diff --git a/examples/main.js b/examples/main.js
index 98b2b13..199f7ad 100644
--- a/examples/main.js
+++ b/examples/main.js
@@ -459,7 +459,7 @@ export class MuJoCoDemo {
 
     switch (this.params.scene) {
       case 'humanoid.xml':
-        modelPath = 'models/humanoid_stand_6_frams_noise_1e-4/model.json';
+        modelPath = 'models/humanoid_stand_4_frams_noise_1e-4/model.json';
         this.getObservation = () => this.getObservationSkeleton(0, 10, 6);
         break;
       case 'blank':
@@ -544,10 +544,13 @@ export class MuJoCoDemo {
       
           const [actorMean, logStd, criticValue] = prediction;
       
-          console.log('Actor Mean:', actorMean.arraySync());
-          console.log('Log Std:', logStd.arraySync());
-          console.log('Critic Value:', criticValue.arraySync());
-      
+          // console.log('Actor Mean:', actorMean.arraySync());
+          // console.log('Log Std:', logStd.arraySync());
+          // console.log('Critic Value:', criticValue.arraySync());
+
+          // Update the critic value in the GUI
+          this.params.criticValue = criticValue.dataSync()[0];
+        
           // Use tf.tidy to automatically dispose of intermediate tensors
           tf.tidy(() => {
             const stdDev = tf.exp(logStd);
diff --git a/examples/mujocoUtils.js b/examples/mujocoUtils.js
index 0094365..30d7e94 100644
--- a/examples/mujocoUtils.js
+++ b/examples/mujocoUtils.js
@@ -191,36 +191,14 @@ export function setupGUI(parentContext) {
     dropdown.__onChange = onChangeFunc;
   }
 
-  // function updateSceneDropdown(dropdown, scenes) {
-  //   // Remove all options from the underlying select element
-  //   if (dropdown.__select && dropdown.__select.options) {
-  //     dropdown.__select.options.length = 0;
-  //   }
-  //   console.log("scenes", scenes)
-  
-  //   // Update the dropdown's __select property
-  //   dropdown.__select = document.createElement('select');
-  
-  //   // Add new options
-  //   for (let [name, file] of Object.entries(scenes)) {
-  //     let option = document.createElement('option');
-  //     option.text = name;
-  //     option.value = file;
-  //     dropdown.__select.add(option);
-  //   }
-  
-  //   // Update the controller's object and property
-  //   dropdown.object = scenes;
-  //   dropdown.property = 'scene';
-  
-  //   // Rebuild the DOM elements
-  //   dropdown.domElement.removeChild(dropdown.domElement.childNodes[0]);
-  //   dropdown.domElement.appendChild(dropdown.__select);
-  
-  //   // Update the display
-  //   dropdown.updateDisplay();
-  //   dropdown.onChange(reload);
-  // }
+
+  // Add a folder for critic values
+  let criticFolder = parentContext.gui.addFolder("Critic Values");
+
+  // Add a display for critic values
+  parentContext.params.criticValue = 0;
+  let criticValueDisplay = criticFolder.add(parentContext.params, 'criticValue').name('Critic Value').listen();
+  criticValueDisplay.domElement.style.pointerEvents = 'none';
 
   // Add a help menu.
   // Parameters:
@@ -401,11 +379,17 @@ export function setupGUI(parentContext) {
       modelEnabledText.innerHTML = 'Model enabled';
       modelEnabledText.id = 'model-enabled-text';
       parentContext.container.appendChild(modelEnabledText);
+
+      // Show critic folder when model is enabled
+      criticFolder.open();
     } else {
       const modelEnabledText = document.getElementById('model-enabled-text');
       if (modelEnabledText) {
         parentContext.container.removeChild(modelEnabledText);
       }
+
+      // Hide critic folder when model is disabled
+      criticFolder.close();
     }
   });
 
diff --git a/examples/scenes/humanoid.xml b/examples/scenes/humanoid.xml
index 7b2c8d4..9bb8ccd 100644
--- a/examples/scenes/humanoid.xml
+++ b/examples/scenes/humanoid.xml
@@ -14,9 +14,7 @@
 -->
 
