diff --git a/EMADL2TORCS/embedded-montiarc-math-middleware-generator-0.0.12-SNAPSHOT-jar-with-dependencies.jar b/EMADL2TORCS/embedded-montiarc-math-middleware-generator-0.0.12-SNAPSHOT-jar-with-dependencies.jar
new file mode 100644
index 0000000000000000000000000000000000000000..670d6225b8cb7792ec99da85f59ed436513fabe9
Binary files /dev/null and b/EMADL2TORCS/embedded-montiarc-math-middleware-generator-0.0.12-SNAPSHOT-jar-with-dependencies.jar differ
diff --git a/EMADL2TORCS/generate2ros.sh b/EMADL2TORCS/generate2ros_dpnet_variant.sh
similarity index 67%
rename from EMADL2TORCS/generate2ros.sh
rename to EMADL2TORCS/generate2ros_dpnet_variant.sh
index ec5d4ca3e594389df11cd8aca870ef661d400152..00581c034a34eb3cd0f9b605598dd4fe8d70e7a7 100755
--- a/EMADL2TORCS/generate2ros.sh
+++ b/EMADL2TORCS/generate2ros_dpnet_variant.sh
@@ -4,7 +4,7 @@ echo "Cleaning target directory..."
 rm -rf target/*
 
 echo "Generating code..."
-java -cp embedded-montiarc-math-middleware-generator-0.0.11-SNAPSHOT-jar-with-dependencies.jar de.monticore.lang.monticar.generator.middleware.DistributedTargetGeneratorCli --models-dir=src/main/ --root-model=dp.mastercomponent --output-dir=target/Mastercomponent --generators=emadlcpp,roscpp --backend=MXNET
+java -cp embedded-montiarc-math-middleware-generator-0.0.12-SNAPSHOT-jar-with-dependencies.jar de.monticore.lang.monticar.generator.middleware.DistributedTargetGeneratorCli --models-dir=src/dpnet_variant/ --root-model=dp.mastercomponent --output-dir=target/Mastercomponent --generators=emadlcpp,roscpp --backend=MXNET
 
 echo "Copying build and run scripts..."
 cp -rf resources/scripts/* target/
diff --git a/EMADL2TORCS/generate2ros_groundTruthLabels_variant.sh b/EMADL2TORCS/generate2ros_groundTruthLabels_variant.sh
new file mode 100755
index 0000000000000000000000000000000000000000..1f3b5fc7f3a5e8475525bac1683343a60b12bb45
--- /dev/null
+++ b/EMADL2TORCS/generate2ros_groundTruthLabels_variant.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+
+echo "Cleaning target directory..."
+rm -rf target/*
+
+echo "Generating code..."
+java -cp embedded-montiarc-math-middleware-generator-0.0.12-SNAPSHOT-jar-with-dependencies.jar de.monticore.lang.monticar.generator.middleware.DistributedTargetGeneratorCli --models-dir=src/groundTruthLabels_variant/ --root-model=dp.mastercomponent --output-dir=target/Mastercomponent --generators=emadlcpp,roscpp --backend=MXNET
+
+echo "Copying build and run scripts..."
+cp -rf resources/scripts/* target/
+chmod u+x target/*.sh
+
+echo "Copying CNN weights..."
+cp -rf resources/TORCSComponent target/TORCSComponent
+chmod u+x resources/TORCSComponent/*.sh
+cp -rf resources/dpnet target/model
+
+echo "Building generated code..."
+cd target
+./build_all.sh
+
+echo "Please start TORCS, configure race and run ./run_all.sh"
diff --git a/EMADL2TORCS/resources/dpnet/dp_mastercomponent_dpnet/dpnet_newest-0000.params b/EMADL2TORCS/resources/dpnet/dp_mastercomponent_dpnet/dpnet_newest-0000.params
new file mode 100644
index 0000000000000000000000000000000000000000..63017a548717e89752ca2372e37aee5385d9acd7
Binary files /dev/null and b/EMADL2TORCS/resources/dpnet/dp_mastercomponent_dpnet/dpnet_newest-0000.params differ
diff --git a/EMADL2TORCS/resources/dpnet/dp_mastercomponent_dpnet/dpnet_newest-symbol.json b/EMADL2TORCS/resources/dpnet/dp_mastercomponent_dpnet/dpnet_newest-symbol.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aca8aeb2e397413ea42a8d2560f144a29074901
--- /dev/null
+++ b/EMADL2TORCS/resources/dpnet/dp_mastercomponent_dpnet/dpnet_newest-symbol.json
@@ -0,0 +1,566 @@
+{
+  "nodes": [
+    {
+      "op": "null", 
+      "name": "data", 
+      "attrs": {"__shape__": "(0, 3, 210, 280)"}, 
+      "inputs": []
+    }, 
+    {
+      "op": "null", 
+      "name": "_data_mean_", 
+      "attrs": {
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+    {
+      "op": "null", 
+      "name": "fc6__bias", 
+      "attrs": {
+        "no_bias": "False", 
+        "num_hidden": "4096"
+      }, 
+      "inputs": []
+    }, 
+    {
+      "op": "FullyConnected", 
+      "name": "fc6_", 
+      "attrs": {
+        "no_bias": "False", 
+        "num_hidden": "4096"
+      }, 
+      "inputs": [[40, 0, 0], [41, 0, 0], [42, 0, 0]]
+    }, 
+    {
+      "op": "Activation", 
+      "name": "relu7_", 
+      "attrs": {"act_type": "relu"}, 
+      "inputs": [[43, 0, 0]]
+    }, 
+    {
+      "op": "Dropout", 
+      "name": "dropout7_", 
+      "attrs": {"p": "0.5"}, 
+      "inputs": [[44, 0, 0]]
+    }, 
+    {
+      "op": "null", 
+      "name": "fc7__weight", 
+      "attrs": {
+        "no_bias": "False", 
+        "num_hidden": "256"
+      }, 
+      "inputs": []
+    }, 
+    {
+      "op": "null", 
+      "name": "fc7__bias", 
+      "attrs": {
+        "no_bias": "False", 
+        "num_hidden": "256"
+      }, 
+      "inputs": []
+    }, 
+    {
+      "op": "FullyConnected", 
+      "name": "fc7_", 
+      "attrs": {
+        "no_bias": "False", 
+        "num_hidden": "256"
+      }, 
+      "inputs": [[45, 0, 0], [46, 0, 0], [47, 0, 0]]
+    }, 
+    {
+      "op": "Activation", 
+      "name": "relu8_", 
+      "attrs": {"act_type": "relu"}, 
+      "inputs": [[48, 0, 0]]
+    }, 
+    {
+      "op": "Dropout", 
+      "name": "dropout8_", 
+      "attrs": {"p": "0.5"}, 
+      "inputs": [[49, 0, 0]]
+    }, 
+    {
+      "op": "null", 
+      "name": "fc8__weight", 
+      "attrs": {
+        "no_bias": "True", 
+        "num_hidden": "14"
+      }, 
+      "inputs": []
+    }, 
+    {
+      "op": "FullyConnected", 
+      "name": "fc8_", 
+      "attrs": {
+        "no_bias": "True", 
+        "num_hidden": "14"
+      }, 
+      "inputs": [[50, 0, 0], [51, 0, 0]]
+    }, 
+    {
+      "op": "null", 
+      "name": "predictions_label", 
+      "inputs": []
+    }, 
+    {
+      "op": "LinearRegressionOutput", 
