diff --git a/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_lac_critic.yml b/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_lac_critic.yml
index 9372d9c8..b6b66e37 100644
--- a/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_lac_critic.yml
+++ b/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_lac_critic.yml
@@ -4,7 +4,8 @@ env_name: "stable_gym:CartPoleCost-v1"
 ac_kwargs:
   hidden_sizes:
     actor: [256, 256]  # NOTE: Using [256, 256] for consistency with the article.
-    critic: [64, 64, 16]
+    # critic: [64, 64, 16]
+    critic: [256, 256, 16]
   activation:
     actor: "nn.ReLU"
     critic: "nn.ReLU"
diff --git a/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed234_lac_critic.yml b/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed234_lac_critic.yml
index c6382b03..caba99da 100644
--- a/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed234_lac_critic.yml
+++ b/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed234_lac_critic.yml
@@ -4,7 +4,8 @@ env_name: "stable_gym:CartPoleCost-v1"
 ac_kwargs:
   hidden_sizes:
     actor: [256, 256]  # NOTE: Using [256, 256] for consistency with the article.
-    critic: [64, 64, 16]
+    # critic: [64, 64, 16]
+    critic: [256, 256, 16]
   activation:
     actor: "nn.ReLU"
     critic: "nn.ReLU"
diff --git a/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed3658_lac_critic.yml b/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed3658_lac_critic.yml
index 50f30c7a..4b88e19f 100644
--- a/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed3658_lac_critic.yml
+++ b/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed3658_lac_critic.yml
@@ -4,7 +4,8 @@ env_name: "stable_gym:CartPoleCost-v1"
 ac_kwargs:
   hidden_sizes:
     actor: [256, 256]  # NOTE: Using [256, 256] for consistency with the article.
-    critic: [64, 64, 16]
+    # critic: [64, 64, 16]
+    critic: [256, 256, 16]
   activation:
     actor: "nn.ReLU"
     critic: "nn.ReLU"
diff --git a/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed48104_lac_critic.yml b/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed48104_lac_critic.yml
index 297355b8..d41e1354 100644
--- a/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed48104_lac_critic.yml
+++ b/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed48104_lac_critic.yml
@@ -4,7 +4,8 @@ env_name: "stable_gym:CartPoleCost-v1"
 ac_kwargs:
   hidden_sizes:
     actor: [256, 256]  # NOTE: Using [256, 256] for consistency with the article.
-    critic: [64, 64, 16]
+    # critic: [64, 64, 16]
+    critic: [256, 256, 16]
   activation:
     actor: "nn.ReLU"
     critic: "nn.ReLU"
diff --git a/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed567_lac_critic.yml b/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed567_lac_critic.yml
index 544d3cc5..caa73e18 100644
--- a/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed567_lac_critic.yml
+++ b/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed567_lac_critic.yml
@@ -4,7 +4,8 @@ env_name: "stable_gym:CartPoleCost-v1"
 ac_kwargs:
   hidden_sizes:
     actor: [256, 256]  # NOTE: Using [256, 256] for consistency with the article.
-    critic: [64, 64, 16]
+    # critic: [64, 64, 16]
+    critic: [256, 256, 16]
   activation:
     actor: "nn.ReLU"
     critic: "nn.ReLU"
diff --git a/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed78456_lac_critic.yml b/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed78456_lac_critic.yml
index 9ee56f4d..12eeb3ec 100644
--- a/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed78456_lac_critic.yml
+++ b/experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed78456_lac_critic.yml
@@ -4,7 +4,8 @@ env_name: "stable_gym:CartPoleCost-v1"
 ac_kwargs:
   hidden_sizes:
     actor: [256, 256]  # NOTE: Using [256, 256] for consistency with the article.
