diff --git a/examples/hpo/quadrotor/config_overrides/ilqr_quadrotor_2D_attitude_hpo.yaml b/examples/hpo/quadrotor/config_overrides/ilqr_quadrotor_2D_attitude_hpo.yaml
index 8a8e8e502..e4c457a61 100644
--- a/examples/hpo/quadrotor/config_overrides/ilqr_quadrotor_2D_attitude_hpo.yaml
+++ b/examples/hpo/quadrotor/config_overrides/ilqr_quadrotor_2D_attitude_hpo.yaml
@@ -1,9 +1,9 @@
 hpo_config:
 
   load_if_exists: True # this should set to True if hpo is run in parallel
-  objective: [exponentiated_rmse] # [other metrics defined in base_experiment.py]
-  objective_bounds: [[0.0, 1.0]] # [bounds for each objective]. Worse value will be assigned if objective evaluation is None
-  direction: [maximize] # [minimize, maximize]
+  objective: [exponentiated_rmse, exponentiated_rms_action_change] # [other metrics defined in base_experiment.py]
+  objective_bounds: [[0.0, 1.0], [0.0, 1.0]] # [bounds for each objective]. Worse value will be assigned if objective evaluation is None
+  direction: [maximize, maximize] # [minimize, maximize]
   repetitions: 5 # number of samples of performance for each objective query
   n_episodes: 5 # number of episodes to evaluate each policy
   use_gpu: True
diff --git a/examples/hpo/quadrotor/config_overrides/linear_mpc_quadrotor_2D_attitude_hpo.yaml b/examples/hpo/quadrotor/config_overrides/linear_mpc_quadrotor_2D_attitude_hpo.yaml
index 4f9ace335..668a302f4 100644
--- a/examples/hpo/quadrotor/config_overrides/linear_mpc_quadrotor_2D_attitude_hpo.yaml
+++ b/examples/hpo/quadrotor/config_overrides/linear_mpc_quadrotor_2D_attitude_hpo.yaml
@@ -1,9 +1,9 @@
 hpo_config:
 
   load_if_exists: True # this should set to True if hpo is run in parallel
-  objective: [exponentiated_rmse] # [other metrics defined in base_experiment.py]
-  objective_bounds: [[0.0, 1.0]] # [bounds for each objective]. Worse value will be assigned if objective evaluation is None
-  direction: [maximize] # [minimize, maximize]
+  objective: [exponentiated_rmse, exponentiated_rms_action_change] # [other metrics defined in base_experiment.py]
+  objective_bounds: [[0.0, 1.0], [0.0, 1.0]] # [bounds for each objective]. Worse value will be assigned if objective evaluation is None
+  direction: [maximize, maximize] # [minimize, maximize]
   repetitions: 5 # number of samples of performance for each objective query
   n_episodes: 5 # number of episodes to evaluate each policy
   use_gpu: True
@@ -14,6 +14,18 @@ hpo_config:
 