+      "name": "predictions", 
+      "inputs": [[52, 0, 0], [53, 0, 0]]
+    }
+  ], 
+  "arg_nodes": [
+    0, 
+    1, 
+    5, 
+    6, 
+    12, 
+    13, 
+    19, 
+    20, 
+    24, 
+    25, 
+    29, 
+    30, 
+    36, 
+    37, 
+    41, 
+    42, 
+    46, 
+    47, 
+    51, 
+    53
+  ], 
+  "node_row_ptr": [
+    0, 
+    1, 
+    2, 
+    3, 
+    4, 
+    5, 
+    6, 
+    7, 
+    8, 
+    9, 
+    10, 
+    11, 
+    12, 
+    13, 
+    14, 
+    15, 
+    16, 
+    17, 
+    18, 
+    19, 
+    20, 
+    21, 
+    22, 
+    23, 
+    24, 
+    25, 
+    26, 
+    27, 
+    28, 
+    29, 
+    30, 
+    31, 
+    32, 
+    33, 
+    34, 
+    35, 
+    36, 
+    37, 
+    38, 
+    39, 
+    40, 
+    42, 
+    43, 
+    44, 
+    45, 
+    46, 
+    48, 
+    49, 
+    50, 
+    51, 
+    52, 
+    54, 
+    55, 
+    56, 
+    57, 
+    58
+  ], 
+  "heads": [[54, 0, 0]], 
+  "attrs": {"mxnet_version": ["int", 10201]}
+}
\ No newline at end of file
diff --git a/EMADL2TORCS/src/main/dp/Mastercomponent.emadl b/EMADL2TORCS/src/dpnet_variant/dp/Mastercomponent.emadl
similarity index 100%
rename from EMADL2TORCS/src/main/dp/Mastercomponent.emadl
rename to EMADL2TORCS/src/dpnet_variant/dp/Mastercomponent.emadl
diff --git a/EMADL2TORCS/src/main/dp/Mastercomponent.tag b/EMADL2TORCS/src/dpnet_variant/dp/Mastercomponent.tag
similarity index 100%
rename from EMADL2TORCS/src/main/dp/Mastercomponent.tag
rename to EMADL2TORCS/src/dpnet_variant/dp/Mastercomponent.tag
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/Affordance.struct b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/Affordance.struct
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/Affordance.struct
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/Affordance.struct
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/AffordanceToVector.emadl b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/AffordanceToVector.emadl
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/AffordanceToVector.emadl
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/AffordanceToVector.emadl
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/ConstantMatrix.emadl b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/ConstantMatrix.emadl
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/ConstantMatrix.emadl
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/ConstantMatrix.emadl
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/Denormalizer.emadl b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/Denormalizer.emadl
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/Denormalizer.emadl
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/Denormalizer.emadl
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/Dpnet.cnnt b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/Dpnet.cnnt
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/Dpnet.cnnt
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/Dpnet.cnnt
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/Dpnet.emadl b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/Dpnet.emadl
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/Dpnet.emadl
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/Dpnet.emadl
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/DriverController.emadl b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/DriverController.emadl
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/DriverController.emadl
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/DriverController.emadl
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/KFMastercomponent.emadl b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/KFMastercomponent.emadl
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/KFMastercomponent.emadl
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/KFMastercomponent.emadl
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/KalmanFilter.emadl b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/KalmanFilter.emadl
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/KalmanFilter.emadl
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/KalmanFilter.emadl
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/KalmanStatsBuffer.emadl b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/KalmanStatsBuffer.emadl
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/KalmanStatsBuffer.emadl
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/KalmanStatsBuffer.emadl
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/Lane.enum b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/Lane.enum
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/Lane.enum
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/Lane.enum
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/Localization.emadl b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/Localization.emadl
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/Localization.emadl
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/Localization.emadl
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/SteeringBuffer.emadl b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/SteeringBuffer.emadl
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/SteeringBuffer.emadl
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/SteeringBuffer.emadl
diff --git a/EMADL2TORCS/src/main/dp/subcomponents/VectorToAffordance.emadl b/EMADL2TORCS/src/dpnet_variant/dp/subcomponents/VectorToAffordance.emadl
similarity index 100%
rename from EMADL2TORCS/src/main/dp/subcomponents/VectorToAffordance.emadl
rename to EMADL2TORCS/src/dpnet_variant/dp/subcomponents/VectorToAffordance.emadl
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/Mastercomponent.emadl b/EMADL2TORCS/src/groundTruthLabels_variant/dp/Mastercomponent.emadl
new file mode 100644
index 0000000000000000000000000000000000000000..a47cfac5262b4f1605317baa4f7d110f1773dccd