-    critic: [64, 64, 16]
+    # critic: [64, 64, 16]
+    critic: [256, 256, 16]
   activation:
     actor: "nn.ReLU"
     critic: "nn.ReLU"
diff --git a/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_lac_critic.yml b/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_lac_critic.yml
index eeda47aa..ef373e4c 100644
--- a/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_lac_critic.yml
+++ b/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_lac_critic.yml
@@ -4,7 +4,8 @@ env_name: "stable_gym:FetchReachCost-v1"
 ac_kwargs:
   hidden_sizes:
     actor: [256, 256]  # NOTE: Using [256, 256] for consistency with the article.
-    critic: [64, 64, 16]
+    # critic: [64, 64, 16]
+    critic: [256, 256, 16]
   activation:
     actor: "nn.ReLU"
     critic: "nn.ReLU"
diff --git a/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed234_lac_critic.yml b/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed234_lac_critic.yml
index 6637843b..b76c6897 100644
--- a/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed234_lac_critic.yml
+++ b/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed234_lac_critic.yml
@@ -4,7 +4,8 @@ env_name: "stable_gym:FetchReachCost-v1"
 ac_kwargs:
   hidden_sizes:
     actor: [256, 256]  # NOTE: Using [256, 256] for consistency with the article.
-    critic: [64, 64, 16]
+    # critic: [64, 64, 16]
+    critic: [256, 256, 16]
   activation:
     actor: "nn.ReLU"
     critic: "nn.ReLU"
diff --git a/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed3658_lac_critic.yml b/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed3658_lac_critic.yml
index 14612af6..950e2faf 100644
--- a/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed3658_lac_critic.yml
+++ b/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed3658_lac_critic.yml
@@ -4,7 +4,8 @@ env_name: "stable_gym:FetchReachCost-v1"
 ac_kwargs:
   hidden_sizes:
     actor: [256, 256]  # NOTE: Using [256, 256] for consistency with the article.
-    critic: [64, 64, 16]
+    # critic: [64, 64, 16]
+    critic: [256, 256, 16]
   activation:
     actor: "nn.ReLU"
     critic: "nn.ReLU"
diff --git a/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed48104_lac_critic.yml b/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed48104_lac_critic.yml
index 458cf641..34379989 100644
--- a/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed48104_lac_critic.yml
+++ b/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed48104_lac_critic.yml
@@ -4,7 +4,8 @@ env_name: "stable_gym:FetchReachCost-v1"
 ac_kwargs:
   hidden_sizes:
     actor: [256, 256]  # NOTE: Using [256, 256] for consistency with the article.
-    critic: [64, 64, 16]
+    # critic: [64, 64, 16]
+    critic: [256, 256, 16]
   activation:
     actor: "nn.ReLU"
     critic: "nn.ReLU"
diff --git a/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed567_lac_critic.yml b/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed567_lac_critic.yml
index 7470edce..2403cf27 100644
--- a/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed567_lac_critic.yml
+++ b/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed567_lac_critic.yml
@@ -4,7 +4,8 @@ env_name: "stable_gym:FetchReachCost-v1"
 ac_kwargs:
   hidden_sizes:
     actor: [256, 256]  # NOTE: Using [256, 256] for consistency with the article.
-    critic: [64, 64, 16]
+    # critic: [64, 64, 16]
+    critic: [256, 256, 16]
   activation:
     actor: "nn.ReLU"
     critic: "nn.ReLU"
diff --git a/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed78456_lac_critic.yml b/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed78456_lac_critic.yml
index 9b115c32..9309efeb 100644
--- a/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed78456_lac_critic.yml
+++ b/experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed78456_lac_critic.yml
@@ -4,7 +4,8 @@ env_name: "stable_gym:FetchReachCost-v1"
 ac_kwargs:
   hidden_sizes:
     actor: [256, 256]  # NOTE: Using [256, 256] for consistency with the article.
