diff --git a/fission/src/mirabuf/MirabufSceneObject.ts b/fission/src/mirabuf/MirabufSceneObject.ts
index 0b62699e6..13725e913 100644
--- a/fission/src/mirabuf/MirabufSceneObject.ts
+++ b/fission/src/mirabuf/MirabufSceneObject.ts
@@ -244,7 +244,9 @@ class MirabufSceneObject extends SceneObject {
         this._debugBodies?.clear()
         this._physicsLayerReserve?.Release()
 
-        if (this._brain && this._brain instanceof SynthesisBrain) this._brain?.clearControls()
+        if (this._brain && this._brain instanceof SynthesisBrain) {
+            this._brain.clearControls()
+        }
     }
 
     public Eject() {
diff --git a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
index c98225cf5..4fc9511f5 100644
--- a/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
+++ b/fission/src/systems/simulation/synthesis_brain/SynthesisBrain.ts
@@ -18,6 +18,7 @@ import PreferencesSystem from "@/systems/preferences/PreferencesSystem"
 import { DefaultSequentialConfig } from "@/systems/preferences/PreferenceTypes"
 import InputSystem from "@/systems/input/InputSystem"
 import MirabufSceneObject from "@/mirabuf/MirabufSceneObject"
+import { Global_AddToast } from "@/ui/components/GlobalUIControls"
 
 class SynthesisBrain extends Brain {
     public static brainIndexMap = new Map<number, SynthesisBrain>()
@@ -94,7 +95,12 @@ class SynthesisBrain extends Brain {
     }
 
     public clearControls(): void {
-        InputSystem.brainIndexSchemeMap.delete(this._brainIndex)
+        if (InputSystem.brainIndexSchemeMap.delete(this._brainIndex)) {
+            Global_AddToast?.("info", "Controls", "Successfully cleared controls.")
+        } else {
+            Global_AddToast?.("warning", "Controls", "Failed to cleared controls.")
+        }
+        
     }
 
     /** Creates an instance of ArcadeDriveBehavior and automatically configures it. */
diff --git a/fission/src/ui/panels/configuring/initial-config/InitialConfigPanel.tsx b/fission/src/ui/panels/configuring/initial-config/InitialConfigPanel.tsx
index de3465cd7..84e4dd30b 100644
--- a/fission/src/ui/panels/configuring/initial-config/InitialConfigPanel.tsx
+++ b/fission/src/ui/panels/configuring/initial-config/InitialConfigPanel.tsx
@@ -5,7 +5,7 @@ import SynthesisBrain from "@/systems/simulation/synthesis_brain/SynthesisBrain"
 import { SynthesisIcons } from "@/ui/components/StyledComponents"
 import { useModalControlContext } from "@/ui/ModalContext"
 import { usePanelControlContext } from "@/ui/PanelContext"
-import { useEffect, useMemo } from "react"
+import { useCallback, useEffect, useMemo } from "react"
 import { ConfigurationType, setSelectedConfigurationType } from "../assembly-config/ConfigurationType"
 import { setSelectedScheme } from "../assembly-config/interfaces/inputs/ConfigureInputsInterface"
 import InputSchemeSelection from "./InputSchemeSelection"
@@ -56,6 +56,33 @@ const InitialConfigPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
         // eslint-disable-next-line react-hooks/exhaustive-deps
     }, [targetAssembly])
 
+    const closeFinish = useCallback(() => {
+        if (targetAssembly?.miraType == MiraType.ROBOT) {
+            const brainIndex = SynthesisBrain.GetBrainIndex(targetAssembly)
+
+            if (brainIndex == undefined) return
+
+            if (InputSystem.brainIndexSchemeMap.has(brainIndex)) return
+
+            const scheme = InputSchemeManager.availableInputSchemes[0]
+
+            InputSystem.brainIndexSchemeMap.set(brainIndex, scheme)
+
+            setSelectedConfigurationType(ConfigurationType.INPUTS)
+            setSelectedScheme(scheme)
+        }
+
+        closePanel(panelId)
+    }, [closePanel, panelId, targetAssembly])
+
+    const closeDelete = useCallback(() => {
+        if (targetAssembly) {
+            World.SceneRenderer.RemoveSceneObject(targetAssembly.id)
+        }
+
+        closePanel(panelId)
+    }, [closePanel, panelId, targetAssembly])
+
     const brainIndex = useMemo(() => {
         return SynthesisBrain.GetBrainIndex(targetAssembly)
     }, [targetAssembly])
@@ -66,10 +93,13 @@ const InitialConfigPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
             panelId={panelId}
             openLocation={"right"}
             sidePadding={8}
-            acceptEnabled={false}
+            acceptEnabled={true}
+            acceptName="Finish"
+            onAccept={() => closeFinish()}
             icon={SynthesisIcons.Gamepad}
             cancelEnabled={true}
-            cancelName="Close"
+            cancelName="Delete"
+            onCancel={() => closeDelete()}
         >
             {/** A scroll view with buttons to select default and custom input schemes */}
             <div className="flex overflow-y-auto flex-col gap-2 bg-background-secondary rounded-md p-2">
@@ -87,7 +117,7 @@ const InitialConfigPanel: React.FC<PanelPropsImpl> = ({ panelId }) => {
                 {brainIndex != undefined ? (
                     <InputSchemeSelection
                         brainIndex={brainIndex}
-                        onSelect={() => closePanel(panelId)}
+                        onSelect={() => {}}
                         onEdit={() => openPanel("configure")}
                         onCreateNew={() => openModal("assign-new-scheme")}
                     />
diff --git a/fission/src/ui/panels/configuring/initial-config/InputSchemeSelection.tsx b/fission/src/ui/panels/configuring/initial-config/InputSchemeSelection.tsx
index 0d34f5a13..8543e3387 100644
--- a/fission/src/ui/panels/configuring/initial-config/InputSchemeSelection.tsx
+++ b/fission/src/ui/panels/configuring/initial-config/InputSchemeSelection.tsx
@@ -56,6 +56,7 @@ function InputSchemeSelection({ brainIndex, onSelect, onEdit, onCreateNew }: Inp
                                 {SelectButton(() => {
                                     InputSystem.brainIndexSchemeMap.set(brainIndex, scheme)
                                     onSelect?.()
+                                    update()
                                 })}
                                 {/** Edit button - same as select but opens the inputs modal */}
                                 {EditButton(() => {