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/Mastercomponent.emadl
@@ -0,0 +1,31 @@
+package dp;
+import dp.subcomponents.*;
+
+component Mastercomponent {
+   ports
+	in   Q^{16} groundTruthAffordance,
+        in   Q(0 m/s:0.1 m/s:100 m/s) speedIn,
+        out  Q(-1:1)^{3} commandsOut;
+
+   instance VectorToAffordance vectorToAff;
+   instance DriverController driverController;
+   instance SteeringBuffer steeringBuffer;
+   instance Localization locController;
+
+   connect groundTruthAffordance -> vectorToAff.affordanceIndicators;
+   connect vectorToAff.affordance -> locController.affordanceIn, driverController.affordanceIn;
+   connect locController.numLanes -> driverController.lanesCountIn;
+
+   connect steeringBuffer.outputBuffer -> driverController.steeringRecordIn;
+   connect speedIn -> driverController.speedIn;
+   
+   connect steeringBuffer.timerLeftOut -> driverController.timerLeftIn;
+   connect steeringBuffer.timerRightOut -> driverController.timerRightIn;
+   connect steeringBuffer.laneChangeOut -> driverController.laneChangeIn;
+
+   connect driverController.commandsOut -> commandsOut;
+   connect driverController.steerCmd -> steeringBuffer.inSteerCmd;
+   connect driverController.timerLeftOut -> steeringBuffer.timerLeftIn;
+   connect driverController.timerRightOut -> steeringBuffer.timerRightIn;
+   connect driverController.laneChangeOut -> steeringBuffer.laneChangeIn;
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/Mastercomponent.tag b/EMADL2TORCS/src/groundTruthLabels_variant/dp/Mastercomponent.tag
new file mode 100644
index 0000000000000000000000000000000000000000..754489fcf1f249343a54ac5d6ed8e223d4225ddd
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/Mastercomponent.tag
@@ -0,0 +1,8 @@
+package dp;
+conforms to de.monticore.lang.monticar.generator.roscpp.RosToEmamTagSchema;
+
+tags Mastercomponent {
+    tag mastercomponent.groundTruthAffordance with RosConnection = {topic=(/affordance,std_msgs/Float32MultiArray)};
+    tag mastercomponent.speedIn with RosConnection = {topic=(/speed,std_msgs/Float32)};
+    tag mastercomponent.commandsOut with RosConnection = {topic=(/commands,std_msgs/Float32MultiArray)};    
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Affordance.struct b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Affordance.struct
new file mode 100644
index 0000000000000000000000000000000000000000..96c723d7c746e1f12147b5cd7ab256dc8639f0e4
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Affordance.struct
@@ -0,0 +1,21 @@
+package dp.subcomponents;
+
+struct Affordance {
+    Q(-0.5rad:0.001rad:0.5rad)  angle;
+
+    Q(-7m : 0.01m : -2.5m)     toMarkingL;
+    Q(-2m : 0.01m : 3.5m)      toMarkingM;
+    Q(2.5m : 0.01m : 7m)       toMarkingR;
+    Q(0m : 0.1m : 75m)         distL;
+    Q(0m : 0.1m : 75m)         distR;
+
+    Q(-9.5m : 0.01m : -4m)     toMarkingLL;
+    Q(-5.5m : 0.01m : -0.5m)   toMarkingML;
+    Q(0.5m : 0.01m : 5.5m)     toMarkingMR;
+    Q(4m : 0.01m : 9.5m)       toMarkingRR;
+    Q(0m : 0.1m : 75m)         distLL;
+    Q(0m : 0.1m : 75m)         distMM;
+    Q(0m : 0.1m : 75m)         distRR;
+
+    Q(0 : 0.1 : 1)             fast;
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/AffordanceToVector.emadl b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/AffordanceToVector.emadl
new file mode 100644
index 0000000000000000000000000000000000000000..eb280500fa238dc4bc5f673be7713366892c1a3c
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/AffordanceToVector.emadl
@@ -0,0 +1,26 @@
+package dp.subcomponents;
+
+import ChangeRange;
+
+component AffordanceToVector {
+    ports in Affordance affordanceIn,
+          out Q^{16} affordanceOut;
+
+        implementation Math {
+            affordanceOut(1) = affordanceIn.fast;
+            affordanceOut(2) = affordanceIn.distL;
+            affordanceOut(3) = affordanceIn.distR;
+            affordanceOut(4) = affordanceIn.toMarkingL;
+            affordanceOut(5) = affordanceIn.toMarkingM;
+            affordanceOut(6) = affordanceIn.toMarkingR;
+            affordanceOut(7) = affordanceIn.distLL;
+            affordanceOut(8) = affordanceIn.distMM;
+            affordanceOut(9) = affordanceIn.distRR;
+            affordanceOut(10) = affordanceIn.toMarkingLL;
+            affordanceOut(11) = affordanceIn.toMarkingML;
+            affordanceOut(12) = affordanceIn.toMarkingMR;
+            affordanceOut(13) = affordanceIn.toMarkingRR;
+            affordanceOut(15) = affordanceIn.angle;
+        }
+
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/ConstantMatrix.emadl b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/ConstantMatrix.emadl
new file mode 100644
index 0000000000000000000000000000000000000000..2efcabc1596699ed0ed96599154b05763ae087ac
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/ConstantMatrix.emadl
@@ -0,0 +1,9 @@
+package dp.subcomponents;
+
+component ConstantMatrix<Z n=1, Z m=1>(Q^{n,m} value) {
+	port
+		out Q^{n,m} out1;
+    implementation Math{
+        out1=value;
+    }
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Denormalizer.emadl b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Denormalizer.emadl
new file mode 100644
index 0000000000000000000000000000000000000000..dd7776e8fddb2b0c94a6b0a0829c1eab140feaf4
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Denormalizer.emadl
@@ -0,0 +1,71 @@
+package dp.subcomponents;
+
+import ChangeRange;
+
+component Denormalizer {
+    ports in Q^{14} normalizedPredictions,
+              out Affordance affordance;
+
+        implementation Math {
+	    Q oldMin = 0.1;
+            Q oldMax = 0.9;
+            Q oldRange = oldMax - oldMin;
+
+	    for i=1:size(normalizedPredictions, 1)
+                if normalizedPredictions(i) < oldMin
+			normalizedPredictions(i) = oldMin;
+		elseif normalizedPredictions(i) > oldMax