-    critic: [64, 64, 16]
+    # critic: [64, 64, 16]
+    critic: [256, 256, 16]
   activation:
     actor: "nn.ReLU"
     critic: "nn.ReLU"
diff --git a/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed234.bash b/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed234.bash
index 5658f066..def43091 100644
--- a/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed234.bash
+++ b/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed234.bash
@@ -1,4 +1,4 @@
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed234_bigger_initial_alpha.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/different_steps_per_update/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed234_different_steps_per_update.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed234_bigger_initial_alpha.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/different_steps_per_update/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed234_different_steps_per_update.yml
 python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed234_lac_critic.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/sac_extra_all/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed234_sac_extra_all.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/sac_extra_all/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed234_sac_extra_all.yml
diff --git a/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed3658.bash b/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed3658.bash
index 6efd970a..d6a877fb 100644
--- a/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed3658.bash
+++ b/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed3658.bash
@@ -1,4 +1,4 @@
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed3658_bigger_initial_alpha.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/different_steps_per_update/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed3658_different_steps_per_update.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed3658_bigger_initial_alpha.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/different_steps_per_update/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed3658_different_steps_per_update.yml
 python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed3658_lac_critic.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/sac_extra_all/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed3658_sac_extra_all.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/sac_extra_all/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed3658_sac_extra_all.yml
diff --git a/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed48104.bash b/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed48104.bash
index 93a494a0..14dff283 100644
--- a/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed48104.bash
+++ b/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed48104.bash
@@ -1,4 +1,4 @@
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed48104_bigger_initial_alpha.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/different_steps_per_update/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed48104_different_steps_per_update.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed48104_bigger_initial_alpha.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/different_steps_per_update/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed48104_different_steps_per_update.yml
 python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed48104_lac_critic.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/sac_extra_all/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed48104_sac_extra_all.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/sac_extra_all/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed48104_sac_extra_all.yml
diff --git a/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed567.bash b/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed567.bash
index cddf9fbf..dcf95523 100644
--- a/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed567.bash
+++ b/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed567.bash
@@ -1,4 +1,4 @@
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed567_bigger_initial_alpha.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/different_steps_per_update/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed567_different_steps_per_update.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed567_bigger_initial_alpha.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/different_steps_per_update/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed567_different_steps_per_update.yml
 python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed567_lac_critic.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/sac_extra_all/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed567_sac_extra_all.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/sac_extra_all/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed567_sac_extra_all.yml
diff --git a/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed78456.bash b/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed78456.bash
index 470ae1e9..7ba1afab 100644
--- a/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed78456.bash
+++ b/experiments/staa_et_al_2024/run_sac_cart_pole_extra_experiments_seed78456.bash
@@ -1,4 +1,4 @@
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed78456_bigger_initial_alpha.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/different_steps_per_update/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed78456_different_steps_per_update.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed78456_bigger_initial_alpha.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/different_steps_per_update/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed78456_different_steps_per_update.yml
 python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/lac_critic/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed78456_lac_critic.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/sac_extra_all/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed78456_sac_extra_all.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/cartpole/sac_extra/sac_extra_all/han2020_reproduction_sac_cartpole_cost_alpha3_tune_experiment_seed78456_sac_extra_all.yml
diff --git a/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed234.bash b/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed234.bash
index ba226edc..dd6d1e98 100644
--- a/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed234.bash
+++ b/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed234.bash
@@ -1,4 +1,4 @@
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed234_bigger_initial_alpha.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/different_steps_per_update/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed234_different_steps_per_update.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed234_bigger_initial_alpha.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/different_steps_per_update/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed234_different_steps_per_update.yml
