diff --git a/DDPG_agent.py b/DDPG_agent.py
index ec35983..ec4cc53 100644
--- a/DDPG_agent.py
+++ b/DDPG_agent.py
@@ -62,8 +62,10 @@ class DDPGAgent:
         while not self.step_limit or steps < self.step_limit:
             action = self.actor.predict(np.stack([state])).flatten()
             if not deterministic:
-                action += self.random_process.sample()
-            action = np.clip(action, -1, 1)
+                if self.total_steps < self.exploration_steps:
+                    action = np.random.uniform(-1, 1, action.shape)
+                else:
+                    action += self.random_process.sample()
             next_state, reward, done, info = self.task.step(action)
             if not deterministic:
                 self.replay.feed([state, action, reward, next_state, int(done)])
@@ -122,7 +124,7 @@ class DDPGAgent:
 
             if self.test_interval and ep % self.test_interval == 0:
                 self.logger.info('Testing...')
-                self.save('data/%sdqn-model-%s.bin' % (self.tag, self.task.name))
+                self.save('data/%sddpg-model-%s.bin' % (self.tag, self.task.name))
                 test_rewards = []
                 for _ in range(self.test_repetitions):
                     test_rewards.append(self.episode(True))
@@ -130,7 +132,7 @@ class DDPGAgent:
                 avg_test_rewards.append(avg_reward)
                 self.logger.info('Avg reward %f(%f)' % (
                     avg_reward, np.std(test_rewards) / np.sqrt(self.test_repetitions)))
-                with open('data/%sdqn-statistics-%s.bin' % (self.tag, self.task.name), 'wb') as f:
+                with open('data/%sddpg-statistics-%s.bin' % (self.tag, self.task.name), 'wb') as f:
                     pickle.dump({'rewards': rewards,
                                  'test_rewards': avg_test_rewards}, f)
                 if avg_reward > self.task.success_threshold:
diff --git a/dqn_agent.py b/DQN_agent.py
similarity index 97%
rename from dqn_agent.py
rename to DQN_agent.py
index 3e9e179..6ba7a5b 100644
--- a/dqn_agent.py
+++ b/DQN_agent.py
@@ -27,6 +27,7 @@ class DQNAgent:
                  double_q,
                  test_interval,
                  test_repetitions,
+                 tag,
                  logger):
         self.learning_network = network_fn(optimizer_fn)
         self.target_network = network_fn(optimizer_fn)
@@ -45,7 +46,7 @@ class DQNAgent:
         self.test_repetitions = test_repetitions
         self.history_buffer = None
         self.double_q = double_q
-        self.tag = ''
+        self.tag = tag
 
     def episode(self, deterministic=False):
         episode_start_time = time.time()
@@ -62,6 +63,8 @@ class DQNAgent:
             value = self.learning_network.predict(np.stack([self.task.normalize_state(state)]), True)
             if deterministic:
                 action = np.argmax(value.flatten())
+            elif self.total_steps < self.explore_steps:
+                action = np.random.randint(0, len(value.flatten()))
             else:
                 action = self.policy.sample(value.flatten())
             next_state, reward, done, info = self.task.step(action)
diff --git a/async_agent.py b/async_agent.py
index 90cc932..9b51d5c 100644
--- a/async_agent.py
+++ b/async_agent.py
@@ -31,6 +31,7 @@ class AsyncAgent:
                  test_interval,
                  test_repetitions,
                  history_length,
+                 tag,
                  logger):
         self.network_fn = network_fn
         self.learning_network = network_fn()
@@ -58,7 +59,7 @@ class AsyncAgent:
         self.test_repetitions = test_repetitions
         self.logger = logger
         self.history_length = history_length
-        self.tag = ''
+        self.tag = tag
 
