diff --git a/checkpoints/model_guidance_progress__S_1__05_04_17_37_18_741_001677.pt b/checkpoints/model_guidance_progress__S_1__05_04_17_37_18_741_001677.pt
deleted file mode 120000
index e6ab06eb1..000000000
--- a/checkpoints/model_guidance_progress__S_1__05_04_17_37_18_741_001677.pt
+++ /dev/null
@@ -1 +0,0 @@
-/home/emerge/gpudrive/runs/guidance_progress__S_1__05_04_17_37_18_741/model_guidance_progress__S_1__05_04_17_37_18_741_001677.pt
\ No newline at end of file
diff --git a/examples/eval/notebooks/02_guidance_data_analysis.ipynb b/examples/eval/notebooks/02_guidance_data_analysis.ipynb
index 7b91ec50f..19af0e2ec 100644
--- a/examples/eval/notebooks/02_guidance_data_analysis.ipynb
+++ b/examples/eval/notebooks/02_guidance_data_analysis.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 15,
+   "execution_count": 52,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -55,7 +55,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 17,
+   "execution_count": 53,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -73,7 +73,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 39,
    "metadata": {},
    "outputs": [
     {
@@ -134,22 +134,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 41,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "torch.Size([4, 64, 91, 2])"
-      ]
-     },
-     "execution_count": 8,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
-    "env.reference_trajectory.pos_xy[0, 0, :, 0]"
+    "#env.reference_trajectory.pos_xy[0, 0, :, 0]"
    ]
   },
   {
@@ -161,7 +150,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 18,
+   "execution_count": 42,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -171,7 +160,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 33,
+   "execution_count": 43,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -205,7 +194,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 36,
+   "execution_count": 44,
    "metadata": {},
    "outputs": [
     {
@@ -219,7 +208,7 @@
        "  <rdf:RDF xmlns:dc=\"http://purl.org/dc/elements/1.1/\" xmlns:cc=\"http://creativecommons.org/ns#\" xmlns:rdf=\"http://www.w3.org/1999/02/22-rdf-syntax-ns#\">\n",
        "   <cc:Work>\n",
        "    <dc:type rdf:resource=\"http://purl.org/dc/dcmitype/StillImage\"/>\n",
-       "    <dc:date>2025-05-02T11:58:00.806526</dc:date>\n",
+       "    <dc:date>2025-05-02T12:34:22.763205</dc:date>\n",
        "    <dc:format>image/svg+xml</dc:format>\n",
        "    <dc:creator>\n",
        "     <cc:Agent>\n",
@@ -256,12 +245,12 @@
        "    <g id=\"xtick_1\">\n",
        "     <g id=\"line2d_1\">\n",
        "      <defs>\n",
-       "       <path id=\"m3471ea14a0\" d=\"M 0 0 \n",
+       "       <path id=\"m065e802b8c\" d=\"M 0 0 \n",
        "L 0 6 \n",
        "\" style=\"stroke: #262626; stroke-width: 1.25\"/>\n",
        "      </defs>\n",
        "      <g>\n",
-       "       <use xlink:href=\"#m3471ea14a0\" x=\"69.629406\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
+       "       <use xlink:href=\"#m065e802b8c\" x=\"69.629406\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
        "      </g>\n",
        "     </g>\n",
        "     <g id=\"text_1\">\n",
@@ -338,7 +327,7 @@
        "    <g id=\"xtick_2\">\n",
        "     <g id=\"line2d_2\">\n",
        "      <g>\n",
-       "       <use xlink:href=\"#m3471ea14a0\" x=\"111.801963\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
+       "       <use xlink:href=\"#m065e802b8c\" x=\"111.801963\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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        "     </g>\n",
        "     <g id=\"text_2\">\n",
@@ -379,7 +368,7 @@
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        "      <g>\n",
-       "       <use xlink:href=\"#m3471ea14a0\" x=\"153.97452\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
+       "       <use xlink:href=\"#m065e802b8c\" x=\"153.97452\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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        "     </g>\n",
        "     <g id=\"text_3\">\n",
@@ -410,7 +399,7 @@
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        "     <g id=\"line2d_4\">\n",
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+       "       <use xlink:href=\"#m065e802b8c\" x=\"196.147077\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
        "      </g>\n",
        "     </g>\n",
        "     <g id=\"text_4\">\n",
@@ -448,12 +437,12 @@
        "    <g id=\"ytick_1\">\n",
        "     <g id=\"line2d_5\">\n",
        "      <defs>\n",
-       "       <path id=\"m9e08b74318\" d=\"M 0 0 \n",
+       "       <path id=\"m02b17d277b\" d=\"M 0 0 \n",
        "L -6 0 \n",
        "\" style=\"stroke: #262626; stroke-width: 1.25\"/>\n",
        "      </defs>\n",
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+       "       <use xlink:href=\"#m02b17d277b\" x=\"49.921664\" y=\"125.513209\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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@@ -499,7 +488,7 @@
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        "      <g>\n",
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+       "       <use xlink:href=\"#m02b17d277b\" x=\"49.921664\" y=\"89.265961\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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@@ -554,7 +543,7 @@
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        "      <g>\n",
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+       "       <use xlink:href=\"#m02b17d277b\" x=\"49.921664\" y=\"53.018713\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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        "     </g>\n",
        "     <g id=\"text_8\">\n",
@@ -695,7 +684,7 @@
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        "L 208.572846 152.061486 \n",
-       "\" clip-path=\"url(#pf313e37106)\" style=\"fill: none; stroke: #4c72b0; stroke-width: 1.5; stroke-linecap: round\"/>\n",
+       "\" clip-path=\"url(#p84b03e9235)\" style=\"fill: none; stroke: #4c72b0; stroke-width: 1.5; stroke-linecap: round\"/>\n",
        "   </g>\n",
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@@ -789,7 +778,7 @@
        "L 201.776434 149.123476 \n",
        "L 205.14684 150.627879 \n",
        "L 208.572846 152.061486 \n",
-       "\" clip-path=\"url(#pf313e37106)\" style=\"fill: none; stroke: #ffa500; stroke-width: 1.5; stroke-linecap: round\"/>\n",
+       "\" clip-path=\"url(#p84b03e9235)\" style=\"fill: none; stroke: #ffa500; stroke-width: 1.5; stroke-linecap: round\"/>\n",
        "   </g>\n",
        "   <g id=\"patch_3\">\n",
        "    <path d=\"M 49.921664 158.218031 \n",
@@ -1196,7 +1185,7 @@
        "    <g id=\"xtick_5\">\n",
        "     <g id=\"line2d_10\">\n",
        "      <g>\n",
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+       "       <use xlink:href=\"#m065e802b8c\" x=\"299.814439\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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@@ -1220,7 +1209,7 @@
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        "     <g id=\"line2d_11\">\n",
        "      <g>\n",
