diff --git a/isaac_sim/checkpoints/m20/exported/policy.pt b/isaac_sim/checkpoints/m20/exported/policy.pt
index 5d6316d..710f567 100644
Binary files a/isaac_sim/checkpoints/m20/exported/policy.pt and b/isaac_sim/checkpoints/m20/exported/policy.pt differ
diff --git a/isaac_sim/checkpoints/m20/params/agent.yaml b/isaac_sim/checkpoints/m20/params/agent.yaml
index b622812..7ceeb40 100644
--- a/isaac_sim/checkpoints/m20/params/agent.yaml
+++ b/isaac_sim/checkpoints/m20/params/agent.yaml
@@ -7,13 +7,13 @@ obs_groups: {}
 clip_actions: 100
 check_for_nan: true
 save_interval: 100
-experiment_name: deeprobotics_m20_spinlearn3
+experiment_name: deeprobotics_m20_spinlearn5
 run_name: ''
 logger: tensorboard
 neptune_project: isaaclab
 wandb_project: isaaclab
 resume: true
-load_run: 2026-07-19_04-05-44
+load_run: 2026-07-27_14-54-11
 load_checkpoint: model_10998.pt
 class_name: OnPolicyRunner
 actor:
diff --git a/isaac_sim/checkpoints/m20/params/env.yaml b/isaac_sim/checkpoints/m20/params/env.yaml
index 660573f..dde0d02 100644
--- a/isaac_sim/checkpoints/m20/params/env.yaml
+++ b/isaac_sim/checkpoints/m20/params/env.yaml
@@ -1438,7 +1438,7 @@ rewards:
         - null
         - null
         preserve_order: false
-      target_height: 0.4
+      target_height: 0.52
     weight: -0.5
   body_lin_acc_l2: null
   joint_torques_l2:
@@ -2032,6 +2032,34 @@ rewards:
     params:
       command_name: base_velocity
     weight: 0.0
+  joint_deviation_hipy_l1:
+    func: isaaclab.envs.mdp.rewards:joint_deviation_l1
+    params:
+      asset_cfg:
+        name: robot
+        joint_names:
+        - .*_hipy_joint
+        joint_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        fixed_tendon_names: null
+        fixed_tendon_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        body_names: null
+        body_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        object_collection_names: null
+        object_collection_ids: !!python/object/apply:builtins.slice
+        - null
+        - null
+        - null
+        preserve_order: false
+    weight: -0.25
 terminations:
   time_out:
     func: isaaclab.envs.mdp.terminations:time_out