 <mujoco model="Humanoid">
-  <option timestep="0.005" iterations="1" ls_iterations="4">
-    <flag eulerdamp="disable"/>
-  </option>
+  <option timestep="0.005"/>
 
   <visual>
     <map force="0.1" zfar="30"/>
@@ -28,7 +26,7 @@
 
   <asset>
     <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
-    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
+    <texture name="body" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
     <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
     <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
     <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
@@ -39,8 +37,7 @@
     <default class="body">
 
       <!-- geoms -->
-      <!-- TODO(robotics-simulation): support condim=1 for humanoid capsules. -->
-      <geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="0" conaffinity="0"/>
+      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body"/>
       <default class="thigh">
         <geom size=".06"/>
       </default>
@@ -189,13 +186,9 @@
   <contact>
     <exclude body1="waist_lower" body2="thigh_right"/>
     <exclude body1="waist_lower" body2="thigh_left"/>
-    <pair geom1="foot1_left" geom2="floor"/>
-    <pair geom1="foot1_right" geom2="floor"/>
-    <pair geom1="foot2_left" geom2="floor"/>
-    <pair geom1="foot2_right" geom2="floor"/>
   </contact>
 
-  <!-- <tendon>
+  <tendon>
     <fixed name="hamstring_right" limited="true" range="-0.3 2">
       <joint joint="hip_y_right" coef=".5"/>
       <joint joint="knee_right" coef="-.5"/>
@@ -204,7 +197,7 @@
       <joint joint="hip_y_left" coef=".5"/>
       <joint joint="knee_left" coef="-.5"/>
     </fixed>
-  </tendon> -->
+  </tendon>
 