-       "       <use xlink:href=\"#m3471ea14a0\" x=\"345.646707\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
+       "       <use xlink:href=\"#m065e802b8c\" x=\"345.646707\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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        "     <g id=\"text_12\">\n",
@@ -1262,7 +1251,7 @@
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        "      <g>\n",
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@@ -1277,7 +1266,7 @@
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@@ -1328,7 +1317,7 @@
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@@ -1344,7 +1333,7 @@
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@@ -1445,7 +1434,7 @@
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@@ -1576,7 +1565,7 @@
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@@ -1670,7 +1659,7 @@
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@@ -1776,7 +1765,7 @@
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@@ -1789,7 +1778,7 @@
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@@ -1803,7 +1792,7 @@
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@@ -1817,7 +1806,7 @@
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        "      <g>\n",
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        "     <g id=\"text_26\">\n",
@@ -1833,7 +1822,7 @@
        "    <g id=\"ytick_9\">\n",
        "     <g id=\"line2d_25\">\n",
        "      <g>\n",
-       "       <use xlink:href=\"#m9e08b74318\" x=\"533.029664\" y=\"150.597334\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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@@ -1850,7 +1839,7 @@
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        "     <g id=\"line2d_26\">\n",
        "      <g>\n",
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@@ -1867,7 +1856,7 @@
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        "     <g id=\"line2d_27\">\n",
        "      <g>\n",
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@@ -1884,7 +1873,7 @@
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        "      <g>\n",
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        "     <g id=\"text_30\">\n",
@@ -1901,7 +1890,7 @@
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@@ -2041,7 +2030,7 @@
        "L 688.323149 59.92004 \n",
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        "    <dc:type rdf:resource=\"http://purl.org/dc/dcmitype/StillImage\"/>\n",
-       "    <dc:date>2025-05-02T11:58:01.175975</dc:date>\n",
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        "    <dc:format>image/svg+xml</dc:format>\n",
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@@ -4395,12 +4384,12 @@
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        "      <defs>\n",
-       "       <path id=\"m730da5b9bc\" d=\"M 0 0 \n",
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+       "       <use xlink:href=\"#ma60801f787\" x=\"88.679045\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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@@ -4436,7 +4425,7 @@
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+       "       <use xlink:href=\"#ma60801f787\" x=\"151.359893\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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@@ -4466,7 +4455,7 @@
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+       "       <use xlink:href=\"#ma60801f787\" x=\"214.040741\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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@@ -4531,12 +4520,12 @@
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        "      <defs>\n",
-       "       <path id=\"mc2b7a8bf72\" d=\"M 0 0 \n",
+       "       <path id=\"me123bb9cfb\" d=\"M 0 0 \n",
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@@ -4598,7 +4587,7 @@
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+       "       <use xlink:href=\"#me123bb9cfb\" x=\"60.941086\" y=\"92.551067\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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@@ -4614,7 +4603,7 @@
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@@ -4901,7 +4890,7 @@
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@@ -5308,7 +5297,7 @@
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@@ -5323,7 +5312,7 @@
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        "      <g>\n",
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+       "       <use xlink:href=\"#ma60801f787\" x=\"388.211497\" y=\"158.218031\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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@@ -5337,7 +5326,7 @@
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        "      <g>\n",
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@@ -5386,7 +5375,7 @@
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@@ -5417,7 +5406,7 @@
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@@ -5546,7 +5535,7 @@
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@@ -5638,7 +5627,7 @@
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@@ -5744,7 +5733,7 @@
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        "      <g>\n",
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@@ -5757,7 +5746,7 @@
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@@ -5785,7 +5774,7 @@
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@@ -5813,7 +5802,7 @@
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@@ -5827,7 +5816,7 @@
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@@ -5840,7 +5829,7 @@
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@@ -5974,7 +5963,7 @@
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@@ -6066,7 +6055,7 @@
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@@ -6281,13 +6270,13 @@
        "  </g>\n",
        " </g>\n",
        " <defs>\n",
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        "  </clipPath>\n",
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@@ -6313,7 +6302,7 @@
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        "   <cc:Work>\n",
        "    <dc:type rdf:resource=\"http://purl.org/dc/dcmitype/StillImage\"/>\n",
-       "    <dc:date>2025-05-02T11:58:01.292953</dc:date>\n",
+       "    <dc:date>2025-05-02T12:34:23.094625</dc:date>\n",
        "    <dc:format>image/svg+xml</dc:format>\n",
        "    <dc:creator>\n",
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@@ -6350,12 +6339,12 @@
        "    <g id=\"xtick_1\">\n",
        "     <g id=\"line2d_1\">\n",
        "      <defs>\n",
-       "       <path id=\"m083bab06ed\" d=\"M 0 0 \n",
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@@ -6419,7 +6408,7 @@
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@@ -6493,7 +6482,7 @@
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@@ -6533,12 +6522,12 @@
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        "      <defs>\n",
-       "       <path id=\"m1b6a56ca11\" d=\"M 0 0 \n",
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@@ -6619,7 +6608,7 @@
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@@ -6637,7 +6626,7 @@
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@@ -9367,7 +9356,7 @@