+			normalizedPredictions(i) = oldMax;
+		end
+            end
+            
+
+            Q newMinAngle = -0.5;
+            Q newRangeAngle = 0.5 - newMinAngle;
+            affordance.angle = (((normalizedPredictions(1) - oldMin) * newRangeAngle) / oldRange) + newMinAngle;
+
+            Q newMinMarkingL = -7;
+            Q newRangeMarkingL = -2.5 - newMinMarkingL;
+            affordance.toMarkingL = (((normalizedPredictions(2) - oldMin) * newRangeMarkingL) / oldRange) + newMinMarkingL;
+
+            Q newMinMarkingM = -2;
+            Q newRangeMarkingM = 3.5 - newMinMarkingM;
+            affordance.toMarkingM = (((normalizedPredictions(3) - oldMin) * newRangeMarkingM) / oldRange) + newMinMarkingM;
+
+            Q newMinMarkingR = 2.5;
+            Q newRangeMarkingR = 7 - newMinMarkingR;
+            affordance.toMarkingR = (((normalizedPredictions(4) - oldMin) * newRangeMarkingR) / oldRange) + newMinMarkingR;
+
+            Q newMinDist = 0;
+            Q newRangeDist = 75 - newMinDist;
+            affordance.distL = (((normalizedPredictions(5) - oldMin) * newRangeDist) / oldRange) + newMinDist;
+            affordance.distR = (((normalizedPredictions(6) - oldMin) * newRangeDist) / oldRange) + newMinDist;
+
+            Q newMinMarkingLL = -9.5;
+            Q newRangeMarkingLL = -4 - newMinMarkingLL;
+            affordance.toMarkingLL = (((normalizedPredictions(7) - oldMin) * newRangeMarkingLL) / oldRange) + newMinMarkingLL;
+
+            Q newMinMarkingML = -5.5;
+            Q newRangeMarkingML = -0.5 - newMinMarkingML;
+            affordance.toMarkingML = (((normalizedPredictions(8) - oldMin) * newRangeMarkingML) / oldRange) + newMinMarkingML;
+
+            Q newMinMarkingMR = 0.5;
+            Q newRangeMarkingMR = 5.5 - newMinMarkingMR;
+            affordance.toMarkingMR = (((normalizedPredictions(9) - oldMin) * newRangeMarkingMR) / oldRange) + newMinMarkingMR;
+
+            Q newMinMarkingRR = 4;
+            Q newRangeMarkingRR = 9.5 - newMinMarkingRR;
+            affordance.toMarkingRR = (((normalizedPredictions(10) - oldMin) * newRangeMarkingRR) / oldRange) + newMinMarkingRR;
+
+            Q newMinDistLMR = 0;
+            Q newRangeDistLMR = 75 - newMinDistLMR;
+            affordance.distLL = (((normalizedPredictions(11) - oldMin) * newRangeDistLMR) / oldRange) + newMinDistLMR;
+            affordance.distMM = (((normalizedPredictions(12) - oldMin) * newRangeDistLMR) / oldRange) + newMinDistLMR;
+            affordance.distRR = (((normalizedPredictions(13) - oldMin) * newRangeDistLMR) / oldRange) + newMinDistLMR;
+
+            Q newMinFast = 0;
+            Q newRangeFast = 1 - newMinFast;
+            affordance.fast = (((normalizedPredictions(14) - oldMin) * newRangeFast) / oldRange) + newMinFast;
+        }
+
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Dpnet.cnnt b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Dpnet.cnnt
new file mode 100644
index 0000000000000000000000000000000000000000..71c55649bbf77203be35ba89be7b21e0c33d4056
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Dpnet.cnnt
@@ -0,0 +1,14 @@
+configuration Dpnet{
+     num_epoch : 100
+     batch_size : 64
+     eval_metric : mse
+     context : gpu
+     load_checkpoint : true
+     normalize : true
+     optimizer : sgd{
+         learning_rate : 0.01
+         learning_rate_decay : 0.9
+         step_size : 8000
+
+     }
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Dpnet.emadl b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Dpnet.emadl
new file mode 100644
index 0000000000000000000000000000000000000000..3b11ebdc476f08cf8804779d8c504c8f5adef765
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Dpnet.emadl
@@ -0,0 +1,35 @@
+
+package dp.subcomponents;
+
+component Dpnet{
+    ports in Z(0:255)^{3, 210, 280} data,
+         out Q(-oo:oo)^{14} predictions;
+
+    implementation CNN {
+
+        def conv(kernel, channels, hasPool=true, convStride=(1,1)){
+            Convolution(kernel=kernel, channels=channels, stride=convStride) ->
+            Relu() ->
+            Pooling(pool_type="max", kernel=(3,3), stride=(2,2), ?=hasPool)
+        }
+        def fc(){
+            FullyConnected(units=4096) ->
+            Relu() ->
+            Dropout()
+        }
+
+        data ->
+        conv(kernel=(11,11), channels=96, convStride=(4,4)) ->
+        conv(kernel=(5,5), channels=256, convStride=(4,4)) ->
+        conv(kernel=(3,3), channels=384, hasPool=false) ->
+        conv(kernel=(3,3), channels=384, hasPool=false) ->
+        conv(kernel=(3,3), channels=256) ->
+        fc() ->
+        fc() ->
+        FullyConnected(units=256) ->
+        Relu() ->
+        Dropout() ->
+        FullyConnected(units=14, no_bias=true) ->
+        predictions
+    }
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/DriverController.emadl b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/DriverController.emadl
new file mode 100644
index 0000000000000000000000000000000000000000..9825fb28777197ddca8565f50cbb508c63520263
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/DriverController.emadl
@@ -0,0 +1,287 @@
+package dp.subcomponents;
+
+component DriverController {
+    ports
+        in Q^{5} steeringRecordIn,
+	    in Affordance affordanceIn,
+	    in Q(0 m/s:0.1 m/s:100 m/s) speedIn,
+        in Z timerLeftIn,
+        in Z timerRightIn,
+        in Z laneChangeIn,
+        in Z lanesCountIn,
+	out Q(-1:1)^{3} commandsOut, // [accelCmd, steerCmd, brakeCmd]
+	out Q steerCmd,
+        out Z timerLeftOut,
+        out Z timerRightOut,
+        out Z laneChangeOut;
+
+	implementation Math {
+        Q roadWidth = 8;
+        Q centerLine;
+        Q coeSteer = 1.0;
+        Q preML;
+        Q preMR;
+	Q slowDown = 100; // Acceleration
+        Q preDistL = 60;
+        Q preDistR = 60;
+        B leftClear = false;
+        B rightClear = false;
