diff --git a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Attitude Control/reach.m b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Attitude Control/reach.m
index f223997b83..55731c0cd8 100644
--- a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Attitude Control/reach.m	
+++ b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Attitude Control/reach.m	
@@ -1,4 +1,4 @@
-% function t = reach()
+function t = reach()
 
 %% Reachability analysis of the aircarft attitude benchmark
 
@@ -97,7 +97,7 @@
         exportgraphics(f,'attitude_5v6.pdf','ContentType', 'vector');
     end
 
-% end
+end
 
 %% Helper function
 function init_set = plantReach(plant,init_set,input_set,algoC)
diff --git a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Benchmark10-Unicycle/reach.m b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Benchmark10-Unicycle/reach.m
index f31ab25431..5c1dccea3b 100644
--- a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Benchmark10-Unicycle/reach.m
+++ b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Benchmark10-Unicycle/reach.m
@@ -1,4 +1,4 @@
-% function t = reach()
+function t = reach()
 
 %% Reachability analysis of the Unicycle (benchmark 10)
     
@@ -33,8 +33,8 @@
     % Store all reachable sets
     reachAll = init_set;
     % Execute reachabilty analysis
-%     steps = 25;
-    steps = 50;
+    steps = 25;
+    % steps = 50;
     reachOptions.reachMethod ='approx-star';
     t = tic;
     for i=1:steps
@@ -80,7 +80,7 @@
         exportgraphics(f1,'unicycle_3v4.pdf', 'ContentType', 'vector');
     end
 
-% end
+end
 
 %% Helper function
 function init_set = plantReach(plant,init_set,input_set,algoC)
diff --git a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/CartPole/reach.m b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/CartPole/reach.m
index f89c5c7fba..73cc6671af 100644
--- a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/CartPole/reach.m
+++ b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/CartPole/reach.m
@@ -1,4 +1,4 @@
-% function t = reach()
+function t = reach()
 
     %% Reachability analysis of Cartpole Benchmark
     
@@ -13,6 +13,7 @@
     plant = NonLinearODE(4,1,@dynamics, reachStep, controlPeriod, eye(4));
     plant.set_tensorOrder(2);
 
+    t = tic;
 
     %% Reachability analysis
 
@@ -28,17 +29,25 @@
         reachAll = init_set;
         num_steps = 500;
         reachOptions.reachMethod = 'approx-star';
-        t = tic;
+        % t = tic;
         for i=1:num_steps
             disp(i);
             % Compute controller output set
             input_set = net.reach(init_set,reachOptions);
             % Compute plant reachable set
-            init_set = plant.stepReachStar(init_set, input_set,'lin');
+            init_set = plantReach(plant,init_set,input_set,'lin');
             reachAll = [reachAll init_set];
-            toc(t);
+            % toc(t);
         end
-        t = toc(t);
+        % t = toc(t);
+    end
+    t = toc(t);
+
+    % Save results
+    if is_codeocean
+        save('/results/logs/cartpole.mat', 'reachAll','t','-v7.3');
+    else
+        save('cartpole.mat', 'reachAll','t','-v7.3');
     end
     
     %% Visualize results
@@ -56,11 +65,22 @@
     % ylabel('\theta');
     % xlim([0 0.6])
     % ylim([0.95 1.25])
+    
     % Save figure
-    % if is_codeocean
-    %     exportgraphics(f,'/results/logs/cartpole.pdf', 'ContentType', 'vector');
-    % else
-    %     exportgraphics(f,'cartpole.pdf','ContentType', 'vector');
-    % end
+    if is_codeocean
+        exportgraphics(f,'/results/logs/cartpole.pdf', 'ContentType', 'vector');
+    else
+        exportgraphics(f,'cartpole.pdf','ContentType', 'vector');
+    end
+
+end
 
-% end
\ No newline at end of file
+%% Helper function
+function init_set = plantReach(plant,init_set,input_set,algoC)
+    nS = length(init_set); % based on approx-star, number of sets should be equal
+    ss = [];
+    for k=1:nS
+            ss =[ss plant.stepReachStar(init_set(k), input_set(k),algoC)];
+    end
+    init_set = ss;
+end
\ No newline at end of file
diff --git a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Docking/reach.m b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Docking/reach.m
index 846d3b62f0..ecd29a897c 100644
--- a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Docking/reach.m
+++ b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Docking/reach.m
@@ -1,64 +1,80 @@
-% function t = reach()
+function t = reach()
 