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@@ -9473,7 +9462,7 @@
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@@ -9547,7 +9536,7 @@
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@@ -9628,7 +9617,7 @@
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@@ -9843,13 +9832,13 @@
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@@ -9889,7 +9878,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 20,
+   "execution_count": 54,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -9903,16 +9892,16 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 21,
+   "execution_count": 55,
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "((194, 91, 6), (1180, 90, 6), (1180, 80, 6))"
+       "((1180, 91, 6), (1180, 90, 6), (38, 80, 6))"
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-     "execution_count": 21,
+     "execution_count": 55,
      "metadata": {},
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@@ -9931,7 +9920,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": 56,
    "metadata": {},
    "outputs": [
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        "    <dc:type rdf:resource=\"http://purl.org/dc/dcmitype/StillImage\"/>\n",
-       "    <dc:date>2025-05-02T09:58:44.004711</dc:date>\n",
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@@ -9982,12 +9971,12 @@
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@@ -10057,7 +10046,7 @@
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@@ -10102,7 +10091,7 @@
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@@ -10117,7 +10106,7 @@
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@@ -10579,12 +10568,12 @@
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        "      <defs>\n",
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@@ -10597,7 +10586,7 @@
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@@ -10614,7 +10603,7 @@
        "    <g id=\"ytick_3\">\n",
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@@ -10652,7 +10641,7 @@
        "    <g id=\"ytick_4\">\n",
        "     <g id=\"line2d_9\">\n",
        "      <g>\n",
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@@ -10701,7 +10690,7 @@
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@@ -10759,7 +10748,7 @@
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@@ -10836,7 +10825,7 @@
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@@ -10844,7 +10833,7 @@
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@@ -10852,7 +10841,7 @@
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@@ -10860,7 +10849,7 @@
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@@ -10868,7 +10857,7 @@
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@@ -10876,7 +10865,7 @@
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@@ -10884,7 +10873,7 @@
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@@ -10892,7 +10881,7 @@
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@@ -10900,7 +10889,7 @@
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   {
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+   "execution_count": 49,
    "metadata": {},
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+       "       <use xlink:href=\"#mfcfb142486\" x=\"238.724447\" y=\"193.665\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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@@ -12106,7 +12139,7 @@
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@@ -12475,12 +12508,12 @@
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        "      <defs>\n",
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+       "       <use xlink:href=\"#m144bc21b78\" x=\"76.986563\" y=\"193.665\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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@@ -12493,7 +12526,7 @@
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@@ -12827,7 +12860,7 @@
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@@ -12842,7 +12875,7 @@
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@@ -12870,7 +12903,7 @@
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@@ -12886,7 +12919,7 @@
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@@ -12899,7 +12932,7 @@
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@@ -12916,7 +12949,7 @@
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@@ -12933,7 +12966,7 @@
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@@ -12962,7 +12995,7 @@
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@@ -12980,7 +13013,7 @@
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@@ -12998,7 +13031,7 @@
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        "     </g>\n",
        "     <g id=\"text_26\">\n",
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        "    <g id=\"ytick_14\">\n",
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@@ -13568,7 +13645,7 @@
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        "   </g>\n",
-       "   <g id=\"text_34\">\n",
+       "   <g id=\"text_35\">\n",
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@@ -13677,7 +13754,7 @@
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        "   </g>\n",
-       "   <g id=\"text_35\">\n",
+       "   <g id=\"text_36\">\n",
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        "    <g style=\"fill: #262626\" transform=\"translate(801.358875 36.445664) scale(0.1155 -0.1155)\">\n",
        "     <defs>\n",
@@ -13744,7 +13821,7 @@
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        "\" style=\"fill: #55a868; stroke: #ffffff; stroke-linejoin: miter\"/>\n",
        "   </g>\n",
-       "   <g id=\"text_36\">\n",
+       "   <g id=\"text_37\">\n",
        "    <!-- vbd_online -->\n",
        "    <g style=\"fill: #262626\" transform=\"translate(801.358875 53.720133) scale(0.1155 -0.1155)\">\n",
        "     <use xlink:href=\"#DejaVuSans-76\"/>\n",
@@ -13762,13 +13839,13 @@
        "  </g>\n",
        " </g>\n",
        " <defs>\n",
-       "  <clipPath id=\"peaffca2a01\">\n",
+       "  <clipPath id=\"pba831d38e9\">\n",
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        "  </clipPath>\n",
-       "  <clipPath id=\"pd49af25ece\">\n",
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        "  </clipPath>\n",
-       "  <clipPath id=\"p91e9fe171a\">\n",
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        " </defs>\n",
@@ -13807,7 +13884,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 13,
+   "execution_count": 50,
    "metadata": {},
    "outputs": [
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@@ -13821,7 +13898,7 @@
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        "   <cc:Work>\n",
        "    <dc:type rdf:resource=\"http://purl.org/dc/dcmitype/StillImage\"/>\n",
-       "    <dc:date>2025-05-02T09:58:59.274967</dc:date>\n",
+       "    <dc:date>2025-05-02T12:34:53.150913</dc:date>\n",
        "    <dc:format>image/svg+xml</dc:format>\n",
        "    <dc:creator>\n",
        "     <cc:Agent>\n",
@@ -13858,12 +13935,12 @@
        "    <g id=\"xtick_1\">\n",
        "     <g id=\"line2d_1\">\n",
        "      <defs>\n",
-       "       <path id=\"m23ea5e6981\" d=\"M 0 0 \n",
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        "     </g>\n",
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@@ -13910,7 +13987,7 @@
