diff --git a/.gitignore b/.gitignore
index 185f9eb..6edb818 100644
--- a/.gitignore
+++ b/.gitignore
@@ -79,5 +79,4 @@ jspm_packages/
 #!node_modules/three/examples/jsm/loaders/
 #!node_modules/three/examples/jsm/loaders/*
 
-scratch/
-models/
\ No newline at end of file
+scratch/
\ No newline at end of file
diff --git a/models/2_frame/group1-shard1of1.bin b/models/2_frame/group1-shard1of1.bin
new file mode 100644
index 0000000..1c52a2d
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diff --git a/models/2_frame/model.json b/models/2_frame/model.json
new file mode 100644
index 0000000..5a5ad38
--- /dev/null
+++ b/models/2_frame/model.json
@@ -0,0 +1 @@
+{"format": "layers-model", "generatedBy": "keras v2.16.0", "convertedBy": "TensorFlow.js Converter v4.20.0", "modelTopology": {"keras_version": "2.16.0", "backend": "tensorflow", "model_config": {"class_name": "Sequential", "config": {"name": "sequential", "layers": [{"class_name": "InputLayer", "config": {"batch_input_shape": [null, 336], "dtype": "float32", "sparse": false, "ragged": false, "name": "input_layer"}}, {"class_name": "Dense", "config": {"name": "actor_dense1", "trainable": true, "dtype": "float32", "units": 256, "activation": "tanh", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 1.4142135623730951, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}, {"class_name": "Dense", "config": {"name": "actor_dense2", "trainable": true, "dtype": "float32", "units": 256, "activation": "tanh", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 1.4142135623730951, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}, {"class_name": "Dense", "config": {"name": "actor_mean", "trainable": true, "dtype": "float32", "units": 21, "activation": "linear", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 0.01, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}]}}}, "weightsManifest": [{"paths": ["group1-shard1of1.bin"], "weights": [{"name": "actor_dense1/kernel", "shape": [336, 256], "dtype": "float32"}, {"name": "actor_dense1/bias", "shape": [256], "dtype": "float32"}, {"name": "actor_dense2/kernel", "shape": [256, 256], "dtype": "float32"}, {"name": "actor_dense2/bias", "shape": [256], "dtype": "float32"}, {"name": "actor_mean/kernel", "shape": [256, 21], "dtype": "float32"}, {"name": "actor_mean/bias", "shape": [21], "dtype": "float32"}]}]}
\ No newline at end of file
diff --git a/models/brax_humanoid_cvalless/group1-shard1of1.bin b/models/brax_humanoid_cvalless/group1-shard1of1.bin
new file mode 100644
index 0000000..a9c8dbe
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diff --git a/models/brax_humanoid_cvalless/model.json b/models/brax_humanoid_cvalless/model.json
new file mode 100644
index 0000000..d7441ea
--- /dev/null
+++ b/models/brax_humanoid_cvalless/model.json
@@ -0,0 +1 @@
+{"format": "layers-model", "generatedBy": "keras v2.16.0", "convertedBy": "TensorFlow.js Converter v4.20.0", "modelTopology": {"keras_version": "2.16.0", "backend": "tensorflow", "model_config": {"class_name": "Sequential", "config": {"name": "sequential", "layers": [{"class_name": "InputLayer", "config": {"batch_input_shape": [null, 70], "dtype": "float32", "sparse": false, "ragged": false, "name": "input_layer"}}, {"class_name": "Dense", "config": {"name": "actor_dense1", "trainable": true, "dtype": "float32", "units": 256, "activation": "tanh", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 1.4142135623730951, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}, {"class_name": "Dense", "config": {"name": "actor_dense2", "trainable": true, "dtype": "float32", "units": 256, "activation": "tanh", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 1.4142135623730951, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}, {"class_name": "Dense", "config": {"name": "actor_mean", "trainable": true, "dtype": "float32", "units": 17, "activation": "linear", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 0.01, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}]}}}, "weightsManifest": [{"paths": ["group1-shard1of1.bin"], "weights": [{"name": "actor_dense1/kernel", "shape": [70, 256], "dtype": "float32"}, {"name": "actor_dense1/bias", "shape": [256], "dtype": "float32"}, {"name": "actor_dense2/kernel", "shape": [256, 256], "dtype": "float32"}, {"name": "actor_dense2/bias", "shape": [256], "dtype": "float32"}, {"name": "actor_mean/kernel", "shape": [256, 17], "dtype": "float32"}, {"name": "actor_mean/bias", "shape": [17], "dtype": "float32"}]}]}
\ No newline at end of file
diff --git a/models/brax_humanoid_cvalless_just_stand/group1-shard1of1.bin b/models/brax_humanoid_cvalless_just_stand/group1-shard1of1.bin
new file mode 100644
index 0000000..c42c38d
Binary files /dev/null and b/models/brax_humanoid_cvalless_just_stand/group1-shard1of1.bin differ
diff --git a/models/brax_humanoid_cvalless_just_stand/model.json b/models/brax_humanoid_cvalless_just_stand/model.json
new file mode 100644
index 0000000..d7441ea
--- /dev/null
+++ b/models/brax_humanoid_cvalless_just_stand/model.json
@@ -0,0 +1 @@