 python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed234_lac_critic.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/sac_extra_all/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed234_sac_extra_all.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/sac_extra_all/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed234_sac_extra_all.yml
diff --git a/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed3658.bash b/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed3658.bash
index 4afe5127..3c5f912c 100644
--- a/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed3658.bash
+++ b/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed3658.bash
@@ -1,4 +1,4 @@
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed3658_bigger_initial_alpha.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/different_steps_per_update/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed3658_different_steps_per_update.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed3658_bigger_initial_alpha.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/different_steps_per_update/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed3658_different_steps_per_update.yml
 python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed3658_lac_critic.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/sac_extra_all/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed3658_sac_extra_all.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/sac_extra_all/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed3658_sac_extra_all.yml
diff --git a/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed48104.bash b/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed48104.bash
index 1c6e9a0a..0960a648 100644
--- a/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed48104.bash
+++ b/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed48104.bash
@@ -1,4 +1,4 @@
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed48104_bigger_initial_alpha.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/different_steps_per_update/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed48104_different_steps_per_update.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed48104_bigger_initial_alpha.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/different_steps_per_update/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed48104_different_steps_per_update.yml
 python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed48104_lac_critic.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/sac_extra_all/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed48104_sac_extra_all.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/sac_extra_all/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed48104_sac_extra_all.yml
diff --git a/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed567.bash b/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed567.bash
index f45eddc0..710e1a0e 100644
--- a/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed567.bash
+++ b/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed567.bash
@@ -1,4 +1,4 @@
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed567_bigger_initial_alpha.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/different_steps_per_update/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed567_different_steps_per_update.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed567_bigger_initial_alpha.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/different_steps_per_update/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed567_different_steps_per_update.yml
 python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed567_lac_critic.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/sac_extra_all/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed567_sac_extra_all.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/sac_extra_all/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed567_sac_extra_all.yml
diff --git a/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed78456.bash b/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed78456.bash
index e590fdc1..2b3fb42d 100644
--- a/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed78456.bash
+++ b/experiments/staa_et_al_2024/run_sac_fetch_reach_extra_experiments_seed78456.bash
@@ -1,4 +1,4 @@
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed78456_bigger_initial_alpha.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/different_steps_per_update/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed78456_different_steps_per_update.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/bigger_initial_alpha/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed78456_bigger_initial_alpha.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/different_steps_per_update/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed78456_different_steps_per_update.yml
 python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/lac_critic/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed78456_lac_critic.yml
-python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/sac_extra_all/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed78456_sac_extra_all.yml
+# python -m stable_learning_control.run --exp_cfg experiments/staa_et_al_2024/fetch_reach/sac_extra/sac_extra_all/han2020_reproduction_sac_fetch_reach_alpha3_tune_experiment_seed78456_sac_extra_all.yml
diff --git a/experiments/staa_et_al_2024/scripts/alpha3_tuning_data_analysis.py b/experiments/staa_et_al_2024/scripts/alpha3_tuning_data_analysis.py
index d6d91397..d20a2624 100644
--- a/experiments/staa_et_al_2024/scripts/alpha3_tuning_data_analysis.py
+++ b/experiments/staa_et_al_2024/scripts/alpha3_tuning_data_analysis.py
@@ -1,7 +1,6 @@
 """This script is used to perform the data analysis of the alpha3 tuning experiments of
 my master thesis.
 """
-
 # import numpy as np
 import pandas as pd
 import matplotlib.pyplot as plt
@@ -195,7 +194,7 @@ def calculate_condition_convergence_statistics(
         print("Creating {} plot...".format(env_name.replace("_", " ").title()))
 
         # Retrieve data directories and add legend column.
-        if not Path(DATA_DIR).exists():
+        if not Path(DATA_DIR).resolve().exists():
             raise FileNotFoundError(f"The data directory {DATA_DIR} does not exist.")
         all_data_folders = sorted(
             [str(f) for f in Path(DATA_DIR).iterdir() if f.is_dir()]
diff --git a/experiments/staa_et_al_2024/scripts/alpha3_tuning_han_2020_original_data_analysis.py b/experiments/staa_et_al_2024/scripts/alpha3_tuning_han_2020_original_data_analysis.py
new file mode 100644
index 00000000..63e4cd38
--- /dev/null
+++ b/experiments/staa_et_al_2024/scripts/alpha3_tuning_han_2020_original_data_analysis.py
@@ -0,0 +1,116 @@
+"""This script is used to perform the data analysis of the alpha3 tuning experiments of
+my master thesis that were conducted using the original code of Han et al. (2020).