-%% Reachability analysis of the Docking  benchmark
-
-%% Load components
-
-net = load_NN_from_mat('model.mat');
-controlPeriod = 1;
-reachstep = 0.05;
-plant = NonLinearODE(4,2,@dynamics, reachstep, controlPeriod, eye(4));
-plant.set_taylorTerms(4);
-plant.set_zonotopeOrder(50);
-plant.set_tensorOrder(2);
-% plant.set_intermediateOrder(50);
-% plant.set_polytopeOrder(50);% error = 0.001;
-% error = 0.0005;
-% plant.options.maxError = [error; error; error; error];
-
-%% Reachability analysis
+    %% Reachability analysis of the Docking  benchmark
+    
+    %% Load components
+    
+    net = load_NN_from_mat('model.mat');
+    controlPeriod = 1;
+    reachstep = 0.05;
+    plant = NonLinearODE(4,2,@dynamics, reachstep, controlPeriod, eye(4));
+    plant.set_taylorTerms(4);
+    plant.set_zonotopeOrder(50);
+    plant.set_tensorOrder(2);
+    % plant.set_intermediateOrder(50);
+    % plant.set_polytopeOrder(50);% error = 0.001;
+    % error = 0.0005;
+    % plant.options.maxError = [error; error; error; error];
+    
+    %% Reachability analysis
+    
+    % Initial set
+    lb = [87;  87 ; -0.01; -0.01];
+    % ub = [106; 106;  0.28;  0.28];
+    ub = [89; 89;  0.01;  0.01];
+    init_set = Star(lb,ub);
+    % Store all reachable sets
+    reachAll = init_set;
+    reachOptions.reachMethod = 'approx-star';
+    % Execute reachabilty analysis
+    steps = 4;
+    i = 1;
+    prop = true;
+    t = tic;
+    while prop && i < steps
+        % Compute controller output set
+        input_set = net.reach(init_set,reachOptions);
+        % Compute plant reachable set
+        init_set = plantReach(plant,init_set,input_set,'lin');
+        reachAll = [reachAll init_set];
+        prop = verify_spec(init_set);
+        i = i+1;
+    end
+    t = toc(t);
+    
+    % Save results
+    if is_codeocean
+        save('/results/logs/docking.mat', 'reachAll','t','-v7.3');
+    else
+        save('docking.mat', 'reachAll','t','-v7.3');
+    end
+    
+    
+    %% Visualize results
+    f = figure;
+    hold on;
+    Star.plotBoxes_2D_noFill(plant.intermediate_reachSet,1,2,'b');
+    grid;
+    xlabel('x1');
+    ylabel('x2');
+    
+    f1 = figure;
+    hold on;
+    Star.plotBoxes_2D_noFill(plant.intermediate_reachSet,3,4,'b');
+    grid;
+    xlabel('x1');
+    ylabel('x2');
+    
+    % Save figure
+    if is_codeocean
+        exportgraphics(f,'/results/logs/docking1v2.pdf', 'ContentType', 'vector');
+        exportgraphics(f1,'/results/logs/docking3v4.pdf', 'ContentType', 'vector');
+    else
+        exportgraphics(f,'docking1v2.pdf','ContentType', 'vector');
+        exportgraphics(f1,'docking3v4.pdf', 'ContentType', 'vector');
+    end
 
-% Initial set
-lb = [87;  87 ; -0.01; -0.01];
-% ub = [106; 106;  0.28;  0.28];
-ub = [89; 89;  0.01;  0.01];
-init_set = Star(lb,ub);
-% Store all reachable sets
-reachAll = init_set;
-reachOptions.reachMethod = 'approx-star';
-% Execute reachabilty analysis
-steps = 4;
-i = 1;
-prop = true;
-t = tic;
-while prop && i < steps
-    % Compute controller output set
-    input_set = net.reach(init_set,reachOptions);
-    % Compute plant reachable set
-    init_set = plantReach(plant,init_set,input_set,'lin');
-    reachAll = [reachAll init_set];
-    prop = verify_spec(init_set);
-    i = i+1;
 end
-t = toc(t);
-
-
-%% Visualize results
-f = figure;
-hold on;
-Star.plotBoxes_2D_noFill(plant.intermediate_reachSet,1,2,'b');
-grid;
-xlabel('x1');
-ylabel('x2');
-% saveas(f,[path_out, 'reach1v2.pdf']);
-
-f1 = figure;
-hold on;
-Star.plotBoxes_2D_noFill(plant.intermediate_reachSet,3,4,'b');
-grid;
-xlabel('x1');
-ylabel('x2');
-% saveas(f1,[path_out, 'reach3v4.pdf']);
 