     def deterministic_episode(self, task, network):
         state = task.reset()
diff --git a/main.py b/main.py
index e984f7e..71ba7db 100644
--- a/main.py
+++ b/main.py
@@ -1,5 +1,5 @@
 from async_agent import *
-from dqn_agent import *
+from DQN_agent import *
 from DDPG_agent import *
 import logging
 import traceback
@@ -15,7 +15,7 @@ def dqn_cart_pole():
     config['replay_fn'] = lambda: Replay(memory_size=10000, batch_size=10)
     config['discount'] = 0.99
     config['target_network_update_freq'] = 200
-    config['step_limit'] = 0
+    config['step_limit'] = 200
     config['explore_steps'] = 1000
     config['logger'] = gym.logger
     config['history_length'] = 2
@@ -23,6 +23,7 @@ def dqn_cart_pole():
     config['test_repetitions'] = 50
     # config['double_q'] = True
     config['double_q'] = False
+    config['tag'] = ''
     agent = DQNAgent(**config)
     agent.run()
 
@@ -37,13 +38,14 @@ def async_cart_pole():
     # config['worker_fn'] = OneStepSarsa
     config['discount'] = 0.99
     config['target_network_update_freq'] = 200
-    config['step_limit'] = 0
+    config['step_limit'] = 200
     config['n_workers'] = 16
     config['update_interval'] = 6
     config['test_interval'] = 4000
     config['test_repetitions'] = 50
     config['history_length'] = 1
     config['logger'] = gym.logger
+    config['tag'] = ''
     agent = AsyncAgent(**config)
     agent.run()
 
@@ -57,13 +59,14 @@ def a3c_cart_pole():
     config['worker_fn'] = AdvantageActorCritic
     config['discount'] = 0.99
     config['target_network_update_freq'] = 200
-    config['step_limit'] = 0
+    config['step_limit'] = 200
     config['n_workers'] = 16
     config['update_interval'] = update_interval
     config['history_length'] = 1
     config['test_interval'] = 4000
     config['test_repetitions'] = 50
     config['logger'] = gym.logger
+    config['tag'] = ''
     agent = AsyncAgent(**config)
     agent.run()
 
@@ -87,8 +90,8 @@ def dqn_pixel_atari(name):
     config['test_repetitions'] = 1
     # config['double_q'] = True
     config['double_q'] = False
+    config['tag'] = ''
     agent = DQNAgent(**config)
-    agent.tag = 'dueling_'
     agent.run()
 
 def async_pixel_atari(name):
@@ -115,8 +118,8 @@ def async_pixel_atari(name):
     config['test_repetitions'] = 1
     config['history_length'] = history_length
     config['logger'] = gym.logger
+    config['tag'] = ''
     agent = AsyncAgent(**config)
-    agent.tag = 'Centered-target-network-'
     agent.run()
 
 def a3c_pixel_atari(name):
@@ -139,29 +142,8 @@ def a3c_pixel_atari(name):
     config['test_repetitions'] = 1
     config['history_length'] = history_length
     config['logger'] = gym.logger
-    agent = AsyncAgent(**config)
-    agent.tag = ''
-    agent.run()
-
-def ddpg_montain_car():
-    config = dict()
-    config['task_fn'] = lambda: ContinuousMountainCar()
-    config['actor_network_fn'] = lambda: DDPGActorNet(2, 1)
-    config['critic_network_fn'] = lambda: DDPGCriticNet(2, 1)
-    config['actor_optimizer_fn'] = lambda params: torch.optim.Adam(params, lr=1e-4)
-    config['critic_optimizer_fn'] =\
-        lambda params: torch.optim.Adam(params, lr=1e-3, weight_decay=0.01)
-    config['replay_fn'] = lambda: HighDimActionReplay(memory_size=1000000, batch_size=64)
-    config['discount'] = 0.99
-    config['step_limit'] = 2500
-    config['tau'] = 0.001
-    config['exploration_steps'] = 100
-    config['random_process_fn'] = lambda: OrnsteinUhlenbeckProcess(theta=0.15, sigma=0.2)
-    config['test_interval'] = 50
-    config['test_repetitions'] = 10
     config['tag'] = ''
-    config['logger'] = gym.logger
-    agent = DDPGAgent(**config)
+    agent = AsyncAgent(**config)
     agent.run()
 
 def ddpg_pendulum():
@@ -188,6 +170,32 @@ def ddpg_pendulum():
     agent = DDPGAgent(**config)
     agent.run()
 
