diff --git "a/R2SE_test/R2SE_HydraMDP_2025.04.28.16.23.08.csv" "b/R2SE_test/R2SE_HydraMDP_2025.04.28.16.23.08.csv"
new file mode 100644--- /dev/null
+++ "b/R2SE_test/R2SE_HydraMDP_2025.04.28.16.23.08.csv"
@@ -0,0 +1,12148 @@
+,token,valid,no_at_fault_collisions,drivable_area_compliance,ego_progress,time_to_collision_within_bound,comfort,driving_direction_compliance,score
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+1454,f755005e289d5ccd,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1455,56fe5be4b9dc5c77,True,1.0,1.0,0.9745375078446333,1.0,1.0,1.0,0.9893906282685972
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+1460,b86152f6ab29580e,True,1.0,1.0,0.7830770271901432,1.0,1.0,1.0,0.909615427995893
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+1468,44cedd469129548d,True,1.0,1.0,0.7936517231051959,1.0,1.0,1.0,0.9140215512938316
+1469,ac28e0768c6a5821,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
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+1471,166dac05bf555e13,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1472,b28ff93f850259ee,True,1.0,1.0,0.7467755252426095,1.0,1.0,1.0,0.8944898021844206
+1473,f80a6f7f4de5564d,True,1.0,1.0,0.9920757643624701,1.0,1.0,1.0,0.9966982351510293
+1474,dce2c9983a00588e,True,1.0,1.0,0.8041137059495573,1.0,1.0,1.0,0.9183807108123156
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+1476,1a5f614c9b815e92,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1477,eb822e0610545fd6,True,1.0,1.0,1.0,0.0,1.0,1.0,0.5833333333333334
+1478,662212c87d0d5b09,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1479,4b0be4847dd45b5c,True,1.0,1.0,0.823790278133938,1.0,1.0,1.0,0.9265792825558075
+1480,d99103d5b5025654,True,1.0,1.0,1.0,0.0,1.0,1.0,0.5833333333333334
+1481,fe469d42385259e2,True,1.0,1.0,0.7579577184508101,0.0,1.0,1.0,0.4824823826878375
+1482,6922b2ea23cd51a3,True,1.0,1.0,0.9238421893644344,1.0,1.0,1.0,0.9682675789018477
+1483,b022d508550251bf,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
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+1485,e3082eaad29750fd,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1486,391cdfaec8fc5088,True,1.0,1.0,0.7567903380443181,1.0,1.0,1.0,0.8986626408517991
+1487,3f3d9b32f2fa53ef,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1488,1693d395bec753ae,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1489,f4991b521fa15f17,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1490,a6e683b6f2a557a4,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1491,5fe40d882c3b545f,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1492,9c68b0b158bb5d03,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1493,11d702a710115591,True,1.0,1.0,0.989744489163727,1.0,1.0,1.0,0.9957268704848863
+1494,e35a803202875fa0,True,1.0,1.0,0.974278771915125,1.0,1.0,1.0,0.9892828216313022
+1495,71adcc94aa6856a6,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1496,f7b40e0f94c25b3b,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1497,8c5a5e3a57535abf,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+1498,9324eafb3ef25fdb,True,1.0,1.0,0.883090698386945,1.0,1.0,1.0,0.9512877909945604
+1499,9f62394830d05091,True,1.0,1.0,0.8838496555235019,0.0,1.0,1.0,0.5349373564681258
+1500,f512480c969a5eab,True,0.0,1.0,0.0,0.0,1.0,1.0,0.0
+1501,6c00b2782d3b5f6e,True,1.0,1.0,0.7733155523172061,1.0,1.0,1.0,0.9055481467988358
+1502,608f33b279a15cfc,True,1.0,1.0,0.4848913868990722,1.0,1.0,1.0,0.7853714112079467
+1503,17ecb960d15d5b5f,True,1.0,1.0,0.8373399146402563,1.0,1.0,1.0,0.93222496443344
+1504,8781cde1032354cb,True,1.0,1.0,0.9835999166141113,1.0,1.0,1.0,0.9931666319225464
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+1506,1979ed31b57b59ea,True,1.0,1.0,0.8417540645865869,1.0,1.0,1.0,0.9340641935777446
+1507,ab66df989bcc56aa,True,1.0,1.0,0.9171189572919819,1.0,1.0,1.0,0.9654662322049924
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+1511,5ca7353cbe4a5cf7,True,1.0,1.0,1.0,0.0,1.0,1.0,0.5833333333333334
+1512,9cd4479e1a9355a1,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
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+1521,4b0be4847dd45b5c,True,1.0,1.0,0.896445171698476,1.0,1.0,1.0,0.956852154874365
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+1553,ac28e0768c6a5821,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
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+2745,7f2edc964c6d5323,False,,,,,,,
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+7054,9fb619b502495ffc,True,1.0,1.0,0.8637861459327416,1.0,1.0,1.0,0.9432442274719758