 %% Helper function
 function init_set = plantReach(plant,init_set,input_set,algoC)
diff --git a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Double_Pendulum/reach_more.m b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Double_Pendulum/reach_more.m
index 0c1aceba88..6ce2a9010d 100644
--- a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Double_Pendulum/reach_more.m
+++ b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/Double_Pendulum/reach_more.m
@@ -1,4 +1,4 @@
-% function t = reach_more()
+function t = reach_more()
 
     %% Reachability analysis of Double Pendulum Benchmark
     
@@ -79,7 +79,7 @@
         exportgraphics(f1,'double_pendulum_more_3v4.pdf','ContentType', 'vector');
     end
 
-% end
+end
 
 %% Helper function
 function init_set = plantReach(plant,init_set,input_set,algoC)
diff --git a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/NAV/reach_point.m b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/NAV/reach_point.m
index 725ec4c9c9..6344506b45 100644
--- a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/NAV/reach_point.m
+++ b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/NAV/reach_point.m
@@ -1,4 +1,4 @@
-% function rT = reach_point()
+function rT = reach_point()
 
     %% Reachability analysis of NAV Benchmark
     
@@ -118,4 +118,4 @@
         exportgraphics(f,'nav-point.pdf','ContentType', 'vector');
     end
 
-    % end
\ No newline at end of file
+end
\ No newline at end of file
diff --git a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/NAV/reach_set.m b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/NAV/reach_set.m
index 20de7d8755..78af57cf7b 100644
--- a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/NAV/reach_set.m
+++ b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/NAV/reach_set.m
@@ -1,4 +1,4 @@
-% function rT = reach_set()
+function rT = reach_set()
 
     %% Reachability analysis of NAV Benchmark
     
@@ -92,4 +92,4 @@
 
     % end
 
-% end
\ No newline at end of file
+end
\ No newline at end of file
diff --git a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/run_all.m b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/run_all.m
index 2c84abfe79..011404a8a8 100644
--- a/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/run_all.m
+++ b/code/nnv/examples/Submission/ARCH-COMP2024/benchmarks/run_all.m
@@ -6,68 +6,86 @@ function run_all()
     % Turn off figure display
     set(0,'DefaultFigureVisible','off');
 
-    % Let's compare how things look after almost a year with the recently updated CORA
 
-% %% Begin benchmark evaluation
+%% Begin benchmark evaluation
 
     % ACC 
+    
     cd ACC;
+    
     try
         acc = reach(); % verified (~ 15 seconds)
     catch
         acc = -1;
     end
-    cd ..;
     
+    cd ..;
 
     % Benchmark-9 (Tora)
     cd Tora_Heterogeneous;
+    
     try
         tora_relutanh = reachTora_reluTanh(); % verified w/ input partition (~ 38 mins)
     catch
         tora_relutanh = -1;
     end
+    
     try
         tora_sigmoid = reachTora_sigmoid();   % verified w/ input partition (~ 1 hour)
     catch
         tora_sigmoid = -1;
     end
+    
     cd ..;
 
     cd Benchmark9-Tora;
+    
     try
         tora_relu = reach(); % verified (~25 seconds)
     catch
         tora_relu = -1;
     end
-    cd ..;
     
+    cd ..;
 
     % Benchmark-10 (Unicycle)
-    % unicycle = '-'; % overapprox -> unknown
+    
+    cd Benchmark10-Unicycle/;
+    
+    try
+        unicycle = reach(); % overapprox -> unknown
+    catch
+        unicycle = -1;
+    end
     
     % VCAS
+    
     cd VCAS;
+    
     try
-        vcas = run_vcas(); % verified (~20 seconds)
+        vcas = run_vcas(); % verified (~20 seconds total)
     catch
-        vcas - 1;
+        vcas = -1;
     end
-    cd ..;
     
+    cd ..;
 
     % Single Pendulum 
+    
     cd Single_Pendulum;
+    
     try 
         sp = reach(); % falsified (reach sets ~3 seconds)
     catch
         sp = -1;
     end
-    cd ..;
     
+    cd ..;
 
     % Double Pendulum 
+    
     cd Double_Pendulum;
+    
     try
         dp_more = reach_more(); % falsified (reach sets ~ 30 seconds)
     catch
@@ -79,90 +97,158 @@ function run_all()
     catch
         dp_less = -1;
     end
-    cd ..;
     