+{"format": "layers-model", "generatedBy": "keras v2.16.0", "convertedBy": "TensorFlow.js Converter v4.20.0", "modelTopology": {"keras_version": "2.16.0", "backend": "tensorflow", "model_config": {"class_name": "Sequential", "config": {"name": "sequential", "layers": [{"class_name": "InputLayer", "config": {"batch_input_shape": [null, 70], "dtype": "float32", "sparse": false, "ragged": false, "name": "input_layer"}}, {"class_name": "Dense", "config": {"name": "actor_dense1", "trainable": true, "dtype": "float32", "units": 256, "activation": "tanh", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 1.4142135623730951, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}, {"class_name": "Dense", "config": {"name": "actor_dense2", "trainable": true, "dtype": "float32", "units": 256, "activation": "tanh", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 1.4142135623730951, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}, {"class_name": "Dense", "config": {"name": "actor_mean", "trainable": true, "dtype": "float32", "units": 17, "activation": "linear", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 0.01, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}]}}}, "weightsManifest": [{"paths": ["group1-shard1of1.bin"], "weights": [{"name": "actor_dense1/kernel", "shape": [70, 256], "dtype": "float32"}, {"name": "actor_dense1/bias", "shape": [256], "dtype": "float32"}, {"name": "actor_dense2/kernel", "shape": [256, 256], "dtype": "float32"}, {"name": "actor_dense2/bias", "shape": [256], "dtype": "float32"}, {"name": "actor_mean/kernel", "shape": [256, 17], "dtype": "float32"}, {"name": "actor_mean/bias", "shape": [17], "dtype": "float32"}]}]}
\ No newline at end of file
diff --git a/models/brax_humanoid_standup/group1-shard1of1.bin b/models/brax_humanoid_standup/group1-shard1of1.bin
new file mode 100644
index 0000000..d8fffdb
Binary files /dev/null and b/models/brax_humanoid_standup/group1-shard1of1.bin differ
diff --git a/models/brax_humanoid_standup/model.json b/models/brax_humanoid_standup/model.json
new file mode 100644
index 0000000..1c509be
--- /dev/null
+++ b/models/brax_humanoid_standup/model.json
@@ -0,0 +1 @@
+{"format": "layers-model", "generatedBy": "keras v2.16.0", "convertedBy": "TensorFlow.js Converter v4.20.0", "modelTopology": {"keras_version": "2.16.0", "backend": "tensorflow", "model_config": {"class_name": "Sequential", "config": {"name": "sequential", "layers": [{"class_name": "InputLayer", "config": {"batch_input_shape": [null, 262], "dtype": "float32", "sparse": false, "ragged": false, "name": "input_layer"}}, {"class_name": "Dense", "config": {"name": "actor_dense1", "trainable": true, "dtype": "float32", "units": 256, "activation": "tanh", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 1.4142135623730951, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}, {"class_name": "Dense", "config": {"name": "actor_dense2", "trainable": true, "dtype": "float32", "units": 256, "activation": "tanh", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 1.4142135623730951, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}, {"class_name": "Dense", "config": {"name": "actor_mean", "trainable": true, "dtype": "float32", "units": 17, "activation": "linear", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 0.01, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}]}}}, "weightsManifest": [{"paths": ["group1-shard1of1.bin"], "weights": [{"name": "actor_dense1/kernel", "shape": [262, 256], "dtype": "float32"}, {"name": "actor_dense1/bias", "shape": [256], "dtype": "float32"}, {"name": "actor_dense2/kernel", "shape": [256, 256], "dtype": "float32"}, {"name": "actor_dense2/bias", "shape": [256], "dtype": "float32"}, {"name": "actor_mean/kernel", "shape": [256, 17], "dtype": "float32"}, {"name": "actor_mean/bias", "shape": [17], "dtype": "float32"}]}]}
\ No newline at end of file
diff --git a/models/cvals+2_frames/group1-shard1of1.bin b/models/cvals+2_frames/group1-shard1of1.bin
new file mode 100644
index 0000000..30521fb
Binary files /dev/null and b/models/cvals+2_frames/group1-shard1of1.bin differ
diff --git a/models/cvals+2_frames/model.json b/models/cvals+2_frames/model.json
new file mode 100644
index 0000000..e921789
--- /dev/null
+++ b/models/cvals+2_frames/model.json
@@ -0,0 +1 @@
+{"format": "layers-model", "generatedBy": "keras v2.16.0", "convertedBy": "TensorFlow.js Converter v4.20.0", "modelTopology": {"keras_version": "2.16.0", "backend": "tensorflow", "model_config": {"class_name": "Sequential", "config": {"name": "sequential", "layers": [{"class_name": "InputLayer", "config": {"batch_input_shape": [null, 354], "dtype": "float32", "sparse": false, "ragged": false, "name": "input_layer"}}, {"class_name": "Dense", "config": {"name": "actor_dense1", "trainable": true, "dtype": "float32", "units": 256, "activation": "tanh", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 1.4142135623730951, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}, {"class_name": "Dense", "config": {"name": "actor_dense2", "trainable": true, "dtype": "float32", "units": 256, "activation": "tanh", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 1.4142135623730951, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}, {"class_name": "Dense", "config": {"name": "actor_mean", "trainable": true, "dtype": "float32", "units": 21, "activation": "linear", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 0.01, "seed": null}, "registered_name": null}, "bias_initializer": {"module": "keras.initializers", "class_name": "Zeros", "config": {}, "registered_name": null}, "kernel_regularizer": null, "bias_regularizer": null, "activity_regularizer": null, "kernel_constraint": null, "bias_constraint": null}}]}}}, "weightsManifest": [{"paths": ["group1-shard1of1.bin"], "weights": [{"name": "actor_dense1/kernel", "shape": [354, 256], "dtype": "float32"}, {"name": "actor_dense1/bias", "shape": [256], "dtype": "float32"}, {"name": "actor_dense2/kernel", "shape": [256, 256], "dtype": "float32"}, {"name": "actor_dense2/bias", "shape": [256], "dtype": "float32"}, {"name": "actor_mean/kernel", "shape": [256, 21], "dtype": "float32"}, {"name": "actor_mean/bias", "shape": [21], "dtype": "float32"}]}]}
\ No newline at end of file