+        Z timerSet = 60;
+        Z leftTimer = timerLeftIn;
+        Z rightTimer = timerRightIn;
+        Q steerTrend = steeringRecordIn(1) + steeringRecordIn(2) + steeringRecordIn(3) + steeringRecordIn(4) + steeringRecordIn(5); // am I turning or not;
+        
+        //parameters of car following modlel
+        Q vMax = 20;
+        Q vC = 2.772;
+        Q vD = -0.693;
+        Q carFollowingSlowDown = vMax * (1-exp(-(vC/vMax) * affordanceIn.distMM - vD)); // optimal velocity for car-following model
+        
+        // CASE 1: one lane
+        if (lanesCountIn == 1)
+            if (affordanceIn.distMM < 20) // car in front of me, slow down
+                
+                // optimal velocity car-following model
+                slowDown = carFollowingSlowDown;
+                if (slowDown < 0)
+                    slowDown = 0;
+                end
+            end
+
+            if (-affordanceIn.toMarkingML + affordanceIn.toMarkingMR < 5.5)
+                coeSteer = 1.5;
+                centerLine = (affordanceIn.toMarkingML + affordanceIn.toMarkingMR) / 2;
+                preML = affordanceIn.toMarkingML;
+                preMR = affordanceIn.toMarkingMR;
+                if (affordanceIn.toMarkingM < 1)
+                      coeSteer = 0.4;
+                end
+            else
+                if (-preML > preMR)
+                   centerLine = (affordanceIn.toMarkingL + affordanceIn.toMarkingM) / 2;
+                else
+                   centerLine=(affordanceIn.toMarkingR + affordanceIn.toMarkingM) / 2;
+                end
+                coeSteer = 0.3;
+            end
+
+            // steering control, "shared->steerCmd" [-1,1] is the value sent back to TORCS
+	        steerCmd = (affordanceIn.angle - centerLine/roadWidth) / 0.541052 / coeSteer;
+
+	        if (coeSteer > 1 && steerCmd > 0.1)   // reshape the steering control curve
+                steerCmd = steerCmd * (2.5 * steerCmd + 0.75);
+            end
+            commandsOut(2) = steerCmd;
+
+        // CASE 2: two or three lanes
+        elseif (lanesCountIn == 2 || lanesCountIn == 3)
+            if (preDistL < 20 && affordanceIn.distLL < 20) // left lane is occupied or not
+                leftClear = false;
+                leftTimer = 0;
+            else
+                leftTimer += 1;
+            end
+
+            if (preDistR < 20 && affordanceIn.distRR < 20) // right lane is occupied or not
+                rightClear = false;
+                rightTimer = 0;
+            else
+                rightTimer += 1;
+            end
+
+            preDistL = affordanceIn.distLL;
+            preDistR = affordanceIn.distRR;
+
+            if (leftTimer > timerSet) // left lane is clear
+                leftTimer = timerSet;
+                leftClear = true;
+            end
+
+            if (rightTimer > timerSet) // right lane is clear
+                rightTimer = timerSet;
+                rightClear = true;
+            end
+            
+            if (lanesCountIn == 2)
+                if (laneChangeIn == 0 && affordanceIn.distMM < 15) // if current lane is occupied
+                    if (affordanceIn.toMarkingLL > -8 && leftClear == true && steerTrend >= 0) // move to left lane
+                        laneChangeIn = -2;
+                        coeSteer = 6;
+                        rightClear = false;
+                        rightTimer = 0;
+                        leftClear = false;
+                        leftTimer = 0;
+                        timerSet = 30;
+                    elseif (affordanceIn.toMarkingRR < 8 && rightClear == true && steerTrend <= 0) // move to right lane
+                        laneChangeIn = 2;
+                        coeSteer = 6;
+                        rightClear = false;
+                        rightTimer = 0;
+                        leftClear = false;
+                        leftTimer = 0;
+                        timerSet = 30;
+                    else // follow car in front
+                        slowDown = carFollowingSlowDown; 
+                        if slowDown < 0
+                            slowDown = 0;
+                        end
+                    end
+                elseif (laneChangeIn == 0 && affordanceIn.distMM >= 15) // prefer to stay in the right lane
+                    if (affordanceIn.toMarkingLL < -8 && rightClear == true && steerTrend <= 0 && steerTrend > -0.2) // in right lane, so move to central lane
+                        laneChangeIn = 2;
+                        coeSteer = 6;
+                        rightClear = false;
+                        rightTimer = 20;
+                    end
+                end
+            elseif (lanesCountIn == 3)
+                 if (laneChangeIn == 0 && affordanceIn.distMM < 15) // current lane is occupied
+                     if (affordanceIn.toMarkingLL > -8 && leftClear == true && steerTrend >= 0 && steerTrend < 0.2) // move to left lane
+                        laneChangeIn = -2;
+                        coeSteer = 6;
+                        rightClear = false;
+                        rightTimer = 0;
+                        leftClear = false;
+                        leftTimer = 30;
+                        timerSet = 60;
+                    elseif (affordanceIn.toMarkingRR < 8 && rightClear == true && steerTrend <= 0 && steerTrend > -0.2) // move to right lane
+                        laneChangeIn = 2;
+                        coeSteer = 6;
+                        rightClear = false;
+                        rightTimer = 30;
+                        leftClear = false;
+                        leftTimer = 0;
+                        timerSet = 60;
+                    else // car following
+                        slowDown = carFollowingSlowDown; 
+                        if slowDown < 0
+                            slowDown = 0;
