5 measurements on self learning from rover:

6 measurements on self learning form sitter:

10 measurements on self learning from wtb:

4 measrements on long term test from rover:

(right punishment)

3 measrements on long term test from sitter (fly stops a lot during test, this result may not be accurate):

(13:left punishment, 19: right punishment)

7 measrements on long term test from wtb

(left punishment)