+"""
+# import numpy as np
+import pandas as pd
+import matplotlib.pyplot as plt
+import seaborn as sns
+from pathlib import Path
+
+from stable_learning_control.utils.plot import get_all_datasets, plot_data
+
+# Script parameters.
+DATA_DIRS = [
+    "data/han_2020_original/cartpole_cost",
+    "data/han_2020_original/fetch_reach",
+    "data/han_2020_original/oscillator",
+    "data/han_2020_original/oscillator_complicated",
+]  # List of data directories to analyze.
+SAVE_PLOT = True
+ALPHA3_VALUES = [0.1, 0.3, 1.0]
+CONVERGENCE_THRESHOLD = 0.95  # Define convergence threshold for metric.
+MOVING_AVERAGE_WINDOW = 5  # Set moving average window for metric.
+EXTRA_SUFFIX = ""  # Add extra file suffix.
+
+# Select the metric to analyse.
+# METRIC = "Performance"
+METRIC = "lambda"
+# METRIC = "AverageLambda"
+X_AXIS = "total_timesteps"
+
+
+def create_legend_strings(data_folders):
+    """Create legend strings for the alpha3 tuning plots.
+
+    Args:
+        data_folders (List[str]): List of data folders.
+
+    Returns:
+        List[str]: List of legend strings.
+    """
+    return [
+        f'$\\alpha_{3}$={folder.split("_")[-1].replace("alp", "").replace("-", ".")}'
+        for folder in data_folders
+    ]
+
+
+def filter_folders_by_alpha3(data_folders, alpha3_values):
+    """Filter the data folders by alpha3 value.
+
+    Args:
+        data_folders (List[str]): List of data folders.
+        alpha3_values (list[float]): Alpha value to filter by.
+
+    Returns:
+        List[str]: List of filtered data folders.
+    """
+    return [
+        folder
+        for folder in data_folders
+        if any(
+            f"alp{str(alpha).replace('.', '-')}" in folder for alpha in alpha3_values
+        )
+    ]
+
+
+if __name__ == "__main__":
+    print(f"\nCreating '{METRIC}' plots...")
+    for idx, DATA_DIR in enumerate(DATA_DIRS):
+        parent_dir = Path(DATA_DIR).parent
+        env_name = DATA_DIR.split("/")[-1]
+        data_dir = f"{parent_dir}/plots/{env_name}"
+        metric_str = METRIC.replace(" ", "_").lower()
+        Path(data_dir).mkdir(parents=True, exist_ok=True)
+        print("Creating {} plot...".format(env_name.replace("_", " ").title()))
+
+        # Retrieve data directories and add legend column.
+        if not Path(DATA_DIR).resolve().exists():
+            raise FileNotFoundError(f"The data directory {DATA_DIR} does not exist.")
+        all_data_folders = sorted(
+            [str(f) for f in Path(DATA_DIR).iterdir() if f.is_dir()]
+        )
+        if ALPHA3_VALUES:
+            data_folders = filter_folders_by_alpha3(all_data_folders, ALPHA3_VALUES)
+        else:
+            data_folders = all_data_folders
+        file_suffix = "_filtered" if len(data_folders) < len(all_data_folders) else ""
+        legend = create_legend_strings(data_folders)
+        data = get_all_datasets(data_folders, legend=legend)
+
+        # Visualize the data using the SCL plot utilities.
+        fig_name = env_name.replace("_", " ").title()
+        fig = plt.figure(figsize=(10, 8), num=f"Alpha3 Tuning ({fig_name})")
+        palette = sns.color_palette("tab20", n_colors=len(legend))
+        plt.tight_layout()
+        plot_data(
+            data,
+            xaxis=X_AXIS,
+            value=METRIC,
+            errorbar="ci",
+            smooth=MOVING_AVERAGE_WINDOW,
+            style="ticks",
+            palette=palette,
+        )
+        plt.grid()
+
+        # Save the plot as png file.