+    cd ..;
 
     % Airplane
+    
     cd Airplane;
+    
     try
         airplane = reach(); % Falsified (reach sets ~ 7 seconds)
     catch
         airplane = -1;
     end
+    
     cd ..;
     
     % Attitude Control
-    % attitude = '-'; % sigmoid controller -> overapprox -> unknown
+    
+    cd('Attitude Control');
+    
+    try
+        attitude = reach(); % sigmoid controller -> overapprox -> unknown
+    catch 
+        attitude = -1;
+    end
+    
+    cd ..;
     
     % Quad
-    % quad = '-'; % sigmoid controller -> overapprox -> unknown
+    
+    cd QUAD;
+    
+    try 
+        quad = reach();
+        % quad = '-'; % sigmoid controller -> overapprox -> unknown
+    catch
+        quad = -1;
+    end
+    
+    cd ..;
     
     % Spacecraft Docking 
-    % spacecraft = '-'; % overapproximation -> unknown
-
-% %% Save results in CSV file for submission
-
-    % % Create results variable
-    % resultsCSV = cell(21, 4); % column names + # of benchmarks (including instances)
-    % resultsCSV(1, :) = {'benchmark','instance','result','time'}; % columns names
-    % 
-    % % ACC
-    % acc_csv = {'ACC', 'relu', 'verified', acc};
-    % resultsCSV(2,:) = acc_csv;
-    % 
-    % % Benchmark-9 (Tora)
-    % tora_csv(1,:) = {'TORA', 'relu',     'verified', tora_relu};
-    % tora_csv(2,:) = {'TORA', 'relutanh', 'verified', tora_relutanh};
-    % tora_csv(3,:) = {'TORA', 'sigmoid',  'verified', tora_sigmoid};
-    % resultsCSV(3:5,:) = tora_csv;
-    % 
-    % % Benchmark-10 (Unicycle)
-    % unicycle_csv = {'Unicycle', '', 'unknown', unicycle};
-    % resultsCSV(6,:) = unicycle_csv;
-    % 
-    % % VCAS
-    % vcas_m19 = {'VCAS', 'middle19', 'verified', vcas(1,1)};
-    % vcas_m22 = {'VCAS', 'middle22', 'verified', vcas(2,1)};
-    % vcas_m25 = {'VCAS', 'middle25', 'violated', vcas(3,1)};
-    % vcas_m28 = {'VCAS', 'middle28', 'violated', vcas(4,1)};
-    % vcas_w19 = {'VCAS', 'worst19',  'verified', vcas(1,2)};
-    % vcas_w22 = {'VCAS', 'worst22',  'violated', vcas(2,2)};
-    % vcas_w25 = {'VCAS', 'worst25',  'violated', vcas(3,2)};
-    % vcas_w28 = {'VCAS', 'worst28',  'violated', vcas(4,2)};
-    % resultsCSV(7:14,:) = [vcas_m19; vcas_m22; vcas_m25; vcas_m28; vcas_w19; vcas_w22; vcas_w25; vcas_w28];
-    % 
-    % % Single Pendulum 
-    % sp_csv = {'SinglePendulum', '', 'violated', sp};
-    % resultsCSV(15,:) = sp_csv; 
-    % 
-    % % Double Pendulum
-    % dp_csv(1,:) = {'DoublePendulum', 'more', 'violated', dp_more};
-    % dp_csv(2,:) = {'DoublePendulum', 'less', 'violated', dp_less};
-    % resultsCSV(16:17, :) = dp_csv;
-    % 
-    % % Airplane
-    % airplane_csv = {'Airplane', '', 'violated', airplane};
-    % resultsCSV(18,:) = airplane_csv;
-    % 
-    % % Attitude Control
-    % attitude_csv = {'AttitudeControl','','unknown',attitude};
-    % resultsCSV(19,:) = attitude_csv;
-    % 
-    % % Quad
-    % quad_csv = {'Quadrotor', '', 'unknown', quad};
-    % resultsCSV(20,:) = quad_csv;
-    % 
-    % % Spacecraft Docking 
-    % spacecraft_csv = {'Spacecraft', '','unknown',spacecraft};
-    % resultsCSV(21,:) = spacecraft_csv;
-    % 
-    % 
-    % 
-    % % Create and save csv files with results
-    % if is_codeocean
-    %     writecell(resultsCSV, '/results/results.csv'); % ARCH repeatability specific
-    % else