        "    <g id=\"xtick_2\">\n",
        "     <g id=\"line2d_2\">\n",
        "      <g>\n",
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+       "       <use xlink:href=\"#m5f822aa111\" x=\"176.314813\" y=\"193.665\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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@@ -13946,7 +14023,7 @@
        "    <g id=\"xtick_3\">\n",
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+       "       <use xlink:href=\"#m5f822aa111\" x=\"238.054912\" y=\"193.665\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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@@ -14374,12 +14451,12 @@
        "    <g id=\"ytick_1\">\n",
        "     <g id=\"line2d_4\">\n",
        "      <defs>\n",
-       "       <path id=\"mc6bd05041a\" d=\"M 0 0 \n",
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@@ -14392,7 +14469,7 @@
        "    <g id=\"ytick_2\">\n",
        "     <g id=\"line2d_5\">\n",
        "      <g>\n",
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        "     </g>\n",
        "     <g id=\"text_6\">\n",
@@ -14425,7 +14502,7 @@
        "    <g id=\"ytick_3\">\n",
        "     <g id=\"line2d_6\">\n",
        "      <g>\n",
-       "       <use xlink:href=\"#mc6bd05041a\" x=\"69.637875\" y=\"106.591367\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
+       "       <use xlink:href=\"#mc2c8c8780f\" x=\"69.637875\" y=\"106.591367\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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        "     </g>\n",
        "     <g id=\"text_7\">\n",
@@ -14442,7 +14519,7 @@
        "    <g id=\"ytick_4\">\n",
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        "      <g>\n",
-       "       <use xlink:href=\"#mc6bd05041a\" x=\"69.637875\" y=\"63.05455\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
+       "       <use xlink:href=\"#mc2c8c8780f\" x=\"69.637875\" y=\"63.05455\" style=\"fill: #262626; stroke: #262626; stroke-width: 1.25\"/>\n",
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        "     <g id=\"text_8\">\n",
@@ -14573,7 +14650,7 @@
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        "L 79.335736 152.065572 \n",
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@@ -14581,7 +14658,7 @@
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        "L 89.033594 189.659613 \n",
        "z\n",
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@@ -14589,7 +14666,7 @@
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@@ -14597,7 +14674,7 @@
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@@ -14605,7 +14682,7 @@
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@@ -14613,7 +14690,7 @@
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+       "\" clip-path=\"url(#pcaabb422e9)\" style=\"fill: #4c72b0; opacity: 0.5; stroke: #ffffff; stroke-linejoin: miter\"/>\n",
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@@ -14621,7 +14698,7 @@
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@@ -14629,7 +14706,7 @@
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@@ -14637,7 +14714,7 @@
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@@ -14645,7 +14722,7 @@
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@@ -14653,7 +14730,7 @@
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@@ -14661,7 +14738,7 @@
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        "z\n",
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+       "\" clip-path=\"url(#pcaabb422e9)\" style=\"fill: #4c72b0; opacity: 0.5; stroke: #ffffff; stroke-linejoin: miter\"/>\n",
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@@ -14669,7 +14746,7 @@
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        "z\n",
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@@ -14677,7 +14754,7 @@
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@@ -14685,7 +14762,7 @@
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@@ -14693,7 +14770,7 @@
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@@ -14752,7 +14829,7 @@
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@@ -14766,7 +14843,7 @@
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@@ -14779,7 +14856,7 @@
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@@ -14794,7 +14871,7 @@
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        "z\n",
-       "\" clip-path=\"url(#pbc9ea19dba)\" style=\"fill: #c44e52; stroke: #ffffff; stroke-linejoin: miter\"/>\n",
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        "z\n",
-       "\" clip-path=\"url(#pbc9ea19dba)\" style=\"fill: #c44e52; stroke: #ffffff; stroke-linejoin: miter\"/>\n",
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        "     </g>\n",
        "     <g id=\"text_19\">\n",
        "      <!-- −2 -->\n",
-       "      <g style=\"fill: #262626\" transform=\"translate(618.108647 211.941195) scale(0.1155 -0.1155)\">\n",
+       "      <g style=\"fill: #262626\" transform=\"translate(618.091681 211.941195) scale(0.1155 -0.1155)\">\n",
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        "      <!-- 0 -->\n",
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@@ -15128,12 +15205,12 @@
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        "      <g>\n",
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        "     <g id=\"text_21\">\n",
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-       "      <g style=\"fill: #262626\" transform=\"translate(746.425439 211.941195) scale(0.1155 -0.1155)\">\n",
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@@ -15143,7 +15220,7 @@
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@@ -15156,13 +15233,13 @@
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        "      <g>\n",
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        "     <g id=\"text_23\">\n",
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-       "       <use xlink:href=\"#DejaVuSans-35\"/>\n",
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@@ -15172,151 +15249,168 @@
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        "      <g>\n",
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-       "       <use xlink:href=\"#DejaVuSans-31\"/>\n",
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        "      <g>\n",
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        "     <g id=\"text_25\">\n",
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-       "       <use xlink:href=\"#DejaVuSans-35\" x=\"63.623047\"/>\n",
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   {
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+   "execution_count": 51,
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@@ -39393,13 +39475,13 @@
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        " </g>\n",
        " <defs>\n",
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        "  </clipPath>\n",
        " </defs>\n",
diff --git a/examples/eval/notebooks/obtain_guidance_data.py b/examples/eval/notebooks/obtain_guidance_data.py
index 5184c42a7..59ed9981d 100644
--- a/examples/eval/notebooks/obtain_guidance_data.py
+++ b/examples/eval/notebooks/obtain_guidance_data.py
@@ -11,7 +11,7 @@
 
