diff --git a/matching/subscriptions.py b/matching/subscriptions.py
index 13743ab..d3d461e 100644
--- a/matching/subscriptions.py
+++ b/matching/subscriptions.py
@@ -47,7 +47,7 @@ class TKind(Enum):
     # language=PythonRegExp
     ns_sep = r"(?P<ns_sep>::)"
     # language=PythonRegExp
-    unknown_symbol = r"(?P<unknown_symbol>\?)"
+    unknown_token = r"(?P<unknown_token>.)"
 
     def __repr__(self):
         return self.name
@@ -128,7 +128,6 @@ TR_BLACKLIST = [
 
 
 def cl_deps_to_tr_deps(matches: Set[Tuple], tr: TrContext, cl: ClContext):
-
     ##################################################
     # Narrow down matches
     ##################################################
@@ -314,7 +313,11 @@ def match_and_modify_children(node: ASTEntry, match_func):
 
 
 def sanitize(sig: str):
-    ast = build_ast(sig)
+    try:
+        ast = build_ast(sig)
+    except Exception as e:
+        print(f"[ERROR] Could not build AST for {sig}, returning it as-is. {e}")
+        return str
 
     def _remove_qualifiers(node: ASTEntry):
         match node:
@@ -341,7 +344,6 @@ def sanitize(sig: str):
                           callee_ret,
                           ASTNode('()', children=[*callee_ptr, ASTNode('()', bind_args)]),
                           ASTNode('()') as replacement_args])]:
-
                     return [callee_ret] + head + [ASTNode('()', callee_ptr, parent,
                                                           ASTLeaf(TKind.par_open, '('),
                                                           ASTLeaf(TKind.par_close, ')')),
@@ -389,7 +391,7 @@ def sanitize(sig: str):
                 return None
             case ASTNode():
                 return match_and_modify_children(node, _child_seq_matcher)
-            case ASTLeaf(TKind.ref | TKind.ptr | TKind.ns_sep | TKind.unknown_symbol):
+            case ASTLeaf(TKind.ref | TKind.ptr | TKind.ns_sep | TKind.unknown_token):
                 return None
         return node
 
@@ -420,14 +422,22 @@ def sanitize(sig: str):
 
         return node
 
-    ast = traverse(ast, _remove_qualifiers)
-    ast = traverse(ast, _remove_std_wrappers)
-    ast = traverse(ast, _remove_std_bind)
-    ast = traverse(ast, _unwrap_lambda)
-    ast = traverse(ast, _remove_artifacts)
-    ast = traverse(ast, _replace_verbose_types)
-    ast = traverse(ast, _replace_lambda_enumerations)
-    #ast = _remove_return_types(ast)
+    sanitization_actions = [
+            _remove_qualifiers,
+            _remove_std_wrappers,
+            _remove_std_bind,
+            _unwrap_lambda,
+            _remove_artifacts,
+            _replace_verbose_types,
+            _replace_lambda_enumerations
+    ]
+
+    for action in sanitization_actions:
+        try:
+            ast = traverse(ast, action)
+        except Exception as e:
+            print(f"[WARN] Could not apply {action.__name__} sanitization, skipped: {e}")
+
     return ast
 
 
diff --git a/trace-analysis.ipynb b/trace-analysis.ipynb
index d093228..c8c30b6 100644
--- a/trace-analysis.ipynb
+++ b/trace-analysis.ipynb
@@ -61,7 +61,7 @@
     "# Path to trace directory (e.g. ~/.ros/my-trace/ust) or to a converted trace file.\n",
     "# Using the path \"/ust\" at the end is optional but greatly reduces processing time\n",
     "# if kernel traces are also present.\n",
-    "TR_PATH = \"/home/max/Projects/optimization_framework/artifacts/iteration0_worker1/aw_replay/tracing/scenario-trace/ust\"\n",
+    "TR_PATH = \"/home/max/Projects/optimization_framework/artifacts/iteration0_worker0/aw_replay/tracing/scenario-trace/ust\"\n",
     "\n",
     "# Path to the folder all artifacts from this notebook are saved to.\n",
     "# This entails plots as well as data tables.\n",
@@ -119,10 +119,10 @@
     "\n",
     "# All topics containing any of these RegEx patterns are considered output topics in E2E latency calculations\n",
     "# E.g. r\"^/control/\" will cover all control topics\n",
-    "E2E_OUTPUT_TOPIC_PATTERNS = [r\"^/control/\", r\"^/vehicle\"]\n",
+    "E2E_OUTPUT_TOPIC_PATTERNS = [r\"^/control/.*?/control_cmd\"]\n",
     "# All topics containing any of these RegEx patterns are considered input topics in E2E latency calculations\n",
     "# E.g. r\"^/sensing/\" will cover all sensing topics\n",
-    "E2E_INPUT_TOPIC_PATTERNS = [r\"^/vehicle/status/\", r\"^/sensing/imu\"]\n",
+    "E2E_INPUT_TOPIC_PATTERNS = [r\"^/vehicle/status/\", r\"^/sensing/\"]\n",
     "\n",
     "# This code overrides the above constants with environment variables, do not edit.\n",
     "for env_key, env_value in os.environ.items():\n",
@@ -223,7 +223,7 @@
    "execution_count": null,
    "outputs": [],
    "source": [
-    "for topic in topics:\n",
+    "for topic in sorted(topics, key=lambda t: t.name):\n",
     "    topic: TrTopic\n",
     "    print(f\"{topic.name:.<120s} | {sum(map(lambda p: len(p.instances), topic.publishers))}\")"
    ],
@@ -294,7 +294,7 @@
     "node_namespace_mapping = {\n",
     "        'perception': 'perception',\n",
     "        'sensing': 'sensing',\n",
-    "        'planning': 'planning',\n",
+    "        'plannitokenizeng': 'planning',\n",
     "        'control': 'control',\n",
     "        'awapi': None,\n",
     "        'autoware_api': None,\n",
@@ -1380,7 +1380,10 @@
     "\n",
     "out_df = pd.DataFrame(columns=[\"path\", \"timestamp\", \"e2e_latency\"])\n",
     "for key, paths in items:\n",
-    "    path_records = [(\" -> \".join(key), p[0].timestamp, p[0].timestamp - p[-1].timestamp) for p in paths]\n",
+    "    path_records = [{\"path\": \" -> \".join(key),\n",
+    "                     \"timestamp\": p[0].timestamp,\n",
+    "                     \"e2e_latency\": p[0].timestamp - p[-1].timestamp}\n",
+    "                    for p in paths]\n",
     "    out_df.append(path_records)\n",
     "    print(\n",
     "        f\"======== {len(paths)}x: {sum(map(lambda p: p[0].timestamp - p[-1].timestamp, paths)) / len(paths) * 1000:.3f}ms\")\n",
@@ -1464,4 +1467,4 @@
  },
  "nbformat": 4,
  "nbformat_minor": 2
-}
+}
\ No newline at end of file