-    %     writecell(resultsCSV, 'results.csv');
-    % end
+    
+    cd Docking;
+    
+    try
+        spacecraft = reach(); % overapproximation -> unknown
+    catch
+        spacecraft = -1;
+    end
+    
+    cd ..;
+
+    %%%%%%%%% New from 2024 %%%%%%%%%%%
+
+    % NAV
+    
+    cd NAV/;
+    
+    try
+        navPoint = reach_point();
+    catch
+        navPoint = -1;
+    end
+    
+    try
+        navSet = reach_set();
+    catch
+        navSet = -1;
+    end
+    
+    % Cartpole
+    
+    cd Cartpole;
+    
+    try
+        cartpole = reach();
+    catch
+        cartpole = -1;
+    end
+
+%% Save results in CSV file for submission
+
+    % Create results variable
+    resultsCSV = cell(24, 4); % column names + # of benchmarks (including instances)
+    resultsCSV(1, :) = {'benchmark','instance','result','time'}; % columns names
+
+    % ACC
+    acc_csv = {'ACC', 'safety', 'verified', acc};
+    resultsCSV(2,:) = acc_csv;
+
+    % Airplane
+    airplane_csv = {'Airplane', 'continuous', 'violated', airplane};
+    resultsCSV(3,:) = airplane_csv;
+
+
+    % Attitude Control
+    attitude_csv = {'AttitudeControl','avoid','unknown',attitude};
+    resultsCSV(4,:) = attitude_csv;
+
+    % Cartpole
+    cartpole_csv = {'Cartpole', 'reach', 'unknown', cartpole};
+    resultsCSV(5,:) = cartpole_csv;
+
+    % Spacecraft Docking 
+    docking_csv = {'Docking', 'constraint', 'unknown', spacecraft};
+    resultsCSV(6,:) = docking_csv;
+
+    % Double Pendulum
+    dp_csv(1,:) = {'DoublePendulum', 'more robust', 'violated', dp_more};
+    dp_csv(2,:) = {'DoublePendulum', 'less robust', 'violated', dp_less};
+    resultsCSV(7:8, :) = dp_csv;
+
+    % NAV
+    dp_csv(1,:) = {'NAV', 'standard', '?', navPoint};
+    dp_csv(2,:) = {'NAV', 'robust', '?', navSet};
+    resultsCSV(9:10, :) = dp_csv;
+
+    % Quad
+    quad_csv = {'QUAD', 'reach', 'unknown', quad};
+    resultsCSV(11,:) = quad_csv;
+
+    % Single Pendulum 
+    sp_csv = {'SinglePendulum', 'reach', 'violated', sp};
+    resultsCSV(12,:) = sp_csv; 
+
+    % Benchmark-9 (Tora)
+    tora_csv(1,:) = {'TORA', 'remain',         'verified', tora_relu};
+    tora_csv(2,:) = {'TORA', 'reach-tanh',     'verified', tora_relutanh};
+    tora_csv(3,:) = {'TORA', 'reach-sigmoid',  'verified', tora_sigmoid};
+    resultsCSV(13:15,:) = tora_csv;
+
+    % Benchmark-10 (Unicycle)
+    unicycle_csv = {'Unicycle', 'reach', 'unknown', unicycle};
+    resultsCSV(16,:) = unicycle_csv;
+
+    % VCAS
+    vcas_m19 = {'VCAS', 'middle19', 'verified', vcas(1,1)};
+    vcas_m22 = {'VCAS', 'middle22', 'verified', vcas(2,1)};
+    vcas_m25 = {'VCAS', 'middle25', 'violated', vcas(3,1)};
+    vcas_m28 = {'VCAS', 'middle28', 'violated', vcas(4,1)};
+    vcas_w19 = {'VCAS', 'worst19',  'verified', vcas(1,2)};
+    vcas_w22 = {'VCAS', 'worst22',  'violated', vcas(2,2)};
+    vcas_w25 = {'VCAS', 'worst25',  'violated', vcas(3,2)};
+    vcas_w28 = {'VCAS', 'worst28',  'violated', vcas(4,2)};
+    resultsCSV(17:24,:) = [vcas_m19; vcas_m22; vcas_m25; vcas_m28; vcas_w19; vcas_w22; vcas_w25; vcas_w28];
+
+
+    % Create and save csv files with results
+    if is_codeocean
+        writecell(resultsCSV, '/results/results.csv'); % ARCH repeatability specific
+    else
+        writecell(resultsCSV, 'results.csv');
+    end
 
 end
\ No newline at end of file