diff --git a/src/rl_sar/models/b2/robot_lab/config.yaml b/src/rl_sar/models/b2/robot_lab/config.yaml
index 221dcdc..5606d7c 100644
--- a/src/rl_sar/models/b2/robot_lab/config.yaml
+++ b/src/rl_sar/models/b2/robot_lab/config.yaml
@@ -18,14 +18,14 @@ b2/robot_lab:
                        100.0, 100.0, 100.0,
                        100.0, 100.0, 100.0,
                        100.0, 100.0, 100.0]
-  rl_kp: [100.0, 100.0, 150.0,
-          100.0, 100.0, 150.0,
-          100.0, 100.0, 150.0,
-          100.0, 100.0, 150.0]
-  rl_kd: [1.0, 1.0, 1.0,
-          1.0, 1.0, 1.0,
-          1.0, 1.0, 1.0,
-          1.0, 1.0, 1.0]
+  rl_kp: [160.0, 160.0, 160.0,
+          160.0, 160.0, 160.0,
+          160.0, 160.0, 160.0,
+          160.0, 160.0, 160.0]
+  rl_kd: [5.0, 5.0, 5.0,
+          5.0, 5.0, 5.0,
+          5.0, 5.0, 5.0,
+          5.0, 5.0, 5.0]
   fixed_kp: [200.0, 200.0, 300.0,
              200.0, 200.0, 300.0,
              200.0, 200.0, 300.0,
diff --git a/src/rl_sar/models/b2w/robot_lab/config.yaml b/src/rl_sar/models/b2w/robot_lab/config.yaml
index 8caaf7a..72bedb8 100644
--- a/src/rl_sar/models/b2w/robot_lab/config.yaml
+++ b/src/rl_sar/models/b2w/robot_lab/config.yaml
@@ -17,15 +17,15 @@ b2w/robot_lab:
                        100.0, 100.0, 100.0,
                        100.0, 100.0, 100.0,
                        100.0, 100.0, 100.0, 100.0]
-  rl_kp: [100.0, 100.0, 150.0,
-          100.0, 100.0, 150.0,
-          100.0, 100.0, 150.0,
-          100.0, 100.0, 150.0,
+  rl_kp: [160.0, 160.0, 160.0,
+          160.0, 160.0, 160.0,
+          160.0, 160.0, 160.0,
+          160.0, 160.0, 160.0,
           0.0, 0.0, 0.0, 0.0]
-  rl_kd: [1.0, 1.0, 1.0,
-          1.0, 1.0, 1.0,
-          1.0, 1.0, 1.0,
-          1.0, 1.0, 1.0,
+  rl_kd: [5.0, 5.0, 5.0,
+          5.0, 5.0, 5.0,
+          5.0, 5.0, 5.0,
+          5.0, 5.0, 5.0,
           1.0, 1.0, 1.0, 1.0]
   fixed_kp: [200.0, 200.0, 300.0,
              200.0, 200.0, 300.0,
diff --git a/src/rl_sar/models/b2w/robot_lab/policy.pt b/src/rl_sar/models/b2w/robot_lab/policy.pt
new file mode 100644
index 0000000..395de94
Binary files /dev/null and b/src/rl_sar/models/b2w/robot_lab/policy.pt differ
diff --git a/src/rl_sar/models/go2w/robot_lab/policy.pt b/src/rl_sar/models/go2w/robot_lab/policy.pt
new file mode 100644
index 0000000..b889282
Binary files /dev/null and b/src/rl_sar/models/go2w/robot_lab/policy.pt differ
diff --git a/src/rl_sar/worlds/stairs.world b/src/rl_sar/worlds/stairs.world
index faf0f47..6801d6e 100644
--- a/src/rl_sar/worlds/stairs.world
+++ b/src/rl_sar/worlds/stairs.world
@@ -3,9 +3,9 @@
     <world name="default">
 
         <physics type="ode">
-        <max_step_size>0.0002</max_step_size>
+        <max_step_size>0.002</max_step_size>
         <real_time_factor>1</real_time_factor>
-        <real_time_update_rate>5000</real_time_update_rate>
+        <real_time_update_rate>500</real_time_update_rate>
         <gravity>0 0 -9.81</gravity>
             <ode>
                 <solver>