diff --git a/Assets/2_Chair/Chair.prefab b/Assets/2_Chair/Chair.prefab
index eba797c..72e0ce7 100644
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diff --git a/Assets/6_Scenes/Beep.unity b/Assets/6_Scenes/Beep.unity
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diff --git a/Assets/7_Scripts/Controller.meta b/Assets/7_Scripts/Controller.meta
new file mode 100644
index 0000000..383983a
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@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: c987654204484064897a7f1f98bf68e1
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/7_Scripts/Controller/ControllerManager.cs b/Assets/7_Scripts/Controller/ControllerManager.cs
new file mode 100644
index 0000000..a707b28
--- /dev/null
+++ b/Assets/7_Scripts/Controller/ControllerManager.cs
@@ -0,0 +1,166 @@
+using System.Collections;
+using System.Collections.Generic;
+using Unity.MLAgents;
+using Unity.VisualScripting;
+using UnityEngine;
+using UnityEngine.Rendering;
+
+public class ControllerManager : MonoBehaviour
+{
+    public static ControllerManager Instance { get; private set; }
+    
+    public enum ControllerType { 
+        Controller,
+        Waypoints
+    }
+
+    public ControllerType m_CurrentControllerType;
+
+    private GameObject m_WpManager;
+
+    public Transform m_Target;
+
+    public Transform m_ControllerTargetRoot;
+
+    public Transform m_ControllerTarget;
+
+    public Transform m_Chair;
+
+    private GameObject m_Agent;
+
+    public float m_Offset;
+
+    private void Awake()
+    {
+        if (Instance != null && Instance != this)
+        {
+            Destroy(this);
+        }
+        else
+        {
+            Instance = this;
+        }
+
+        SetControllerType(m_CurrentControllerType);
+        m_Agent = m_ControllerTargetRoot.transform.parent.gameObject;
+    }
+
+    private void SetControllerType(ControllerType type)
+    {
+        m_CurrentControllerType = type;
+
+        m_WpManager = FindFirstObjectByType<WaypointManager>().gameObject;
+
+        if (m_CurrentControllerType == ControllerType.Waypoints)
+        {
+            m_WpManager.SetActive(true);
+        }
+        else
+        {
+            m_WpManager.SetActive(false);   
+        }
+    }
+
+    private void Update()
+    {
+        if (m_CurrentControllerType == ControllerType.Controller)
+        {
+            if (m_Target != null)
+            {
+                ProcessInput();
+            }
+        }
+    }
+
+    private void ProcessInput()
+    {
+        RotateControllerRoot();
+        SetWalkingSpeed();
+        CheckIfClimbing();
+        SetTargetCubeTransform();
+    }
+
+    private void SetTargetCubeTransform()
+    {
+        Vector3 chairPosition = new Vector3(m_Chair.position.x, m_Chair.position.y + m_Offset, m_Chair.position.z + m_Offset);
+        m_ControllerTargetRoot.transform.position = chairPosition;
+
+        Vector3 controllerTargetPosition = m_ControllerTarget.transform.position;
+        m_Target.position = controllerTargetPosition;
+
+    }
+
+    private void RotateControllerRoot()
+    {
+        var rotation = 0;
+        var rotationIncrement = 5;
+
+        if(Input.GetKey(KeyCode.A))
+        {
+            rotation -= rotationIncrement;
+        }
+
+        if(Input.GetKey(KeyCode.D)) 
+        {
+            rotation += rotationIncrement;
+        }
+
+        m_ControllerTargetRoot.Rotate(new Vector3(0, rotation, 0));
+    }
+
+    private void SetWalkingSpeed()
+    {
+
+        string currentModel = m_Agent.GetComponent<ModelSwap>().m_currentModelName;
+
+        if (Input.GetKey(KeyCode.W) && Input.GetKey(KeyCode.LeftShift))
+        {
+            m_Agent.GetComponent<Walker>().MTargetWalkingSpeed = 8f;
+
+        }
+        else if (Input.GetKey(KeyCode.W) && !Input.GetKey(KeyCode.LeftShift))
+        {
+            m_Agent.GetComponent<Walker>().MTargetWalkingSpeed = 4f;
+
+        }
+        else
+        {
+            m_Agent.GetComponent<Walker>().MTargetWalkingSpeed = 0.1f;
+        }
+
+        //Debug.Log($"{m_Agent.GetComponent<Walker>().MTargetWalkingSpeed}");
+    }
+
+    private void CheckIfClimbing()
+    {
+        if (Input.GetKeyDown(KeyCode.Space))
+        {
+            if(m_Agent.GetComponent<ModelSwap>().m_currentModelName != "Stairs")
+            {
+                // Swap to new model
+                m_Agent.GetComponent<ModelSwap>().SwitchModel("Stairs", m_Agent.GetComponent<Agent>());
+            }
