diff --git a/Assets/Brains/CozmoLearningBrain.nn b/Assets/Brains/1_original_trained_brain.nn
similarity index 100%
rename from Assets/Brains/CozmoLearningBrain.nn
rename to Assets/Brains/1_original_trained_brain.nn
diff --git a/Assets/Brains/CozmoLearningBrain.nn.meta b/Assets/Brains/1_original_trained_brain.nn.meta
similarity index 69%
rename from Assets/Brains/CozmoLearningBrain.nn.meta
rename to Assets/Brains/1_original_trained_brain.nn.meta
index 04f19b2..6b06505 100644
--- a/Assets/Brains/CozmoLearningBrain.nn.meta
+++ b/Assets/Brains/1_original_trained_brain.nn.meta
@@ -1,8 +1,8 @@
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diff --git a/Assets/Brains/CozmoLearningBrain_cozmo_training-0.nn b/Assets/Brains/2_modified_turnspeed_actionmask_brain.nn
similarity index 100%
rename from Assets/Brains/CozmoLearningBrain_cozmo_training-0.nn
rename to Assets/Brains/2_modified_turnspeed_actionmask_brain.nn
diff --git a/Assets/Brains/2_modified_turnspeed_actionmask_brain.nn.meta b/Assets/Brains/2_modified_turnspeed_actionmask_brain.nn.meta
new file mode 100644
index 0000000..374bb42
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@@ -0,0 +1,10 @@
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diff --git a/Assets/Brains/3_modified_actionmask_memory_3_brain.nn b/Assets/Brains/3_modified_actionmask_memory_3_brain.nn
new file mode 100644
index 0000000..16ba6ed
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diff --git a/Assets/Brains/CozmoLearningBrain_cozmo_training-0.nn.meta b/Assets/Brains/3_modified_actionmask_memory_3_brain.nn.meta
similarity index 67%
rename from Assets/Brains/CozmoLearningBrain_cozmo_training-0.nn.meta
rename to Assets/Brains/3_modified_actionmask_memory_3_brain.nn.meta
index 6a76c82..2597a5a 100644
--- a/Assets/Brains/CozmoLearningBrain_cozmo_training-0.nn.meta
+++ b/Assets/Brains/3_modified_actionmask_memory_3_brain.nn.meta
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diff --git a/Assets/Brains/4_modified_actionmask_memory_5_brain.nn b/Assets/Brains/4_modified_actionmask_memory_5_brain.nn
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diff --git a/Assets/Brains/CozmoTrainedBrain.nn.meta b/Assets/Brains/4_modified_actionmask_memory_5_brain.nn.meta
similarity index 67%
rename from Assets/Brains/CozmoTrainedBrain.nn.meta
rename to Assets/Brains/4_modified_actionmask_memory_5_brain.nn.meta
index 92289b8..71ec104 100644
--- a/Assets/Brains/CozmoTrainedBrain.nn.meta
+++ b/Assets/Brains/4_modified_actionmask_memory_5_brain.nn.meta
@@ -1,8 +1,8 @@
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diff --git a/Assets/Brains/CozmoLearningBrain.asset b/Assets/Brains/CozmoLearningBrain.asset
index d9861a5..dc35d8e 100644
--- a/Assets/Brains/CozmoLearningBrain.asset
+++ b/Assets/Brains/CozmoLearningBrain.asset
@@ -23,5 +23,5 @@ MonoBehaviour:
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+  model: {fileID: 11400000, guid: 7404b992c6519d54c96c3489d921d0c1, type: 3}
   inferenceDevice: 0
diff --git a/Assets/Brains/CozmoTrainedBrain.nn b/Assets/Brains/CozmoTrainedBrain.nn
deleted file mode 100644
index d278e9a..0000000
Binary files a/Assets/Brains/CozmoTrainedBrain.nn and /dev/null differ
diff --git a/Assets/Scenes/CozmoTraining.unity b/Assets/Scenes/CozmoTraining.unity
index af17fef..32b5bc0 100644
--- a/Assets/Scenes/CozmoTraining.unity
+++ b/Assets/Scenes/CozmoTraining.unity
@@ -708,8 +708,6 @@ MonoBehaviour:
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@@ -942,7 +940,6 @@ MonoBehaviour:
     - {fileID: 11400000, guid: 0d9d5ce547064a648b466ad7f208cf3d, type: 2}
     _brainsToControl:
     - {fileID: 0}
-    - {fileID: 11400000, guid: 0d9d5ce547064a648b466ad7f208cf3d, type: 2}
   maxSteps: 1500
   trainingConfiguration:
     width: 80
diff --git a/Assets/Scripts/ML Cozmo/CozmoAgent.cs b/Assets/Scripts/ML Cozmo/CozmoAgent.cs
index 4e3f44a..20bcdb1 100644
--- a/Assets/Scripts/ML Cozmo/CozmoAgent.cs	
+++ b/Assets/Scripts/ML Cozmo/CozmoAgent.cs	
@@ -126,7 +126,7 @@ namespace Cozmo
         public override void AgentAction(float[] vectorAction, string textAction)
         {
             double elapsedTime = Time.time - startTime;
-            print("Elapsed time: " + elapsedTime);
+            //Debug.Log("Elapsed time: " + elapsedTime);
             startTime = Time.time;
 
             int action = Mathf.FloorToInt(vectorAction[0]);