   <actuator>
     <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
diff --git a/models/humanoid_stand_4_frams_noise_1e-4/group1-shard1of1.bin b/models/humanoid_stand_4_frams_noise_1e-4/group1-shard1of1.bin
new file mode 100644
index 0000000..1377ccf
Binary files /dev/null and b/models/humanoid_stand_4_frams_noise_1e-4/group1-shard1of1.bin differ
diff --git a/models/humanoid_stand_4_frams_noise_1e-4/model.json b/models/humanoid_stand_4_frams_noise_1e-4/model.json
new file mode 100644
index 0000000..f0d977f
--- /dev/null
+++ b/models/humanoid_stand_4_frams_noise_1e-4/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": "Functional", "config": {"name": "model", "trainable": true, "layers": [{"class_name": "InputLayer", "config": {"batch_input_shape": [null, 338], "dtype": "float32", "sparse": false, "ragged": false, "name": "input_1"}, "name": "input_1", "inbound_nodes": []}, {"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}, "name": "actor_dense1", "inbound_nodes": [[["input_1", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "actor_dense2", "trainable": true, "dtype": "float32", "units": 128, "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}, "name": "actor_dense2", "inbound_nodes": [[["actor_dense1", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "critic_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}, "name": "critic_dense1", "inbound_nodes": [[["input_1", 0, 0, {}]]]}, {"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}, "name": "actor_mean", "inbound_nodes": [[["actor_dense2", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "critic_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}, "name": "critic_dense2", "inbound_nodes": [[["critic_dense1", 0, 0, {}]]]}, {"class_name": "LogStdLayer", "config": {"name": "log_std", "trainable": true, "dtype": "float32", "action_dim": 21}, "name": "log_std", "inbound_nodes": [[["actor_mean", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "critic_output", "trainable": true, "dtype": "float32", "units": 1, "activation": "linear", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 1.0, "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}, "name": "critic_output", "inbound_nodes": [[["critic_dense2", 0, 0, {}]]]}], "input_layers": [["input_1", 0, 0]], "output_layers": [["actor_mean", 0, 0], ["log_std", 0, 0], ["critic_output", 0, 0]]}}}, "weightsManifest": [{"paths": ["group1-shard1of1.bin"], "weights": [{"name": "actor_dense1/kernel", "shape": [338, 256], "dtype": "float32"}, {"name": "actor_dense1/bias", "shape": [256], "dtype": "float32"}, {"name": "actor_dense2/kernel", "shape": [256, 128], "dtype": "float32"}, {"name": "actor_dense2/bias", "shape": [128], "dtype": "float32"}, {"name": "actor_mean/kernel", "shape": [128, 21], "dtype": "float32"}, {"name": "actor_mean/bias", "shape": [21], "dtype": "float32"}, {"name": "critic_dense1/kernel", "shape": [338, 256], "dtype": "float32"}, {"name": "critic_dense1/bias", "shape": [256], "dtype": "float32"}, {"name": "critic_dense2/kernel", "shape": [256, 256], "dtype": "float32"}, {"name": "critic_dense2/bias", "shape": [256], "dtype": "float32"}, {"name": "critic_output/kernel", "shape": [256, 1], "dtype": "float32"}, {"name": "critic_output/bias", "shape": [1], "dtype": "float32"}, {"name": "log_std/log_std", "shape": [21], "dtype": "float32"}]}]}
\ No newline at end of file
diff --git a/models/velocity-2-ctrl-0.1/group1-shard1of1.bin b/models/velocity-2-ctrl-0.1/group1-shard1of1.bin
new file mode 100644
index 0000000..c6eba17
Binary files /dev/null and b/models/velocity-2-ctrl-0.1/group1-shard1of1.bin differ
diff --git a/models/velocity-2-ctrl-0.1/model.json b/models/velocity-2-ctrl-0.1/model.json
new file mode 100644
index 0000000..f0d977f
--- /dev/null
+++ b/models/velocity-2-ctrl-0.1/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": "Functional", "config": {"name": "model", "trainable": true, "layers": [{"class_name": "InputLayer", "config": {"batch_input_shape": [null, 338], "dtype": "float32", "sparse": false, "ragged": false, "name": "input_1"}, "name": "input_1", "inbound_nodes": []}, {"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}, "name": "actor_dense1", "inbound_nodes": [[["input_1", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "actor_dense2", "trainable": true, "dtype": "float32", "units": 128, "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}, "name": "actor_dense2", "inbound_nodes": [[["actor_dense1", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "critic_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}, "name": "critic_dense1", "inbound_nodes": [[["input_1", 0, 0, {}]]]}, {"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}, "name": "actor_mean", "inbound_nodes": [[["actor_dense2", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "critic_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}, "name": "critic_dense2", "inbound_nodes": [[["critic_dense1", 0, 0, {}]]]}, {"class_name": "LogStdLayer", "config": {"name": "log_std", "trainable": true, "dtype": "float32", "action_dim": 21}, "name": "log_std", "inbound_nodes": [[["actor_mean", 0, 0, {}]]]}, {"class_name": "Dense", "config": {"name": "critic_output", "trainable": true, "dtype": "float32", "units": 1, "activation": "linear", "use_bias": true, "kernel_initializer": {"module": "keras.initializers", "class_name": "Orthogonal", "config": {"gain": 1.0, "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}, "name": "critic_output", "inbound_nodes": [[["critic_dense2", 0, 0, {}]]]}], "input_layers": [["input_1", 0, 0]], "output_layers": [["actor_mean", 0, 0], ["log_std", 0, 0], ["critic_output", 0, 0]]}}}, "weightsManifest": [{"paths": ["group1-shard1of1.bin"], "weights": [{"name": "actor_dense1/kernel", "shape": [338, 256], "dtype": "float32"}, {"name": "actor_dense1/bias", "shape": [256], "dtype": "float32"}, {"name": "actor_dense2/kernel", "shape": [256, 128], "dtype": "float32"}, {"name": "actor_dense2/bias", "shape": [128], "dtype": "float32"}, {"name": "actor_mean/kernel", "shape": [128, 21], "dtype": "float32"}, {"name": "actor_mean/bias", "shape": [21], "dtype": "float32"}, {"name": "critic_dense1/kernel", "shape": [338, 256], "dtype": "float32"}, {"name": "critic_dense1/bias", "shape": [256], "dtype": "float32"}, {"name": "critic_dense2/kernel", "shape": [256, 256], "dtype": "float32"}, {"name": "critic_dense2/bias", "shape": [256], "dtype": "float32"}, {"name": "critic_output/kernel", "shape": [256, 1], "dtype": "float32"}, {"name": "critic_output/bias", "shape": [1], "dtype": "float32"}, {"name": "log_std/log_std", "shape": [21], "dtype": "float32"}]}]}
\ No newline at end of file