 if __name__ == "__main__":
 
-    GUIDANCE_MODE = "log_replay"
+    GUIDANCE_MODE = "vbd_online"
     DATASET = "data/processed/wosac/validation_json_100"  # Ensure VBD trajectory structures are in here
     SAVE_PATH = "examples/eval/figures_data/"
 
@@ -24,13 +24,13 @@
         add_reference_speed=True,
         add_reference_pos_xy=True,
         init_mode="wosac_train",
-        smoothen_trajectory=True,
+        smoothen_trajectory=False,
     )
     render_config = RenderConfig()
 
     train_loader = SceneDataLoader(
         root=DATASET,
-        batch_size=10,
+        batch_size=2,
         dataset_size=100,
         sample_with_replacement=False,
         shuffle=False,
@@ -61,6 +61,6 @@
     )
 
     np.save(
-        f"{SAVE_PATH}reference_{GUIDANCE_MODE}_smooth.npy", reference_traj_np
+        f"{SAVE_PATH}reference_{GUIDANCE_MODE}.npy", reference_traj_np
     )
     print(f"Saved reference trajectory for {GUIDANCE_MODE} mode.")
diff --git a/gpudrive/datatypes/trajectory.py b/gpudrive/datatypes/trajectory.py
index eba306510..f36dc5306 100644
--- a/gpudrive/datatypes/trajectory.py
+++ b/gpudrive/datatypes/trajectory.py
@@ -151,14 +151,14 @@ def __init__(
         self.vel_xy = vbd_traj_tensor[:, :, :, 3:5]
         self.ref_speed = self.comp_reference_speed()
         # Assumption: All timesteps are valid (correct)
-        self.valids = torch.ones_like(self.pos_x, dtype=torch.int32)
+        self.valids = vbd_traj_tensor[:, :, :, 5].unsqueeze(-1).to(
+            torch.int32
+        )
 
         self.mean_pos_xy = mean_pos_xy
         self.mean_x = mean_pos_xy[:, 0]
         self.mean_y = mean_pos_xy[:, 1]
 
-        self.demean_positions()
-
     @classmethod
     def from_tensor(
         cls,
@@ -195,8 +195,8 @@ def demean_positions(self):
         mean_y_reshaped = self.mean_y.view(-1, 1, 1)
 
         # Apply to x and y coordinates
-        self.pos_xy[..., 0] -= mean_x_reshaped
-        self.pos_xy[..., 1] -= mean_y_reshaped
+        self.pos_xy[..., 10:, 0] -= mean_x_reshaped
+        self.pos_xy[..., 10:, 1] -= mean_y_reshaped
 
         self.pos_x = self.pos_xy[..., 0].unsqueeze(-1)
         self.pos_y = self.pos_xy[..., 1].unsqueeze(-1)
@@ -224,9 +224,9 @@ def __init__(self, vbd_traj_tensor: torch.Tensor):
         self.vel_y = vbd_traj_tensor[:, :, :, 4].unsqueeze(-1)
         self.vel_xy = vbd_traj_tensor[:, :, :, 3:5]
         self.ref_speed = self.comp_reference_speed()
-        # Assumption: All timesteps are valid
-        # TODO: The first 10 timesteps come from the logs, so there may be invalid steps
-        self.valids = torch.ones_like(self.pos_x, dtype=torch.int32)
+        self.valids = vbd_traj_tensor[:, :, :, 5].unsqueeze(-1).to(
+            torch.int32
+        )
 