+                        end
+                    end
+                elseif (laneChangeIn == 0 && affordanceIn.distMM >= 15) // prefer to stay in the central line
+                    if (affordanceIn.toMarkingRR > 8 && leftClear == true && steerTrend >= 0 && steerTrend < 0.2) // in right lane, so move to central lane
+                        laneChangeIn = -2;
+                        coeSteer = 6;
+                        leftClear = false;
+                        leftTimer = 30;
+                    elseif (affordanceIn.toMarkingLL < -8 && rightClear == true && steerTrend <= 0 && steerTrend > -0.2) // in left lane, so move to central lane
+                        laneChangeIn = 2;
+                        coeSteer = 6;
+                        rightClear = false;
+                        rightTimer = 30;
+                    end
+                end
+            end
+                
+            // go through all possible lane change maneuvers
+            if (laneChangeIn == 0) //car following
+                if (-affordanceIn.toMarkingML + affordanceIn.toMarkingMR < 5.5)
+                    coeSteer = 1.5;
+                    centerLine = (affordanceIn.toMarkingML+affordanceIn.toMarkingMR)/2;
+                    preML = affordanceIn.toMarkingML;
+                    preMR = affordanceIn.toMarkingMR;
+                    if (affordanceIn.toMarkingM < 1)
+                        coeSteer = 0.4;
+                    end
+                else
+                    if (-preML > preMR)
+                        centerLine = (affordanceIn.toMarkingL+affordanceIn.toMarkingM)/2;
+                    else
+                        centerLine = (affordanceIn.toMarkingR+affordanceIn.toMarkingM)/2;
+                    end
+                    coeSteer = 0.3;
+                end
+            elseif (laneChangeIn == -2)
+                if (-affordanceIn.toMarkingML+affordanceIn.toMarkingMR < 5.5)
+                    centerLine = (affordanceIn.toMarkingLL+affordanceIn.toMarkingML)/2;
+                    if (affordanceIn.toMarkingL > -5 && affordanceIn.toMarkingM < 1.5)
+                        centerLine = (centerLine+(affordanceIn.toMarkingL+affordanceIn.toMarkingM)/2)/2;
+                    end
+                else
+                    centerLine = (affordanceIn.toMarkingL+affordanceIn.toMarkingM)/2;
+                    coeSteer = 20;
+                    laneChangeIn = -1;
+                end
+            elseif (laneChangeIn == -1)
+                if (affordanceIn.toMarkingL > -5 && affordanceIn.toMarkingM < 1.5)
+                    centerLine = (affordanceIn.toMarkingL+affordanceIn.toMarkingM)/2;
+                    if (-affordanceIn.toMarkingML+affordanceIn.toMarkingMR < 5.5)
+                        centerLine = (centerLine+(affordanceIn.toMarkingML+affordanceIn.toMarkingMR)/2)/2;
+                    end
+                else
+                    centerLine = (affordanceIn.toMarkingML+affordanceIn.toMarkingMR)/2;
+                    laneChangeIn = 0;
+                end
+            elseif (laneChangeIn == 2)
+                if (-affordanceIn.toMarkingML+affordanceIn.toMarkingMR < 5.5)
+                    centerLine = (affordanceIn.toMarkingRR+affordanceIn.toMarkingMR)/2;
+                    if (affordanceIn.toMarkingR < 5 && affordanceIn.toMarkingM < 1.5)
+                        centerLine = (centerLine + (affordanceIn.toMarkingR+affordanceIn.toMarkingM)/2)/2;
+                    end
+                else
+                    centerLine = (affordanceIn.toMarkingR+affordanceIn.toMarkingM)/2;
+                    coeSteer = 20;
+                    laneChangeIn = 1;
+                end
+            elseif (laneChangeIn == 1)
+                if (affordanceIn.toMarkingR < 5 && affordanceIn.toMarkingM < 1.5)
+                    centerLine = (affordanceIn.toMarkingR+affordanceIn.toMarkingM)/2;
+                    if (-affordanceIn.toMarkingML+affordanceIn.toMarkingMR < 5.5)
+                        centerLine = (centerLine+(affordanceIn.toMarkingML+affordanceIn.toMarkingMR)/2)/2;
+                    else
+                        centerLine = (affordanceIn.toMarkingML+affordanceIn.toMarkingMR)/2;
+                        laneChangeIn = 0;
+                    end
+                end
+            end
+
+            steerCmd = (affordanceIn.angle - centerLine/roadWidth) / 0.541052 / coeSteer;
+
+            if (laneChangeIn == 0 && coeSteer > 1 && steerCmd > 0.1) // reshape the steering control curve
+                steerCmd = steerCmd * (2.5*steerCmd+0.75);
+            end
+            commandsOut(2) = steerCmd;
+
+        // DEFAULT CASE - no information on lanes number
+        else
+            commandsOut(2) = 0;
+        end
+        
+        // compute desired speed
+        Q desiredSpeed = 20; // 20m/s = 72 kmh
+        if (affordanceIn.fast != 1)
+            desiredSpeed = 20 - abs(steerTrend) * 4.5;
+        end
+
+        if (desiredSpeed < 10)
+            desiredSpeed = 10;
+        end
+
+        if (desiredSpeed > slowDown)
+            desiredSpeed = slowDown;
+        end
+
+        // compute acceleration and brake
+        if (desiredSpeed >= speedIn)
+            Q accelCmd = 0.2*(desiredSpeed - speedIn + 1);
+            if (accelCmd > 1)
+                accelCmd = 1;
+            end
+
+            commandsOut(1) = accelCmd;
+            commandsOut(3) = 0; // brakeCmd
+        else
+            Q brakeCmd = 0.1 * (speedIn - desiredSpeed);
+            if (brakeCmd > 1)
+                brakeCmd = 1;
+            end
+
+            commandsOut(3) = brakeCmd;
+            commandsOut(1) = 0; // accelCmd
+        end
+
+        timerLeftOut = leftTimer;
+        timerRightOut = rightTimer;
+        laneChangeOut = laneChangeIn;
+    }
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/KFMastercomponent.emadl b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/KFMastercomponent.emadl