   # hyperparameters
   hps_config:
-    horizon: 40
-    q_mpc: [5.0, 0.1, 5.0, 0.1, 0.5, 0.001]
-    r_mpc: [0.8, 0.8]
+    horizon: 25
+    q_mpc: [15, 0.1, 15, 0.1, 0.5, 0.01]
+    r_mpc: [15., 5.]
+  vizier_hps:
+    horizon: 30
+    q_mpc:
+    - 14.315870549815472
+    - 2.5426733145296656
+    - 15.0
+    - 0.0001
+    - 0.0001
+    - 0.0001
+    r_mpc:
+    - 15.0
+    - 6.471762097184253
diff --git a/examples/hpo/quadrotor/config_overrides/lqr_quadrotor_2D_attitude_hpo.yaml b/examples/hpo/quadrotor/config_overrides/lqr_quadrotor_2D_attitude_hpo.yaml
index c83b92b0b..b6e9cf33f 100644
--- a/examples/hpo/quadrotor/config_overrides/lqr_quadrotor_2D_attitude_hpo.yaml
+++ b/examples/hpo/quadrotor/config_overrides/lqr_quadrotor_2D_attitude_hpo.yaml
@@ -18,15 +18,15 @@ hpo_config:
     r_lqr: [1.0, 1.0]
   vizier_hps:
     q_lqr:
-    - 14.974836994854666
-    - 1.6803329734409302
-    - 0.02535896270931672
-    - 0.00028863807214684776
-    - 1.1108878724895586
+    - 5.88529216699797
     - 0.0001
-    r_lqr:
-    - 0.0003546601186005271
+    - 5.00397782633266
+    - 0.8618608985543565
+    - 0.980013664114415
     - 0.0001
+    r_lqr:
+    - 1.2497823191792372
+    - 0.8638794170664649
   optuna_hps:
     q_lqr:
     - 5.0
diff --git a/examples/hpo/quadrotor/config_overrides/pid_quadrotor_2D_attitude_hpo.yaml b/examples/hpo/quadrotor/config_overrides/pid_quadrotor_2D_attitude_hpo.yaml
index e87117a44..cb363fab5 100644
--- a/examples/hpo/quadrotor/config_overrides/pid_quadrotor_2D_attitude_hpo.yaml
+++ b/examples/hpo/quadrotor/config_overrides/pid_quadrotor_2D_attitude_hpo.yaml
@@ -23,51 +23,34 @@ hpo_config:
     d_coeff_tor: [20000., 20000., 12000.]
   vizier_hps:
     d_coeff_for:
-    - 2.129021744940595
-    - 0.4640573281692209
-    - 2.542887187784077
+    - 0.1890092870696659
+    - 1.0541122664300269
+    - 1.1247264394469974
     d_coeff_tor:
-    - 14998.998579124276
-    - 10019.881571806687
-    - 10534.570451701942
+    - 14624.865780764232
+    - 14735.949237321409
+    - 12928.8956036557
     i_coeff_for:
-    - 0.0014889448824393103
-    - 2.1744158095428565
-    - 0.0029573499100777104
+    - 0.001
+    - 0.4045145572372126
+    - 0.6961573899435679
     i_coeff_tor:
-    - 441.54939925530545
-    - 0.5010238470068967
-    - 444.3856421179262
+    - 0.0
+    - 7.906897732216709
+    - 524.6539429699372
     p_coeff_for:
-    - 4.886838283343341
-    - 4.608092291879853
-    - 4.996853766830539
+    - 0.4458780003496436
+    - 2.118873126448762
+    - 1.2386787893322404
     p_coeff_tor:
-    - 50002.195370586196
-    - 79982.3047902415
-    - 50006.91012411862
+    - 64299.26234435173
+    - 73880.50880762804
+    - 59700.826209375475
   optuna_hps:
-    d_coeff_for:
-    - 1.5604761716915811
-    - 1.3593133298420035
-    - 3.2553437457217855
-    d_coeff_tor:
-    - 12782.496926017255
-    - 13315.217714132743
-    - 13650.965688467855
-    i_coeff_for:
-    - 2.4249337311042356
-    - 0.5072768704878523
-    - 4.280513008919815
-    i_coeff_tor:
-    - 518.9194229378894
-    - 298.29551117414286
-    - 332.42926926363987
-    p_coeff_for:
-    - 4.553904304026884
-    - 3.439182803233737
-    - 4.778645189386438
-    p_coeff_tor:
-    - 68371.22038933045
-    - 69727.19131379195
-    - 68354.19711764912
+    p_coeff_for: [.4, .4, 1.25]
+    i_coeff_for: [.05, .05, .05]
+    d_coeff_for: [.2, .2, .5]
+
+    p_coeff_tor: [70000., 70000., 60000.]
+    i_coeff_tor: [.0, .0, 500.]
+    d_coeff_tor: [20000., 20000., 12000.]