+7055,b96ea08d168f5a3d,True,1.0,1.0,0.867754638079556,1.0,1.0,1.0,0.9448977658664818
+7056,834a23e3dd25542c,True,1.0,1.0,0.7954131462190481,1.0,1.0,1.0,0.91475547759127
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+7058,8cbfcb387ec85461,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+7059,2c337eb368fb54ca,True,1.0,1.0,0.7167950161853268,1.0,1.0,1.0,0.8819979234105529
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+7061,e000d4f7fdfb5f6b,True,1.0,1.0,0.9553513454729904,1.0,1.0,1.0,0.9813963939470794
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+7063,82ba424ca77e5a4a,True,1.0,1.0,1.0,1.0,1.0,0.0,1.0
+7064,8dc7d00ce175549d,True,1.0,1.0,0.8969799991519237,1.0,1.0,1.0,0.9570749996466349
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+7067,cd1304eac1a25f00,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+7068,ca000fa91efb560c,True,1.0,0.0,0.0,1.0,1.0,1.0,0.0
+7069,c6e19ffa3c34551c,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+7070,46369836a9b654ee,True,1.0,1.0,0.600945379270578,1.0,1.0,1.0,0.8337272413627409
+7071,51e7c560a43d5a25,True,1.0,1.0,0.8713911065079989,1.0,1.0,1.0,0.9464129610449996
+7072,ab872f589011527d,True,1.0,1.0,0.8604427055529988,1.0,1.0,1.0,0.9418511273137496
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+7076,c7e06d79e58454ae,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+7077,16a2c04634ab5112,True,1.0,1.0,1.0,1.0,1.0,0.5,1.0
+7078,8bd32ab85e615190,True,1.0,1.0,0.8838164171159014,1.0,1.0,1.0,0.9515901737982922
+7079,af0e2b61cba953de,True,1.0,1.0,0.6163983094709276,1.0,1.0,1.0,0.8401659622795531
+7080,cde54c98cbec5255,True,1.0,1.0,0.8683176091524789,1.0,1.0,1.0,0.9451323371468662
+7081,f205efb84def5cc8,True,1.0,1.0,0.8899731795486423,1.0,1.0,1.0,0.954155491478601
+7082,9d32436291335261,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+7083,c856f2dbe8715b80,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+7084,355dadd64723531e,True,1.0,1.0,0.718752188626207,1.0,1.0,1.0,0.8828134119275862
+7085,d8c1754607175755,True,1.0,1.0,0.8552691888676202,1.0,1.0,0.0,0.9396954953615084
+7086,086e4501de295946,True,1.0,0.0,0.0,1.0,1.0,1.0,0.0
+7087,80dea9d7cb445906,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+7088,71405d414236553c,True,1.0,1.0,0.4712670816864154,1.0,1.0,1.0,0.7796946173693398
+7089,a3882e6ae8635832,True,1.0,1.0,0.9268370665493824,1.0,1.0,0.5,0.9695154443955759
+7090,92e7b3a7f4d054f3,True,1.0,1.0,0.6971168150685834,1.0,1.0,0.0,0.873798672945243
+7091,52248a6939af5fd6,True,1.0,1.0,0.958919280604653,1.0,1.0,1.0,0.982883033585272
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+7093,1db7c81f96855ce9,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+7094,6ea198f259b85e49,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+7095,bcbe67b78b825aec,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+7096,9d72593884a757a3,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+7097,c227b95266d75371,True,1.0,1.0,0.8810127437946362,1.0,1.0,0.0,0.9504219765810985
+7098,1164ea5308cf5aae,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+7099,ff89c9bf77dc58ce,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
+7100,ebd299a3953a50ad,True,1.0,1.0,0.8644937486980693,1.0,1.0,1.0,0.9435390619575289
+7101,378f82a326bd5875,True,1.0,1.0,0.7240274065559222,1.0,1.0,0.0,0.885011419398301
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+7104,68505dcbf4fb5f32,True,1.0,1.0,0.8133717646775969,1.0,1.0,1.0,0.922238235282332
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+7106,a28af989d6ea5fe8,True,1.0,1.0,0.8451285216898261,1.0,1.0,1.0,0.935470217370761
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+7108,38ecbc57db7e561c,True,1.0,1.0,0.7417318614001153,1.0,1.0,1.0,0.8923882755833814
+7109,531415bb29245095,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
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+7116,595596a88cce5c9d,True,1.0,1.0,0.7314522874663598,1.0,1.0,0.0,0.8881051197776499
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+7119,e56f85ee56395a99,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
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+7139,ad0c441309de5d2e,True,1.0,1.0,0.8913149055519288,1.0,1.0,1.0,0.9547145439799704
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+7156,5b39d0cccc8e55f2,True,1.0,1.0,0.98122420179867,1.0,1.0,1.0,0.9921767507494458
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+7162,c2a01dd3d1d45258,True,1.0,1.0,1.0,1.0,1.0,1.0,1.0
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