diff --git a/supervisord.conf b/supervisord.conf
index c99e7c1..c3d0e51 100644
--- a/supervisord.conf
+++ b/supervisord.conf
@@ -59,7 +59,8 @@ environment=DISPLAY=":0"
 directory=%(here)s
 
 [program:predictor]
-command=uv run trap_prediction --eval_device cuda:0  --model_dir EXPERIMENTS/models/models_20241229_21_35_13_hof3-m2-ud-split-conv12-f2.0-map-2024-12-29/    --num-samples 1      --map_encoding --eval_data_dict EXPERIMENTS/trajectron-data/hof3-m2-ud-split-nostep-conv12-f2.0-map-2024-12-29_val.pkl --prediction-horizon 120 --gmm-mode True --z-mode
+# command=uv run trap_prediction --eval_device cuda:0  --model_dir EXPERIMENTS/models/models_20241229_21_35_13_hof3-m2-ud-split-conv12-f2.0-map-2024-12-29/    --num-samples 1      --map_encoding --eval_data_dict EXPERIMENTS/trajectron-data/hof3-m2-ud-split-nostep-conv12-f2.0-map-2024-12-29_val.pkl --prediction-horizon 120 --gmm-mode True --z-mode
+command=uv run trap_prediction --eval_device cuda:0  --model_dir EXPERIMENTS/models/models_20251107_14_27_55_hof-lidar-m2-ud-nostep-kalsmooth-noise2-offsets1-f2.0-map-2025-11-07/    --num-samples 1      --map_encoding --eval_ata_dict EXPERIMENTS/trajectron-data/hof-lidar-m2-ud-nostep-kalsmooth-noise2-offsets1-f2.0-map-2025-11-07_val.pkl --prediction-horizon 120 --gmm-mode True --z-mode
 # command=uv run trap_prediction --eval_device cuda:0  --model_dir EXPERIMENTS/models/models_20251106_11_51_00_hof-lidar-m2-ud-nostep-kalsmooth-noise2-offsets2-f2.0-map-2025-11-06/    --num-samples 1      --map_encoding --eval_data_dict EXPERIMENTS/trajectron-data/hof-lidar-m2-ud-nostep-kalsmooth-noise2-offsets2-f2.0-map-2025-11-06_val.pkl --prediction-horizon 120 --gmm-mode True --z-mode
 #  uv run trajectron_train --continue_training_from EXPERIMENTS/models/models_20241229_21_35_13_hof3-m2-ud-split-conv12-f2.0-map-2024-12-29/ --eval_every 5 --train_data_dict hof3-nostep-conv12-f2.0-map-2024-12-27_train.pkl --eval_data_dict hof3-nostep-conv12-f2.0-map-2024-12-27_val.pkl --offline_scene_graph no --preprocess_workers 8 --log_dir EXPERIMENTS/models --log_tag _hof3-conv12-f2.0-map-2024-12-27 --train_epochs 10 --conf EXPERIMENTS/config.json  --data_dir EXPERIMENTS/trajectron-data --map_encoding
 directory=%(here)s
diff --git a/trap/prediction_server.py b/trap/prediction_server.py
index 4161d95..ef56d5b 100644
--- a/trap/prediction_server.py
+++ b/trap/prediction_server.py
@@ -114,7 +114,7 @@ def get_maps_for_input(input_dict, scene: Scene, hyperparams, device):
                                                                 rotation=heading_angles,
                                                                 device='cpu')
     except Exception as e:
-        print(scene_maps)
+        # print(scene_maps)
         logger.warning(f"Crash on getting maps for points: {scene_pts=} {heading_angles=} {patch_size=}")
         raise e
 
@@ -450,7 +450,7 @@ class PredictionServer(Node):
 
                 if not len(history) or np.isnan(history[-1]).any():
                     logger.warning(f'skip for no history @ {ts_key} [{len(prediction_dict)=}, {len(histories_dict)=}, {len(futures_dict)=}]')
-                    logger.info(f"{preds=}")
+                    # logger.info(f"{preds=}")
                     
                     continue
 
diff --git a/trap/stage.py b/trap/stage.py
index 62cf62f..52dd348 100644
--- a/trap/stage.py
+++ b/trap/stage.py
@@ -459,7 +459,7 @@ class DrawnScenario(Scenario):
             
 
         # special case: LOITERING
-        if False and self.scene is ScenarioScene.LOITERING: # or self.state_change_at:
+        if self.scene is ScenarioScene.LOITERING: # or self.state_change_at:
             # logger.info('loitering')
             transition = min(1, (time.perf_counter() - self.state_change_at)/1.4)
             # print('loitering factor', transition)