+def ddpg_bipedal_walker():
+    task_fn = lambda: BipedalWalker()
+    task = task_fn()
+    action_dim = task.env.action_space.shape[0]
+    state_dim = task.env.observation_space.shape[0]
+    config = dict()
+    config['task_fn'] = task_fn
+    config['actor_network_fn'] = lambda: DDPGActorNet(state_dim, action_dim, gpu=True)
+    config['critic_network_fn'] = lambda: DDPGCriticNet(state_dim, action_dim, gpu=True)
+    config['actor_optimizer_fn'] = lambda params: torch.optim.Adam(params, lr=1e-4)
+    config['critic_optimizer_fn'] =\
+        lambda params: torch.optim.Adam(params, lr=1e-3, weight_decay=0.01)
+    config['replay_fn'] = lambda: HighDimActionReplay(memory_size=1000000, batch_size=64)
+    config['discount'] = 0.99
+    config['step_limit'] = 1000
+    config['tau'] = 0.001
+    config['exploration_steps'] = 100
+    config['random_process_fn'] = \
+        lambda: OrnsteinUhlenbeckProcess(size=action_dim, theta=0.15, sigma=0.2)
+    config['test_interval'] = 10
+    config['test_repetitions'] = 10
+    config['tag'] = ''
+    config['logger'] = gym.logger
+    agent = DDPGAgent(**config)
+    agent.run()
+
 if __name__ == '__main__':
     gym.logger.setLevel(logging.DEBUG)
     # gym.logger.setLevel(logging.INFO)
@@ -204,5 +212,5 @@ if __name__ == '__main__':
     # async_pixel_atari('BreakoutNoFrameskip-v3')
     # a3c_pixel_atari('BreakoutNoFrameskip-v3')
 
-    # ddpg_montain_car()
-    ddpg_pendulum()
+    # ddpg_pendulum()
+    ddpg_bipedal_walker()
diff --git a/task.py b/task.py
index 6d45a82..733b57a 100644
--- a/task.py
+++ b/task.py
@@ -27,8 +27,6 @@ class BasicTask:
             next_state = self.normalize_state(next_state)
         return next_state, np.sign(reward), done, info
 
-
-
 class MountainCar(BasicTask):
     name = 'MountainCar-v0'
     success_threshold = -110
@@ -45,6 +43,7 @@ class CartPole(BasicTask):
     def __init__(self):
         BasicTask.__init__(self)
         self.env = gym.make(self.name)
+        self.env._max_episode_steps = sys.maxsize
 
 class LunarLander(BasicTask):
     name = 'LunarLander-v2'
@@ -74,17 +73,6 @@ class PixelAtari(BasicTask):
     def normalize_state(self, state):
         return np.asarray(state, dtype=np.float32) / 255.0
 
-
-class ContinuousMountainCar(BasicTask):
-    name = 'MountainCarContinuous-v0'
-    success_threshold = 1000
-
-    def __init__(self):
-        BasicTask.__init__(self)
-        self.env = gym.make(self.name)
-        self.env._max_episode_steps = sys.maxsize
-
-
 class Pendulum(BasicTask):
     name = 'Pendulum-v0'
     success_threshold = 200
@@ -95,7 +83,20 @@ class Pendulum(BasicTask):
         self.env._max_episode_steps = sys.maxsize
 
     def step(self, action):
+        action = 2 * np.clip(action, -1, 1)
+        next_state, reward, done, info = self.env.step(action)
+        return next_state, reward, done, info
+
+class BipedalWalker(BasicTask):
+    name = 'BipedalWalker-v2'
+    success_threshold = 2000
+
+    def __init__(self):
+        BasicTask.__init__(self)
+        self.env = gym.make(self.name)
+        self.env._max_episode_steps = sys.maxsize
+
+    def step(self, action):
+        action = np.clip(action, -1, 1)
         next_state, reward, done, info = self.env.step(action)
-        if self.normalized_state:
-            next_state = self.normalize_state(next_state)
         return next_state, reward, done, info