diff --git a/.gitignore b/.gitignore
index bcd2e2090..31805cfd4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,8 +7,8 @@ examples/mpsc/unsafe_rl_temp_data/
 examples/pid/*data/
 #
 experiments/mpsc/results*
+experiments/mpsc/models/rl_models*
 #
-Results/
 results/
 z_docstring.py
 TODOs.md
@@ -158,6 +158,3 @@ dmypy.json
 
 *c_generated_code/
 *acados_ocp*.json
-gpmpc_update/
-temp
-models/
diff --git a/examples/hpo/train_rl_model.sh b/examples/hpo/train_rl_model.sh
index 40be21d03..b3799c67d 100755
--- a/examples/hpo/train_rl_model.sh
+++ b/examples/hpo/train_rl_model.sh
@@ -32,7 +32,7 @@ python ./hpo_experiment.py \
                     --overrides \
                     ./rl/${ALGO}/config_overrides/${SYS}/${ALGO}_${SYS}.yaml \
                     ./rl/config_overrides/${SYS}/${SYS}_${TASK}.yaml \
-                    --output_dir ./Results/${SYS}_${ALGO}_data/ \
+                    --output_dir ./results/${SYS}_${ALGO}_data/ \
                     --tag Test \
                     --opt_hps ./rl/${ALGO}/config_overrides/${SYS}/optimized_hyperparameters.yaml \
                     --task ${SYS} --seed 2 \
diff --git a/examples/rl/rl_experiment.sh b/examples/rl/rl_experiment.sh
index 48a8f9c65..62d7a37b2 100755
--- a/examples/rl/rl_experiment.sh
+++ b/examples/rl/rl_experiment.sh
@@ -39,6 +39,6 @@ do
           task_config.task_info.ilqr_ref=False \
           task_config.task_info.ilqr_traj_data='../lqr/ilqr_ref_traj.npy' \
           task_config.noise_scale=${NS}
-#      --pretrain_path ./Results/Benchmark_data/ilqr_ref/${SYS}_${ALGO}_data/${SEED}
+#      --pretrain_path ./results/benchmark_data/ilqr_ref/${SYS}_${ALGO}_data/${SEED}
 done
-#done
\ No newline at end of file
+#done
diff --git a/examples/rl/train_rl_model.sh b/examples/rl/train_rl_model.sh
index 8e74f590c..fddd121b1 100755
--- a/examples/rl/train_rl_model.sh
+++ b/examples/rl/train_rl_model.sh
@@ -54,7 +54,7 @@ do
         --overrides \
             ./config_overrides/${SYS}/${ALGO}_${SYS}.yaml \
             ./config_overrides/${SYS}/${SYS}_${TASK}.yaml \
-        --output_dir ./Results/${EXP_NAME}/${SYS}_${ALGO}_data/${SEED}/ \
+        --output_dir ./results/${EXP_NAME}/${SYS}_${ALGO}_data/${SEED}/ \
         --seed ${SEED} \
         --use_gpu \
         --kv_overrides \
diff --git a/experiments/mpsc/config_overrides/nl_mpsc_quadrotor_2D_attitude.yaml b/experiments/mpsc/config_overrides/nl_mpsc_quadrotor_2D_attitude.yaml
index 17d5d79d3..3df801790 100644
--- a/experiments/mpsc/config_overrides/nl_mpsc_quadrotor_2D_attitude.yaml
+++ b/experiments/mpsc/config_overrides/nl_mpsc_quadrotor_2D_attitude.yaml
@@ -26,5 +26,5 @@ sf_config:
   decay_factor: 0.85
 
   # Softening
-  soften_constraints: False
+  soften_constraints: True
   slack_cost: 250
diff --git a/experiments/mpsc/config_overrides/quadrotor_2D_attitude_tracking.yaml b/experiments/mpsc/config_overrides/quadrotor_2D_attitude_tracking.yaml
index bed6fac7c..c9081cab0 100644
--- a/experiments/mpsc/config_overrides/quadrotor_2D_attitude_tracking.yaml
+++ b/experiments/mpsc/config_overrides/quadrotor_2D_attitude_tracking.yaml
@@ -82,8 +82,8 @@ task_config:
       lower_bounds: [-0.9, -2, 0.55, -2, -0.75, -3]
     - constraint_form: default_constraint
       constrained_variable: input
-      upper_bounds: [0.58212, 0.7]
-      lower_bounds: [0.09702, -0.7]
+      upper_bounds: [0.58212,  0.4]
+      lower_bounds: [0.09702, -0.4]
 
   done_on_out_of_bound: True
   done_on_violation: False
diff --git a/experiments/mpsc/mpsc_experiment.py b/experiments/mpsc/mpsc_experiment.py
index e5f85e5f7..ff9d884ae 100644
--- a/experiments/mpsc/mpsc_experiment.py
+++ b/experiments/mpsc/mpsc_experiment.py
@@ -162,8 +162,9 @@ def run_multiple_models(plot, all_models):
                        'config': config,
                        'X_GOAL': X_GOAL}
 
-        with open(f'./results_mpsc/{model}.pkl', 'wb') as f:
-            pickle.dump(all_results, f)
+        if not plot:
+            with open(f'./results_mpsc/{model}.pkl', 'wb') as f:
+                pickle.dump(all_results, f)
 
 
 if __name__ == '__main__':
diff --git a/safe_control_gym/safety_filters/mpsc/nl_mpsc.py b/safe_control_gym/safety_filters/mpsc/nl_mpsc.py
index c82025d71..c9f9e199a 100644
--- a/safe_control_gym/safety_filters/mpsc/nl_mpsc.py
+++ b/safe_control_gym/safety_filters/mpsc/nl_mpsc.py
@@ -1003,9 +1003,6 @@ def setup_acados_optimizer(self):
         ocp.cost.Vu[nx:nx + nu, :] = np.eye(nu)
         ocp.cost.Vx_e = np.eye(nx)
 
-        ocp.model.cost_y_expr = cs.vertcat(model.x, model.u)
-        ocp.model.cost_y_expr_e = model.x
-
         # Updated on each iteration
         ocp.cost.yref = np.concatenate((self.model.X_EQ, self.model.U_EQ))
         ocp.cost.yref_e = self.model.X_EQ
@@ -1021,11 +1018,12 @@ def setup_acados_optimizer(self):
         ocp.constraints.ug = np.zeros((self.p))
 
         # Slack
-        ocp.constraints.Jsg = np.eye(self.p)
-        ocp.cost.Zu = np.array([500] * self.p)
-        ocp.cost.Zl = np.array([500] * self.p)
-        ocp.cost.zu = np.array([500] * self.p)
-        ocp.cost.zl = np.array([500] * self.p)
+        if self.soften_constraints:
+            ocp.constraints.Jsg = np.eye(self.p)
+            ocp.cost.Zu = self.slack_cost * np.ones(self.p)
+            ocp.cost.Zl = self.slack_cost * np.ones(self.p)
+            ocp.cost.zu = self.slack_cost * np.ones(self.p)
+            ocp.cost.zl = self.slack_cost * np.ones(self.p)
 
         # Options
         ocp.solver_options.qp_solver = 'FULL_CONDENSING_HPIPM'