+        if SAVE_PLOT:
+            plot_file_path = (
+                f"{data_dir}/alpha3_tune_{metric_str}_{env_name}_plot"
+                f"{file_suffix}{EXTRA_SUFFIX}.png"
+            )
+            print(f"Saving plot to {plot_file_path}.")
+            plt.savefig(plot_file_path, bbox_inches="tight", dpi=300)
+
+        plt.show()
+    print("Analysis completed.")
diff --git a/experiments/staa_et_al_2024/scripts/sac_extra_critic_layer_compare_data_analyis.py b/experiments/staa_et_al_2024/scripts/sac_extra_critic_layer_compare_data_analyis.py
new file mode 100644
index 00000000..45805a4d
--- /dev/null
+++ b/experiments/staa_et_al_2024/scripts/sac_extra_critic_layer_compare_data_analyis.py
@@ -0,0 +1,246 @@
+"""This script is used to perform the data analysis to compare the performance
+convergence of the regular SAC and the SAC with an additional critic layer.
+"""
+
+import pandas as pd
+import matplotlib.pyplot as plt
+import seaborn as sns
+from pathlib import Path
+
+from stable_learning_control.utils.plot import get_all_datasets, plot_data
+
+# Script parameters.
+DATA_DIRS = [
+    # "data/han_reproduction_sac/extra/cartpole/han2020_reproduction_sac_cartpole_cost_alpha3_tune_exp_lac_critic",  # noqa E501
+    # "data/han_reproduction_sac/main/han2020_reproduction_sac_cartpole_cost_alpha3_tune_exp"  # noqa E501
+    # "data/han_reproduction_sac/extra/comp_oscillator/han2020_reproduction_sac_oscillator_complicated_alpha3_tune_exp_lac_critic",  # noqa E501
+    # "data/han_reproduction_sac/main/han2020_reproduction_sac_oscillator_complicated_alpha3_tune_exp",  # noqa E501
+    # "data/han_reproduction_sac/extra/fetch_reach/han2020_reproduction_sac_fetch_reach_alpha3_tune_exp_lac_critic",   # noqa E501
+    # "data/han_reproduction_sac/main/han2020_reproduction_sac_fetch_reach_alpha3_tune_exp",  # noqa E501
+    "data/han_reproduction_sac/extra/oscillator/han2020_reproduction_sac_oscillator_alpha3_tune_exp_lac_critic",  # noqa E501
+    "data/han_reproduction_sac/main/han2020_reproduction_sac_oscillator_alpha3_tune_exp", # noqa E501
+]  # List of data directories to analyze.
+# CONDITION_NAMES = ["$f_\phi=[64,64,16]$", "$f_\phi=[64,64]$"]  # Change plot legend names.
+CONDITION_NAMES = ["$f_\phi=[256,256,16]$", "$f_\phi=[256,256]$"]  # Change plot legend names.
+PLOT = True
+SAVE_DATA = True
+SAVE_STATISTICS = True
+SAVE_PLOT = True
+LAST_N_EPOCHS = [
+    10,
+    10,
+    10,
+    10,
+    10,
+]  # Epoch count for average final metric value calculation per condition.
+CONVERGENCE_THRESHOLD = 0.95  # Define convergence threshold for metric.
+MOVING_AVERAGE_WINDOW = 5  # Set moving average window for metric.
+# LAST_N_PLOT_EPOCHS = 5  # Epochs to plot from training end. None plots all.
+LAST_N_PLOT_EPOCHS = None  # Epochs to plot from training end. None plots all.
+EXTRA_SUFFIX = ""  # Add extra file suffix.
+
+# Select the metric to analyse.
+METRIC = "Performance"
+# METRIC = "AverageTestEpLen"
+X_AXIS = "TotalEnvInteracts"
+# X_AXIS = "Epoch"
+
+
+def calculate_condition_performance_statistics(
+    df, metric="AverageTestEpRet", num_epochs=10
+):
+    """Calculate the mean, std and max of the metric for each condition.
