diff --git a/wild_visual_navigation_ros/config/rviz/anymal.rviz b/wild_visual_navigation_ros/config/rviz/anymal.rviz
index e029d92c..9c20e665 100644
--- a/wild_visual_navigation_ros/config/rviz/anymal.rviz
+++ b/wild_visual_navigation_ros/config/rviz/anymal.rviz
@@ -7,10 +7,16 @@ Panels:
         - /Global Options1
         - /TF1/Tree1
         - /Wild Visual Navigation1
+        - /Wild Visual Navigation1/Cameras1
+        - /Wild Visual Navigation1/Prediction1
+        - /Wild Visual Navigation1/Prediction1/F Traversability Raw1
+        - /Wild Visual Navigation1/Prediction1/F Learning Mask1
+        - /Wild Visual Navigation1/Prediction1/F Confidence Overlay1
+        - /Wild Visual Navigation1/LR Prediction1
         - /Elevation Map WIFI1/Local Planner (SDF)1
         - /Elevation Map RAW1
       Splitter Ratio: 0.4659898579120636
-    Tree Height: 825
+    Tree Height: 698
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -474,7 +480,7 @@ Visualization Manager:
               Marker Topic: /wild_visual_navigation_node/graph_footprints
               Name: Footprint
               Namespaces:
-                {}
+                footprints: true
               Queue Size: 100
               Value: true
             - Alpha: 1
@@ -828,8 +834,8 @@ Visualization Manager:
             - Alpha: 1
               Autocompute Intensity Bounds: true
               Autocompute Value Bounds:
-                Max Value: 15.248048782348633
-                Min Value: -2.6211636066436768
+                Max Value: 15.389507293701172
+                Min Value: -1.5122853517532349
                 Value: true
               Axis: Z
               Channel Name: intensity
@@ -883,11 +889,11 @@ Visualization Manager:
               Value: false
             - Class: rviz/Image
               Enabled: true
-              Image Topic: /wild_visual_navigation_node/front/confidence
+              Image Topic: /wild_visual_navigation_node/front/debug/last_node_image_overlay
               Max Value: 1
               Median window: 5
               Min Value: 0
-              Name: F Confidence Raw
+              Name: F Learning Mask
               Normalize Range: true
               Queue Size: 2
               Transport Hint: raw
@@ -1084,7 +1090,7 @@ Visualization Manager:
               Transport Hint: raw
               Unreliable: false
               Value: false
-          Enabled: true
+          Enabled: false
           Name: LR Prediction
       Enabled: true
       Name: Wild Visual Navigation
@@ -1448,7 +1454,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 15.707101821899414
+      Distance: 18.592376708984375
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -1464,9 +1470,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.8647973537445068
+      Pitch: 0.6897974610328674
       Target Frame: base
-      Yaw: 5.881691932678223
+      Yaw: 5.176687240600586
     Saved: ~
 Window Geometry:
   AB Wide Angle Front:
@@ -1483,10 +1489,10 @@ Window Geometry:
     collapsed: false
   F Confidence Overlay Replay:
     collapsed: false
-  F Confidence Raw:
-    collapsed: false
   F Input Image:
     collapsed: false
+  F Learning Mask:
+    collapsed: false
   F Trav Over:
     collapsed: false
   F Traversability Overlay:
@@ -1506,7 +1512,7 @@ Window Geometry:
     collapsed: false
   Placeholder:
     collapsed: false
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   R Confidence Raw:
     collapsed: false
   R Input Image: