:
+      cluster: local
+      algorithm: sb3_ppo
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false
+env_id: CylinderJet2D-medium-v0
+env_kwargs: {}
+eval_env_kwargs: {}
+seed: 4
+rl_mode: sarl
+total_timesteps: 50000.0
+n_eval_steps: 10
+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}}
+n_eval_episodes: 1
+continue_training: false
+checkpoint_latest: true
+rl_device: cpu
+eval_callback:
+  _target_: fluidgym.integration.sb3.EvalCallback
+  eval_freq: ${eval_freq}
+  n_eval_episodes: ${n_eval_episodes}
+  use_wandb: ${wandb.enable}
+  checkpoint_latest: ${checkpoint_latest}
+wandb:
+  enable: true
+  entity: safe-autonomous-systems
+  project: jbecktepe-fluidgym
+algorithm:
+  name: PPO
+  obj:
+    _target_: stable_baselines3.ppo.ppo.PPO
+    policy: MlpPolicy
+    learning_rate: 0.0003
+    n_steps: 2048
+    batch_size: 64
+    n_epochs: 10
+    gamma: 0.99
+    gae_lambda: 0.95
+    clip_range: 0.2
+    clip_range_vf: null
+    normalize_advantage: true
+    ent_coef: 0.01
+    vf_coef: 0.5
+    max_grad_norm: 0.5
+    use_sde: false
+    sde_sample_freq: -1
+    rollout_buffer_class: null
+    rollout_buffer_kwargs: null
+    target_kl: null
+    stats_window_size: 100
+    tensorboard_log: null
+    verbose: 0
+    seed: ${seed}
+    device: ${rl_device}
+    _init_setup_model: true
+cluster: {}
+test_env_id: CylinderJet3D-medium-v0
+test_env_kwargs:
+  local_2d_obs: true
+test_rl_mode: marl
+n_test_episodes: 10
+deterministic: true
+save_frames: true
+render_3d: true
diff --git a/4/overrides.yaml b/4/overrides.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..55379ee13c0fe1f75630d5d76f3f0443e6bfae5f
--- /dev/null
+++ b/4/overrides.yaml
@@ -0,0 +1,7 @@
+- env_id=CylinderJet2D-medium-v0
+- algorithm=sb3_ppo
+- seed=4
+- rl_mode=sarl
+- test_env_id=CylinderJet3D-medium-v0
+- test_rl_mode=marl
+- +test_env_kwargs.local_2d_obs=True
diff --git a/4/test/test_eval_episode_0.csv b/4/test/test_eval_episode_0.csv
new file mode 100644
index 0000000000000000000000000000000000000000..101c5a2b00fceffc0dd22214624e0255db909862
--- /dev/null
+++ b/4/test/test_eval_episode_0.csv
@@ -0,0 +1,81 @@
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diff --git a/4/test/vorticity_test_eval_episode_0.gif b/4/test/vorticity_test_eval_episode_0.gif
new file mode 100644
index 0000000000000000000000000000000000000000..835c7397f447eec849570e4e7be244dafd144d3d
--- /dev/null
+++ b/4/test/vorticity_test_eval_episode_0.gif
@@ -0,0 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..2b4a6f736e1fcae916f8c2f07c858fb986f330f3
--- /dev/null
+++ b/4/training_log.csv
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+---
+library_name: stable-baselines3
+tags:
+- reinforcement-learning
+- stable-baselines3
+- deep-reinforcement-learning
+- fluidgym
+- active-flow-control
+- fluid-dynamics
+- simulation
+- CylinderJet2D-medium-v0
+model-index:
+- name: PPO-CylinderJet2D-medium-v0
+  results:
+  - task:
+      type: reinforcement-learning
+      name: reinforcement-learning
+    dataset:
+      name: FluidGym-CylinderJet2D-medium-v0
+      type: fluidgym
+    metrics:
+    - type: mean_reward
+      value: 0.26
+      name: mean_reward
+---
+
+# PPO on CylinderJet2D-medium-v0 (FluidGym)
+
+This repository is part of the **FluidGym** benchmark results. It contains trained Stable Baselines3 agents for the specialized **CylinderJet2D-medium-v0** environment.
+
+## Evaluation Results
+
+### Global Performance (Aggregated across 5 seeds)
+**Mean Reward:** 0.26 ± 0.13
+
+### Per-Seed Statistics
+| Run | Mean Reward | Std Dev |
+| --- | --- | --- |
+| Seed 0 | 0.39 | 0.55 |
+| Seed 1 | 0.29 | 0.50 |
+| Seed 2 | 0.38 | 0.46 |
+| Seed 3 | 0.17 | 0.39 |
+| Seed 4 | 0.07 | 0.36 |
+
+## Visual Preview
+![Agent Preview](4/test/vorticity_test_eval_episode_0.gif)
+
+## About FluidGym
+FluidGym is a benchmark for reinforcement learning in active flow control.
+
+## Usage
+Each seed is contained in its own subdirectory. You can load a model using:
+```python
+from stable_baselines3 import PPO
+model = PPO.load("0/ckpt_latest.zip")