+
+    Args:
+        df (pd.DataFrame): DataFrame to calculate the statistics from.
+        metric (str, optional): The metric to calculate the statistics for. Defaults to
+            "AverageTestEpRet".
+        num_epochs (int, optional): Number of epochs to consider. Defaults to 10.
+
+    Returns:
+        pd.DataFrame: DataFrame with the mean, std, min and max of the metric for each
+            condition.
+    """
+    # Filter the data to include only the last N epochs for each seed.
+    last_n_df = df.groupby(["Condition1", "Condition2"]).tail(num_epochs)
+
+    # Calculate mean and std for each seed.
+    seed_means_stds = (
+        last_n_df.groupby(["Condition1", "Condition2"])[metric]
+        .agg(["mean", "std"])
+        .reset_index()
+    )
+
+    # Calculate mean, max and std across seeds for each condition.
+    condition_means_stds = (
+        seed_means_stds.groupby("Condition1")["mean"]
+        .agg(["mean", "std", "min", "max"])
+        .reset_index()
+    )
+    condition_means_stds.columns = [
+        "Condition",
+        "Mean of Seed Means",
+        "Std of Seed Means",
+        "Min of Seed Means",
+        "Max of Seed Means",
+    ]
+    return condition_means_stds
+
+
+def calculate_condition_convergence_statistics(
+    df,
+    metric="Performance",
+    moving_avg_window=1,
+    convergence_threshold=0.95,
+    num_epochs_for_average=10,
+):
+    """Calculate the mean and std of the convergence epoch for each condition.
+
+    Args:
+        df (pd.DataFrame): DataFrame to calculate the statistics from.
+        metric (str, optional): The metric to calculate the statistics for. Defaults to
+            "Performance".
+        moving_avg_window (int, optional): Moving average window for the metric.
+            Defaults to 1.
+        convergence_threshold (float, optional): Convergence threshold for the metric.
+            Defaults to 0.95.
+        num_epochs_for_average (int, optional): Number of epochs to consider for the
+            average metric value. Defaults to 10.
+
+    Returns:
+        pd.DataFrame: DataFrame with the mean and std of the convergence epoch for each
+            condition.
+    """
+    # Calculate the convergence epoch per seed.
+    convergence_epochs = pd.DataFrame(
+        index=pd.MultiIndex.from_arrays([[], []], names=["Condition1", "Condition2"])
+    )
+    for (condition, seed), group in df.groupby(["Condition1", "Condition2"]):
+        mean = group[metric].rolling(window=moving_avg_window).mean()
+        metric_baseline = mean.tail(num_epochs_for_average).mean()
+        metric_convergence_threshold = (mean.max() - metric_baseline) * (
+            1 - convergence_threshold
+        ) + metric_baseline
+        converged_epoch = None
+        for epoch, metric_value in zip(group["Epoch"], mean):
+            if metric_value <= metric_convergence_threshold:
+                if converged_epoch is None:
+                    converged_epoch = epoch
+            else:
+                converged_epoch = None
+        # Add the convergence epoch to the DataFrame
+        convergence_epochs.loc[(condition, seed), "Convergence Epoch"] = converged_epoch
+
+    # Calculate the mean and std of convergence epochs across seeds for each condition.
+    convergence_epoch = (
+        convergence_epochs.groupby("Condition1")["Convergence Epoch"]
+        .agg(["mean", "std"])
+        .reset_index()
+    )
+    convergence_epoch.columns = [
+        "Condition",
+        "Convergence Epoch Mean",
+        "Convergence Epoch Std",
+    ]
+    return convergence_epoch
+
+
+if __name__ == "__main__":
+    print(f"\nCreating '{METRIC}' plots...")
+    all_data = []
+    for idx, DATA_DIR in enumerate(DATA_DIRS):
+        parent_dir = Path(DATA_DIR).parent
+        env_name = DATA_DIR.split("/")[-1]
+        data_dir = f"{parent_dir}/plots/{env_name}"
+        metric_str = METRIC.replace(" ", "_").lower()
+        Path(data_dir).mkdir(parents=True, exist_ok=True)
+        print("Creating {} plot...".format(env_name.replace("_", " ").title()))
+
+        # Retrieve data directories and add legend column.