new file mode 100644
index 0000000000000000000000000000000000000000..fc4736186558a1c299719b0e965e00a52177a718
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/KFMastercomponent.emadl
@@ -0,0 +1,94 @@
+package dp.subcomponents;
+
+component KFMastercomponent {
+    ports in Affordance affordanceIn,
+          out Affordance affordanceSmoothed;
+
+    component AffordanceUpdater{
+	ports in Affordance affordanceIn,
+		in Q distLL,
+		in Q distMM,
+		in Q distRR,
+		in Q toMarkingML,
+		in Q toMarkingMR,
+		out Affordance affordanceOut;
+	implementation Math {
+         	affordanceOut = affordanceIn;
+		affordanceOut.distLL = distLL;
+		affordanceOut.distRR = distRR;
+		affordanceOut.toMarkingML = toMarkingML;
+		affordanceOut.toMarkingMR = toMarkingMR;
+	}
+    }
+    
+    // new measurement
+    instance ConstantMatrix<1, 1>([affordanceIn.distLL]) y_distLL;
+    instance ConstantMatrix<1, 1>([affordanceIn.distMM]) y_distMM;
+    instance ConstantMatrix<1, 1>([affordanceIn.distRR]) y_distRR;
+    instance ConstantMatrix<1, 1>([affordanceIn.toMarkingML]) y_toMarkingML;
+    instance ConstantMatrix<1, 1>([affordanceIn.toMarkingMR]) y_toMarkingMR;
+	
+    // 0.1 is a time Step between filter steps
+    instance ConstantMatrix<2, 2>([1, 0.1; 0, 1]) stateTrans;	// state transition matrix
+    instance ConstantMatrix<1, 2>([1, 0]) measM;		// C: measurement matrix
+    instance ConstantMatrix<2, 2>([0.1*0.1*0.1/3, 0.1*0.1/2; 0.1*0.1/2, 0.1]) procNoiseCov; 	 // Q: covariance of process noise
+    instance ConstantMatrix<1, 1>([5]) measNoiseCov;	// R: covariance of measurement noise
+
+    instance KalmanFilter kfLL;
+    instance KalmanFilter kfMM;
+    instance KalmanFilter kfRR;
+    instance KalmanFilter kfML;
+    instance KalmanFilter kfMR;
+ 
+    // instances to store updated X and error covariance
+    instance KalmanStatsBuffer(affordanceIn.distLL) statsLL;
+    instance KalmanStatsBuffer(affordanceIn.distMM) statsMM;
+    instance KalmanStatsBuffer(affordanceIn.distRR) statsRR;
+    instance KalmanStatsBuffer(affordanceIn.toMarkingML) statsML;
+    instance KalmanStatsBuffer(affordanceIn.toMarkingMR) statsMR;
+
+    instance AffordanceUpdater affordanceUpdater;
+    
+    connect affordanceIn 		-> affordanceUpdater.affordanceIn;
+    connect stateTrans.out1 		-> kfLL.stateTrans, kfMM.stateTrans, kfRR.stateTrans, kfML.stateTrans, kfMR.stateTrans;
+    connect measM.out1 			-> kfLL.measM, kfMM.measM, kfRR.measM, kfML.measM, kfMR.measM;
+    connect procNoiseCov.out1 		-> kfLL.procNoiseCov, kfMM.procNoiseCov, kfRR.procNoiseCov, kfML.procNoiseCov, kfMR.procNoiseCov;
+    connect measNoiseCov.out1		-> kfLL.measNoiseCov, kfMM.measNoiseCov, kfRR.measNoiseCov, kfML.measNoiseCov, kfMR.measNoiseCov;
+    
+    connect statsLL.outX 		-> kfLL.X;
+    connect statsLL.outErrCov 		-> kfLL.errCov;
+    connect y_distLL.out1 		-> kfLL.Y;
+    connect kfLL.correctedX 		-> statsLL.X;
+    connect kfLL.correctedErrCov	-> statsLL.errCov;
+    connect kfLL.predictedMeasurement	-> affordanceUpdater.distLL;
+
+    connect statsMM.outX 		-> kfMM.X;
+    connect statsMM.outErrCov 		-> kfMM.errCov;
+    connect y_distLL.out1 		-> kfMM.Y;
+    connect kfMM.correctedX 		-> statsMM.X;
+    connect kfMM.correctedErrCov 	-> statsMM.errCov;
+    connect kfMM.predictedMeasurement 	-> affordanceUpdater.distMM;
+
+    connect statsRR.outX 		-> kfRR.X;
+    connect statsRR.outErrCov		-> kfRR.errCov;
+    connect y_distRR.out1 		-> kfRR.Y;
+    connect kfRR.correctedX 		-> statsRR.X;
+    connect kfRR.correctedErrCov 	-> statsRR.errCov;
+    connect kfRR.predictedMeasurement 	-> affordanceUpdater.distRR;
+
+    connect statsML.outX 		-> kfML.X;
+    connect statsML.outErrCov 		-> kfML.errCov;
+    connect y_toMarkingML.out1 		-> kfML.Y;
+    connect kfML.correctedX 		-> statsML.X;
+    connect kfML.correctedErrCov 	-> statsML.errCov;
+    connect kfML.predictedMeasurement 	-> affordanceUpdater.toMarkingML;
+
+    connect statsMR.outX 		-> kfMR.X;
+    connect statsMR.outErrCov 		-> kfMR.errCov;
+    connect y_toMarkingMR.out1 		-> kfMR.Y;
+    connect kfMR.correctedX 		-> statsMR.X;
+    connect kfMR.correctedErrCov 	-> statsMR.errCov;
+    connect kfMR.predictedMeasurement 	-> affordanceUpdater.toMarkingMR;
+	
+    connect affordanceUpdater.affordanceOut -> affordanceSmoothed;
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/KalmanFilter.emadl b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/KalmanFilter.emadl
new file mode 100644
index 0000000000000000000000000000000000000000..308b9be0a42ab4e1c4f52379d0a3245283e54649
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/KalmanFilter.emadl
@@ -0,0 +1,30 @@
+package dp.subcomponents;
+
+component KalmanFilter {
+    ports 
+	in Q^{2, 1} X,
+	in Q^{1, 1} Y,
+	in Q^{2, 2} stateTrans,  // state transition matrix
+	in Q^{1, 2} measM,  // C: measurement matrix
+	in Q^{2, 2} procNoiseCov,  // Q: covariance of process noise
+	in Q^{1, 1} measNoiseCov, // R: covariance of measurement noise
+	in Q^{2, 2} errCov,// P: estimate error covariance
+	out Q^{2, 1} correctedX,
+	out Q^{2, 2} correctedErrCov,
+	out Q predictedMeasurement;
+
+    implementation Math {
+        Q^{2, 2} I = ones(2, 2);
+
+        // Prediction step
+        X = stateTrans * X;
+        errCov = stateTrans * errCov * trans(stateTrans) + procNoiseCov;
+
+        // Correction step
+        Q^{2,1} kalmanGain = errCov * trans(measM) * inv(measM * errCov * trans(measM) + measNoiseCov);
+        correctedX = X + kalmanGain * (Y - measM * X);
+        correctedErrCov = (I - kalmanGain * measM) * errCov;
+	predictedMeasurement = correctedX(1);
+	
+    }
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/KalmanStatsBuffer.emadl b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/KalmanStatsBuffer.emadl
new file mode 100644