     @classmethod
     def from_tensor(
diff --git a/gpudrive/env/base_env.py b/gpudrive/env/base_env.py
index cb1258238..cb99f21ff 100755
--- a/gpudrive/env/base_env.py
+++ b/gpudrive/env/base_env.py
@@ -165,7 +165,15 @@ def _setup_environment_parameters(self):
         params = self._set_collision_behavior(params)
         params = self._set_road_reduction_params(params)
         params = self._set_goal_behavior(params)
-        self.init_steps = getattr(self.config, "init_steps", 0)
+    
+        if self.config.guidance and self.config.guidance_mode == "vbd_online":
+            self.init_steps = max(self.config.init_steps, 10)
+            print(
+                f"\n[Note] Guidance mode '{self.config.guidance_mode}' requires at least 10 initialization steps to provide sufficient scene context for the diffusion model. Automatically setting simulator time to t = {self.init_steps}. \n"
+            )
+        else:
+            self.init_steps = getattr(self.config, "init_steps", 0)
+            
         params.initSteps = self.init_steps
 
         return params
diff --git a/gpudrive/env/config.py b/gpudrive/env/config.py
index 29721cf44..960128c29 100755
--- a/gpudrive/env/config.py
+++ b/gpudrive/env/config.py
@@ -40,7 +40,7 @@ class EnvConfig:
     add_reference_pos_xy: bool = True  # (x, y) position time series
     add_reference_speed: bool = False  # speed time series
     add_reference_heading: bool = False  # heading time series
-    smoothen_trajectory: bool = True  # Filters out the trajectory
+    smoothen_trajectory: bool = False  # Filters out the trajectory
     guidance_pos_xy_radius: float = 1.0  # Tightness of the positions guidance
 
     # Maximum number of controlled agents in the scene
diff --git a/gpudrive/env/env_torch.py b/gpudrive/env/env_torch.py
index 5c723c2e5..14fd5bddc 100755
--- a/gpudrive/env/env_torch.py
+++ b/gpudrive/env/env_torch.py
@@ -36,6 +36,7 @@
 from gpudrive.integrations.vbd.data.utils import process_scenario_data
 
 from gpudrive.utils.preprocess import smooth_scenario
+import madrona_gpudrive
 
 
 class GPUDriveTorchEnv(GPUDriveGymEnv):
@@ -72,18 +73,16 @@ def __init__(
 
         # Get the initial data batch (set of traffic scenarios)
         self.data_batch = next(self.data_iterator)
-
+        
         assert self.num_worlds == len(
             self.data_batch
         ), f"Number of scenarios in data_batch ({len(self.data_batch)}) \
         should equal number of worlds ({self.num_worlds}). \
         \n Please check your data loader configuration."
-
+        
         # Initialize simulator
         self.sim = self._initialize_simulator(params, self.data_batch)
 
-        self.init_steps = self.config.init_steps
-
         # Controlled agents setup
         self.cont_agent_mask = self.get_controlled_agents_mask()
         self.max_agent_count = self.cont_agent_mask.shape[1]
@@ -157,16 +156,16 @@ def setup_guidance(self):
                 trajectory_tensor, self.backend, self.device
             )
         elif self.guidance_mode == "vbd_online":
-
-            self.init_steps = max(self.init_steps, 10)
-            print(
-                f"\n[Note] Guidance mode '{self.guidance_mode}' requires at least {self.init_steps} initialization steps to provide sufficient scene context for the diffusion model. Automatically setting simulator time to t = {self.init_steps}. \n"
-            )
-
             # Load pre-trained Versatile Behavior Diffusion (VBD) model
             self.vbd_model = self._load_vbd_model(
                 model_path=self.config.vbd_model_path
             )
+            
+            self.init_steps = max(self.init_steps, 10)
+            print(
+                f"\n[Note] Guidance mode '{self.guidance_mode}' requires at least {self.init_steps} initialization steps to provide sufficient scene context for the diffusion model. Automatically setting simulator time to t = {self.init_steps}. \n"
+            )
+            
             # Construct scene context dict for the VBD model
             scene_context = self.construct_context(init_steps=self.init_steps)
 
@@ -175,9 +174,66 @@ def setup_guidance(self):
             # Query the model online for the reference trajectory
             predicted = self.vbd_model.sample_denoiser(scene_context)
 