+            else
+            {
+                m_Agent.GetComponent<ModelSwap>().SwitchModel("Walker", m_Agent.GetComponent<Agent>());
+            }
+        }
+
+        if (m_Agent.GetComponent<ModelSwap>().m_currentModelName == "Stairs")
+        {
+            // Adjust height of controller target
+            m_Offset = 2f;
+            m_Agent.GetComponent<Walker>().MTargetWalkingSpeed = 8f;
+        } 
+        else
+        {
+            m_Offset = 0;
+        }
+
+        if (m_Agent.GetComponent<ModelSwap>().m_currentModelName == "Getup")
+        {
+            m_Agent.GetComponent<Walker>().MTargetWalkingSpeed = 8f;
+        }
+    }
+
+}
diff --git a/Assets/7_Scripts/Controller/ControllerManager.cs.meta b/Assets/7_Scripts/Controller/ControllerManager.cs.meta
new file mode 100644
index 0000000..c30cef9
--- /dev/null
+++ b/Assets/7_Scripts/Controller/ControllerManager.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 494dd9677a9308d48ab3ea7b149d6fce
\ No newline at end of file
diff --git a/Assets/ML-Agents/Timers/Beep_timers.json b/Assets/ML-Agents/Timers/Beep_timers.json
index f87921c..db5d61e 100644
--- a/Assets/ML-Agents/Timers/Beep_timers.json
+++ b/Assets/ML-Agents/Timers/Beep_timers.json
@@ -1 +1 @@
-{"count":1,"self":27.504924799999998,"total":27.816705199999998,"children":{"InitializeActuators":{"count":1,"self":0.0009989,"total":0.0009989,"children":null},"InitializeSensors":{"count":1,"self":0.0030057,"total":0.0030057,"children":null},"AgentSendState":{"count":1053,"self":0.016508699999999998,"total":0.046900399999999995,"children":{"CollectObservations":{"count":211,"self":0.0088525,"total":0.0088525,"children":null},"WriteActionMask":{"count":211,"self":0.0015241,"total":0.0015241,"children":null},"RequestDecision":{"count":211,"self":0.020015099999999997,"total":0.020015099999999997,"children":null}}},"DecideAction":{"count":1053,"self":0.2454862,"total":0.2496176,"children":{"RayPerceptionSensor.Perceive":{"count":211,"self":0.0041313999999999995,"total":0.0041313999999999995,"children":null}}},"AgentAct":{"count":1053,"self":0.0107549,"total":0.0107549,"children":null}},"gauges":{},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1711459812","unity_version":"2023.2.8f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2023.2.8f1\\Editor\\Unity.exe -projectpath C:\\Users\\caile\\Desktop\\Projects\\24_03-Beep\\beep-final -useHub -hubIPC -cloudEnvironment production","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.3.0-exp.3","scene_name":"Beep","end_time_seconds":"1711459840"}}
\ No newline at end of file
+{"count":1,"self":160.07833599999998,"total":161.7581979,"children":{"InitializeActuators":{"count":1,"self":0.0016497999999999999,"total":0.0016497999999999999,"children":null},"InitializeSensors":{"count":1,"self":0.004039,"total":0.004039,"children":null},"AgentSendState":{"count":7589,"self":0.10136389999999999,"total":0.1957705,"children":{"CollectObservations":{"count":1518,"self":0.0520992,"total":0.0520992,"children":null},"WriteActionMask":{"count":1518,"self":0,"total":0,"children":null},"RequestDecision":{"count":1518,"self":0.042307399999999995,"total":0.042307399999999995,"children":null}}},"DecideAction":{"count":7589,"self":1.4234396999999999,"total":1.4318741,"children":{"RayPerceptionSensor.Perceive":{"count":1518,"self":0.0084344,"total":0.0084344,"children":null}}},"AgentAct":{"count":7589,"self":0.0455219,"total":0.0455219,"children":null}},"gauges":{},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1711470994","unity_version":"2023.2.8f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2023.2.8f1\\Editor\\Unity.exe -projectpath C:\\Users\\caile\\Desktop\\Projects\\24_03-Beep\\beep-final -useHub -hubIPC -cloudEnvironment production","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.3.0-exp.3","scene_name":"Beep","end_time_seconds":"1711471155"}}
\ No newline at end of file
diff --git a/Assets/Settings/HDRPDefaultResources/C Default.asset b/Assets/Settings/HDRPDefaultResources/C Default.asset
index fa3a579..4561a04 100644
--- a/Assets/Settings/HDRPDefaultResources/C Default.asset	
+++ b/Assets/Settings/HDRPDefaultResources/C Default.asset	
@@ -337,7 +337,7 @@ MonoBehaviour:
   active: 1
   shadows:
     m_OverrideState: 1
-    m_Value: {x: 1, y: 0.94549036, z: 0.7819653, w: 0.122889616}
+    m_Value: {x: 1, y: 0.945, z: 0.78, w: 0.122889616}
   midtones:
     m_OverrideState: 1
     m_Value: {x: 1, y: 1, z: 1, w: 0.05115768}