diff --git a/atom_batch_execution/experiments/rrbot_example/template.yml.j2 b/atom_batch_execution/experiments/rrbot_example/template.yml.j2
index e70c418c..b531123d 100644
--- a/atom_batch_execution/experiments/rrbot_example/template.yml.j2
+++ b/atom_batch_execution/experiments/rrbot_example/template.yml.j2
@@ -30,13 +30,13 @@ experiments:
           rosrun atom_calibration calibrate -json {{ dataset_path }}/dataset.json \
           -v -max_nfev 2 -ss {{ run }} \
           -nig {{ e.nig_value }} {{ e.nig_value }} \
-          -csf 'lambda x: int(x) in {{ fold[0] }}' \
+          -csf 'lambda x: x in {{ fold[0] }}' \
           && \
           rosrun atom_evaluation rgb_to_rgb_evaluation \
           -train_json {{ dataset_path }}/atom_calibration.json \
           -test_json {{ dataset_path }}/dataset.json \
           -ss rgb_left -st rgb_right \
-          -csf 'lambda x: int(x) in {{ fold[1] }}' \
+          -csf 'lambda x: x in {{ fold[1] }}' \
           -sfr -sfrn /tmp/rgb_rgb_evaluation.csv
         files_to_collect:
           - '{{ dataset_path }}/atom_calibration.json'
diff --git a/atom_batch_execution/experiments/softbot_example/template.yml.j2 b/atom_batch_execution/experiments/softbot_example/template.yml.j2
new file mode 100644
index 00000000..d4c3df42
--- /dev/null
+++ b/atom_batch_execution/experiments/softbot_example/template.yml.j2
@@ -0,0 +1,77 @@
+#
+#           █████╗ ████████╗ ██████╗ ███╗   ███╗
+#          ██╔══██╗╚══██╔══╝██╔═══██╗████╗ ████║
+#          ███████║   ██║   ██║   ██║██╔████╔██║
+#          ██╔══██║   ██║   ██║   ██║██║╚██╔╝██║
+#   __     ██║  ██║   ██║   ╚██████╔╝██║ ╚═╝ ██║    _
+#  / _|    ╚═╝  ╚═╝   ╚═╝    ╚═════╝ ╚═╝     ╚═╝   | |
+#  | |_ _ __ __ _ _ __ ___   _____      _____  _ __| | __
+#  |  _| '__/ _` | '_ ` _ \ / _ \ \ /\ / / _ \| '__| |/ /
+#  | | | | | (_| | | | | | |  __/\ v  v / (_) | |  |   <
+#  |_| |_|  \__,_|_| |_| |_|\___| \_/\_/ \___/|_|  |_|\_\
+#  https://github.com/lardemua/atom
+
+# this yml file contains a set of commands to be run in batch.
+# use jinja2 syntax for referencing variables
+
+# Preprocessing will run only once before all experiments.
+preprocessing:
+  cmd: |
+    ls /tmp
+
+# Define batches to run
+experiments:
+{%- for e in experiments %}
+  {% for run in runs %}
+    {% set run_index = loop.index %}
+    {% for fold in folds %}
+      {{ e.name }}_run{{ '%03d' % run_index }}_fold{{ '%03d' % loop.index }}:
+        cmd: |
+          rosrun atom_calibration calibrate -json {{ dataset_path }}/dataset_corrected.json \
+          -v  -ss {{ run }} \
+          -nig {{ e.nig_value }} {{ e.nig_value }} \
+          -csf 'lambda x: x in {{ fold[0] }}' \
+          -ntfv {{ e.ntfv_value }} {{ e.ntfv_value }} \
+          -ntfl "world:base_footprint" \
+          -sce \
+          {%- if not e.calibrate_odom -%}
+             -atsf 'lambda name : name in []' \
+          {%- endif %}
+          && \
+
+          # front_left_camera to front_right_camera evaluation
+          rosrun atom_evaluation rgb_to_rgb_evaluation \
+          -train_json {{ dataset_path }}/atom_calibration.json \
+          -test_json {{ dataset_path }}/dataset_corrected.json \
+          -ss front_left_camera -st front_right_camera \
+          -sfr -sfrn /tmp/rgb_rgb_evaluation.csv \
+          -csf 'lambda x: x in {{ fold[1] }}' \
+          && \
+
+          # front_left_camera to lidar3d evaluation
+          rosrun atom_evaluation lidar_to_rgb_evaluation -rs lidar3d -cs front_left_camera \
+           -train_json {{ dataset_path }}/atom_calibration.json \
+           -test_json  {{ dataset_path }}/dataset_corrected.json \
+          -csf 'lambda x: x in {{ fold[1] }}' \
+           -sfr -sfrn /tmp/lidar3d_rgb_front_left_evaluation.csv \
+           && \
+
+          # front_right_camera to lidar3d evaluation
+          rosrun atom_evaluation lidar_to_rgb_evaluation -rs lidar3d -cs front_right_camera \
+           -train_json {{ dataset_path }}/atom_calibration.json \
+           -test_json  {{ dataset_path }}/dataset_corrected.json \
+           -csf 'lambda x: x in {{ fold[1] }}' \
+           -sfr -sfrn /tmp/lidar3d_rgb_front_right_evaluation.csv
+
+        files_to_collect:    
+          - '{{ dataset_path }}/atom_calibration.json'
+          - '{{ dataset_path }}/atom_calibration_params.yml'
+          - '{{ dataset_path }}/command_line_args.yml'
+          - '{{ dataset_path }}/calibration_errors.csv'
+          - '/tmp/rgb_rgb_evaluation.csv'
+          - '/tmp/lidar3d_rgb_front_left_evaluation.csv'
+          - '/tmp/lidar3d_rgb_front_right_evaluation.csv'
+    {%- endfor %}
+  {%- endfor %}
+{%- endfor %}
+# End the loop
diff --git a/atom_batch_execution/scripts/batch_execution b/atom_batch_execution/scripts/batch_execution
index 2821d27b..20822784 100755
--- a/atom_batch_execution/scripts/batch_execution
+++ b/atom_batch_execution/scripts/batch_execution
@@ -127,27 +127,14 @@ def main():
 
     else:
         # Print error message if the cross validation type is not supported
-        folds  = [(collection_keys, collection_keys)]
+        folds  = [(range(len(collection_keys)), range(len(collection_keys)))]
         bprint('Running without any cross validation.')
 
-    # Generate a list of folds
-    fold_list_idxs = [[list(train), list(test)] for (train, test) in folds]
+    # Converting folds to a list, in order to iterate over it various times
+    folds = list(folds)
 
-    # Converting idx to collection key
-    fold_list = deepcopy(fold_list_idxs)
-    for i,fold in enumerate(fold_list):
-        for j,split in enumerate(fold):
-            for k,element in enumerate(split):
-                collection_list = list(dataset['collections'].keys())
-                prev_idx = element
-                collection_number = int(collection_list[element])
-                print(f'Idx {prev_idx} has now key {collection_number}')
-
-                fold_list[i][j][k] = collection_number
-
-    # print(fold_list_idxs)
-    # print('\n')
-    # print(fold_list)
+    # Transforming indexes of collections into collection keys
+    fold_list = [[[collection_keys[element] for element in split] for split in fold] for fold in folds]
 
     # Dataset is no longer needed
     del dataset