+            # Pad first 10 steps with logs
+            trajectory_tensor = self.sim.expert_trajectory_tensor()
+            log_trajectory = LogTrajectory.from_tensor(
+                trajectory_tensor,
+                self.num_worlds,
+                self.max_agent_count,
+                self.backend,
+                self.device,
+            )
+            
+            reference_trajectory = torch.zeros(
+                self.num_worlds,
+                self.max_agent_count,
+                madrona_gpudrive.kTrajectoryLength,
+                6
+            )
+            reference_trajectory[:, :, :self.init_steps + 1, :2] = log_trajectory.pos_xy[
+                :, :, :self.init_steps + 1
+            ]
+            reference_trajectory[:, :, :self.init_steps + 1, 2] = log_trajectory.yaw[
+                :, :, :self.init_steps + 1, 0
+            ]
+            reference_trajectory[:, :, :self.init_steps + 1, 3:5] = log_trajectory.vel_xy[
+                :, :, :self.init_steps + 1
+            ]
+            reference_trajectory[:, :, :self.init_steps + 1, 5] = log_trajectory.valids[
+                :, :, :self.init_steps + 1, 0
+            ]
+
+            vbd_predictions=predicted["denoised_trajs"].to(self.device).detach()
+
+            # Get the world means
+            world_means = (
+                self.sim.world_means_tensor().to_torch()[:, :2].to(self.device)
+            )
+
+            # Add vbd predictions to the reference trajectory
+            for i in range(self.num_worlds):
+                # Get controlled agent indices for this world
+                valid_mask = (
+                    scene_context["agents_id"][i] >= 0
+                )
+                valid_world_indices = scene_context["agents_id"][i][valid_mask]
+
+                reference_trajectory[
+                    i, valid_world_indices, self.init_steps + 1:, :2
+                ] = vbd_predictions[i, valid_world_indices, :, :2] - world_means[
+                    i
+                ].view(1, 1, 2)
+                reference_trajectory[
+                    i, valid_world_indices, self.init_steps + 1:, 2:5
+                ] = vbd_predictions[i, valid_world_indices, :, 2:5]
+                reference_trajectory[
+                    i, valid_world_indices, self.init_steps + 1:, 5
+                ] = 1
+
+            
             # Wrap predictions into a VBDTrajectoryOnline object
             self.reference_trajectory = VBDTrajectoryOnline.from_tensor(
-                vbd_predictions=predicted["denoised_trajs"],
+                vbd_predictions=reference_trajectory,
                 mean_pos_xy=self.sim.world_means_tensor().to_torch()[:, :2],
                 backend=self.backend,
                 device=self.device,
diff --git a/gpudrive/integrations/vbd/data/amortize.py b/gpudrive/integrations/vbd/data/amortize.py
index 394501adc..3f91ec946 100644
--- a/gpudrive/integrations/vbd/data/amortize.py
+++ b/gpudrive/integrations/vbd/data/amortize.py
@@ -27,6 +27,7 @@
 from gpudrive.datatypes.trajectory import LogTrajectory
 from gpudrive.datatypes.observation import GlobalEgoState
 from gpudrive.integrations.vbd.sim_agent.sim_actor import VBDTest
+import madrona_gpudrive
 
 
 def load_vbd_model(model_path, device="cpu", max_cont_agents=64):
@@ -77,7 +78,7 @@ def main():
 
     # Always use CPU device
     device = "cpu"
-    MAX_CONTROLLED_AGENTS = 64
+    MAX_CONTROLLED_AGENTS = 32
     print(f"Loading VBD model on {device}...")
     vbd_model = load_vbd_model(args.model_path, device, MAX_CONTROLLED_AGENTS)
 
@@ -106,7 +107,7 @@ def main():
             dataset_size=args.num_scenes,
             file_prefix="",
         ),
-        render_config=RenderConfig(render_3d=True),
+        render_config=RenderConfig(),
         max_cont_agents=MAX_CONTROLLED_AGENTS,  # Maximum number of agents to control per scene
         device=device,
     )
@@ -115,8 +116,8 @@ def main():
     output_trajectories = torch.zeros(
         gpudrive_env.num_worlds,
         gpudrive_env.max_agent_count,
-        env_config.episode_len,
-        5,
+        madrona_gpudrive.kTrajectoryLength,
+        6,
     )
 
     # Save init steps from logs
@@ -127,14 +128,17 @@ def main():
         device=device,
     )
 
-    output_trajectories[:, :, :INIT_STEPS, :2] = log_trajectory.pos_xy[
-        :, :, :INIT_STEPS
+    output_trajectories[:, :, : INIT_STEPS + 1, :2] = log_trajectory.pos_xy[
+        :, :, : INIT_STEPS + 1
     ]
-    output_trajectories[:, :, :INIT_STEPS, 2] = log_trajectory.yaw[
-        :, :, :INIT_STEPS, 0
+    output_trajectories[:, :, : INIT_STEPS + 1, 2] = log_trajectory.yaw[
+        :, :, : INIT_STEPS + 1, 0
     ]
-    output_trajectories[:, :, :INIT_STEPS, 3:] = log_trajectory.vel_xy[
-        :, :, :INIT_STEPS
+    output_trajectories[:, :, : INIT_STEPS + 1, 3:5] = log_trajectory.vel_xy[
+        :, :, : INIT_STEPS + 1
+    ]
+    output_trajectories[:, :, : INIT_STEPS + 1, 5] = log_trajectory.valids[
+        :, :, : INIT_STEPS + 1, 0
     ]
 
     # Action tensor to step through simulation
@@ -181,20 +185,23 @@ def main():
                 i, valid_world_indices, :, 2
             ]
             predicted_actions[i, valid_world_indices, :, 4:6] = vbd_output[
-                i, valid_world_indices, :, 3:
+                i, valid_world_indices, :, 3:5
             ]
 