+        if not Path(DATA_DIR).resolve().exists():
+            raise FileNotFoundError(f"The data directory {DATA_DIR} does not exist.")
+        data_folders = sorted([str(f) for f in Path(DATA_DIR).iterdir() if f.is_dir()])
+        data = get_all_datasets(
+            data_folders, legend=[CONDITION_NAMES[idx] for _ in data_folders]
+        )
+
+        # Add a Condition column to each dataset
+        for df in data:
+            df["Condition"] = f"Condition_{idx + 1}"
+
+        all_data.extend(data)
+
+    # Combine all data into a single DataFrame
+    data_concat = pd.concat(all_data, ignore_index=True)
+
+    # Store the data in csv file.
+    # NOTE: Can be useful to inspect the data in a spreadsheet software.
+    if SAVE_DATA:
+        data_file_path = (
+            f"{data_dir}/alpha3_tune_{metric_str}_{env_name}_plot_data"
+            f"{EXTRA_SUFFIX}.csv"
+        )
+        data_tmp = pd.concat(all_data, ignore_index=True)
+        print(f"Saving plot input data to {data_file_path}.")
+        data_tmp.to_csv(data_file_path, index=False)
+
+    # Compute the statistics.
+    condition_performance_statistics = calculate_condition_performance_statistics(
+        data_concat, metric=METRIC, num_epochs=LAST_N_EPOCHS[0]
+    )
+    condition_convergence_statistics = calculate_condition_convergence_statistics(
+        data_concat,
+        metric=METRIC,
+        moving_avg_window=MOVING_AVERAGE_WINDOW,
+        convergence_threshold=CONVERGENCE_THRESHOLD,
+        num_epochs_for_average=LAST_N_EPOCHS[0],
+    )
+
+    # Store the statistics in csv file.
+    statistics = pd.concat(
+        [condition_performance_statistics, condition_convergence_statistics], axis=1
+    )
+    statistics = statistics.loc[:, ~statistics.columns.duplicated()]
+    statistics_file_path = (
+        f"{data_dir}/sac_extra_critic_compare_{metric_str}_{env_name}_statistics"
+        f"{EXTRA_SUFFIX}.csv"
+    )
+    if SAVE_STATISTICS:
+        print(f"Saving statistics to {statistics_file_path}.")
+        statistics.to_csv(statistics_file_path, index=False)
+
+    # Only keep the last N epochs for the plot.
+    if LAST_N_PLOT_EPOCHS:
+        all_data = [
+            df[df["Epoch"] >= df["Epoch"].max() - LAST_N_PLOT_EPOCHS] for df in all_data
+        ]
+
+    # Visualize the data using the SCL plot utilities.
+    if PLOT:
+        fig_name = env_name.replace("_", " ").title()
+        fig = plt.figure(figsize=(10, 8), num=f"Alpha3 Tuning ({fig_name})")
+        palette = sns.color_palette(["#1f77b4", "#ff7f0e"])  # Blue and Orange
+        plt.tight_layout()
+        plot_data(
+            all_data,
+            xaxis=X_AXIS,
+            value=METRIC,
+            errorbar="ci",
+            smooth=MOVING_AVERAGE_WINDOW,
+            style="ticks",
+            palette=palette,
+        )
+        plt.grid()
+
+        # Save the plot as png file.
+        if SAVE_PLOT:
+            prefix = "partial_" if LAST_N_PLOT_EPOCHS is not None else ""
+            plot_file_path = (
+                f"{data_dir}/alpha3_tune_{metric_str}_{env_name}_{prefix}plot"
+                f"{EXTRA_SUFFIX}.png"
+            )
+            print(f"Saving plot to {plot_file_path}.")
+            plt.savefig(plot_file_path, bbox_inches="tight", dpi=300)
+
+    plt.show()
+    print("Analysis completed.")