index 0000000000000000000000000000000000000000..09b0744a6407433cfff4634e9fa6b5e6b6c8ba8d
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/KalmanStatsBuffer.emadl
@@ -0,0 +1,19 @@
+package dp.subcomponents;
+
+component KalmanStatsBuffer(Q startValue) {
+    ports in Q^{2, 1} X,
+	  in Q^{2, 2} errCov,
+          out Q^{2, 1} outX,
+	  out Q^{2, 2} outErrCov;
+
+    implementation Math {
+            static Q^{2, 1} bufferedX = [startValue; 0];
+            static Q^{2, 2} bufferedErrCov = [1000, 0; 0, 1000];
+
+	    outX = bufferedX;
+	    outErrCov = bufferedErrCov;
+
+	    bufferedX = X;
+	    bufferedErrCov = errCov;
+        }
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Lane.enum b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Lane.enum
new file mode 100644
index 0000000000000000000000000000000000000000..2e1c82630a1d660c38a6b1e4434eb92dfc440eeb
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Lane.enum
@@ -0,0 +1,6 @@
+package dp.subcomponents;
+
+enum Lane {
+	CENTER_LANE |  RIGHT_LANE |  LEFT_LANE | OUTSIDE_LANE
+}
+
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Localization.emadl b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Localization.emadl
new file mode 100644
index 0000000000000000000000000000000000000000..0cc5c2d75d1f6fa7c8e6484b8d311a1fb56bf88f
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/Localization.emadl
@@ -0,0 +1,60 @@
+package dp.subcomponents;
+
+component Localization {
+    ports
+	in Affordance affordanceIn,
+	out B onLane,
+	out B onMarking,
+	out Z numLanes,
+	out Lane lane;
+
+	implementation Math {
+		onLane = false;
+		onMarking = false;
+
+		// Car is on lane
+		if (-affordanceIn.toMarkingML + affordanceIn.toMarkingMR < 5.5)
+			onLane = true;
+			onMarking = false;
+			if (affordanceIn.toMarkingLL <= -7.5 && affordanceIn.toMarkingRR >= 7.5)
+				numLanes = 1;
+				lane = CENTER_LANE;
+
+			elseif (affordanceIn.toMarkingLL > -7.5 && affordanceIn.toMarkingRR < 7.5)
+				numLanes = 3;
+				lane = CENTER_LANE;
+
+			elseif (affordanceIn.toMarkingLL > -7.5 || affordanceIn.toMarkingRR < 7.5)
+				numLanes = 2;
+				if (affordanceIn.toMarkingRR >=7.5)
+					lane = RIGHT_LANE;
+				end
+				if (affordanceIn.toMarkingLL <= -7.5)
+					lane = LEFT_LANE;
+				end
+
+			else
+				numLanes = 0;
+				onLane = false;
+				lane = OUTSIDE_LANE;
+			end
+		else // Car is on marking
+			onLane = false;
+			onMarking = true;
+			// Car on central marking
+			if (affordanceIn.toMarkingR < 6 && affordanceIn.toMarkingL > -6)
+				numLanes = 2;
+				lane = CENTER_LANE;
+			
+			// When on Outer lanes consider the road only 1 lane.
+			else
+				numLanes = 1;
+				if (affordanceIn.toMarkingL < -6)
+                			lane = LEFT_LANE;
+            			elseif (affordanceIn.toMarkingR > 6)
+                			lane = RIGHT_LANE;
+            			end
+			end			
+		end
+	}
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/SteeringBuffer.emadl b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/SteeringBuffer.emadl
new file mode 100644
index 0000000000000000000000000000000000000000..9c136e8da8bcd6356cad7935ff4bd4326e819316
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/SteeringBuffer.emadl
@@ -0,0 +1,39 @@
+package dp.subcomponents;
+
+component SteeringBuffer {
+    ports in Q inSteerCmd,
+          in Z timerLeftIn,
+          in Z timerRightIn,
+          in Z laneChangeIn,
+          out Z timerLeftOut,
+          out Z timerRightOut,
+          out Z laneChangeOut,
+          out Q^{5} outputBuffer;
+
+    implementation Math {
+            static Q^{5} buffer = [0; 0; 0; 0; 0];
+            static Z laneChangeBuffer = 0;
+            static Z timerLeftBuffer = 0;
+            static Z timerRightBuffer = 0;
+
+            timerLeftOut = timerLeftBuffer;
+            timerRightOut = timerRightBuffer;
+            timerLeftBuffer = timerLeftIn;
+            timerRightBuffer = timerRightIn;
+
+            laneChangeOut = laneChangeBuffer;
+            laneChangeBuffer = laneChangeIn;
+
+            buffer(5) = buffer(4);
+            buffer(4) = buffer(3);
+            buffer(3) = buffer(2);
+            buffer(2) = buffer(1);
+            buffer(1) = inSteerCmd;
+
+            outputBuffer(1) = buffer(1);
+            outputBuffer(2) = buffer(2);
+            outputBuffer(3) = buffer(3);
+            outputBuffer(4) = buffer(4);
+            outputBuffer(5) = buffer(5);
+        }
+}
diff --git a/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/VectorToAffordance.emadl b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/VectorToAffordance.emadl
new file mode 100644
index 0000000000000000000000000000000000000000..4b3d9dafe72f055f02cc48ade9a151050b53e9ca
--- /dev/null
+++ b/EMADL2TORCS/src/groundTruthLabels_variant/dp/subcomponents/VectorToAffordance.emadl
@@ -0,0 +1,26 @@
+package dp.subcomponents;
+
+import ChangeRange;
+
+component VectorToAffordance {
+    ports in Q^{16} affordanceIndicators,
+              out Affordance affordance;
+
+        implementation Math {
+            affordance.fast = affordanceIndicators(1);
+            affordance.distL = affordanceIndicators(2);
+            affordance.distR = affordanceIndicators(3);
+            affordance.toMarkingL = affordanceIndicators(4);
+            affordance.toMarkingM = affordanceIndicators(5);
+            affordance.toMarkingR = affordanceIndicators(6);
+            affordance.distLL = affordanceIndicators(7);
+            affordance.distMM = affordanceIndicators(8);
+            affordance.distRR = affordanceIndicators(9);
+            affordance.toMarkingLL = affordanceIndicators(10);
+            affordance.toMarkingML = affordanceIndicators(11);
+            affordance.toMarkingMR = affordanceIndicators(12);
+            affordance.toMarkingRR = affordanceIndicators(13);
+            affordance.angle = affordanceIndicators(15);
+        }
+
+}