             # Populate output trajectories
             output_trajectories[
-                i, valid_world_indices, INIT_STEPS:, :2
+                i, valid_world_indices, INIT_STEPS + 1 :, :2
             ] = vbd_output[i, valid_world_indices, :, :2] - world_means[
                 i
             ].view(
                 1, 1, 2
             )
             output_trajectories[
-                i, valid_world_indices, INIT_STEPS:, 2:
+                i, valid_world_indices, INIT_STEPS + 1 :, 2:5
             ] = vbd_output[i, valid_world_indices, :, 2:]
+            output_trajectories[
+                i, valid_world_indices, INIT_STEPS + 1 :, 5
+            ] = 1.0
 
         # Save to each file's json
         index_to_id = GlobalEgoState.from_tensor(
diff --git a/src/bindings.cpp b/src/bindings.cpp
index e3edfe6cd..d725606b3 100755
--- a/src/bindings.cpp
+++ b/src/bindings.cpp
@@ -23,6 +23,7 @@ namespace madrona_gpudrive
         m.attr("kMaxAgentCount") = consts::kMaxAgentCount;
         m.attr("kMaxRoadEntityCount") = consts::kMaxRoadEntityCount;
         m.attr("kMaxAgentMapObservationsCount") = consts::kMaxAgentMapObservationsCount;
+        m.attr("kTrajectoryLength") = consts::kTrajectoryLength;
         m.attr("episodeLen") = consts::episodeLen;
         m.attr("numLidarSamples") = consts::numLidarSamples;
         m.attr("vehicleScale") = consts::vehicleLengthScale;
diff --git a/src/consts.hpp b/src/consts.hpp
index d5e76b834..19200f798 100644
--- a/src/consts.hpp
+++ b/src/consts.hpp
@@ -8,7 +8,7 @@ namespace madrona_gpudrive {
 
 namespace consts {
 
-inline constexpr madrona::CountT kMaxAgentCount = 64;
+inline constexpr madrona::CountT kMaxAgentCount = 32;
 inline constexpr madrona::CountT kMaxRoadEntityCount = 10000;
 inline constexpr madrona::CountT kMaxAgentMapObservationsCount = 128;
 
diff --git a/src/json_serialization.hpp b/src/json_serialization.hpp
index 20c61828a..73ad38551 100644
--- a/src/json_serialization.hpp
+++ b/src/json_serialization.hpp
@@ -145,8 +145,8 @@ namespace madrona_gpudrive
         obj.metadata.avgZ = avgZ;
 
         // Initialize VBD trajectories to zeros
-        for (int i = 0; i < consts::episodeLen; i++) {
-            for (int j = 0; j < 5; j++) {
+        for (int i = 0; i < consts::kTrajectoryLength; i++) {
+            for (int j = 0; j < 6; j++) {
                 obj.vbd_trajectories[i][j] = 0.0f;
             }
         }
@@ -155,13 +155,14 @@ namespace madrona_gpudrive
         if (j.contains("vbd_trajectory")) {
             int vbd_idx = 0;
             for (const auto &vbd_traj : j.at("vbd_trajectory")) {
-                if (vbd_idx < consts::episodeLen) {
+                if (vbd_idx < consts::kTrajectoryLength) {
                     if (!vbd_traj.is_null()) {
                         obj.vbd_trajectories[vbd_idx][0] = vbd_traj.at(0).get<float>();
                         obj.vbd_trajectories[vbd_idx][1] = vbd_traj.at(1).get<float>();
                         obj.vbd_trajectories[vbd_idx][2] = vbd_traj.at(2).get<float>();
                         obj.vbd_trajectories[vbd_idx][3] = vbd_traj.at(3).get<float>();
                         obj.vbd_trajectories[vbd_idx][4] = vbd_traj.at(4).get<float>();
+                        obj.vbd_trajectories[vbd_idx][5] = vbd_traj.at(5).get<float>();
                     }
                 }
                 vbd_idx++;
diff --git a/src/types.hpp b/src/types.hpp
index 8d9fd25d8..66135fc5b 100755
--- a/src/types.hpp
+++ b/src/types.hpp
@@ -364,15 +364,15 @@ namespace madrona_gpudrive
 
     struct VBDTrajectory
     {
-        // For each agent, store the full VBD trajectory (x, y, yaw, vx, vy)
-        // The tensor has shape [traj_length, 5]
-        float trajectories[consts::episodeLen][5];
+        // For each agent, store the full VBD trajectory (x, y, yaw, vx, vy, valid)
+        // The tensor has shape [traj_length, 6]
+        float trajectories[consts::episodeLen][6];
 
         static inline void zero(VBDTrajectory& vbd_traj)
         {
             for (int i = 0; i < consts::episodeLen; i++)
             {
-                for (int j = 0; j < 5; j++)
+                for (int j = 0; j < 6; j++)
                 {
                     vbd_traj.trajectories[i][j] = 0.0f;
                 }
@@ -380,7 +380,7 @@ namespace madrona_gpudrive
         }
     };
 
-    const size_t VBDTrajectoryExportSize = consts::episodeLen * 5;
+    const size_t VBDTrajectoryExportSize = consts::episodeLen * 6;
 
     static_assert(sizeof(VBDTrajectory) == sizeof(float) * VBDTrajectoryExportSize);