diff --git a/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/hdr.yaml b/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/hdr.yaml
new file mode 100644
index 00000000..90c26af9
--- /dev/null
+++ b/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/hdr.yaml
@@ -0,0 +1,12 @@
+camera_topics:
+  # Because this is the anybotics rear
+  rear:
+    image_topic: "/hdr_camera/image_raw"
+    info_topic: "/hdr_camera/camera_info"
+    use_for_training: true
+    publish_confidence: true
+    publish_input_image: true
+    scheduler_weight: 1
+# Provides 1080 (height) x 1920 (width) images
+network_input_image_height: 224 # 448
+network_input_image_width: 224 # 448
\ No newline at end of file
diff --git a/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_dual.yaml b/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_dual.yaml
index b202988a..54235d12 100644
--- a/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_dual.yaml
+++ b/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_dual.yaml
@@ -2,14 +2,14 @@ camera_topics:
   front:
     image_topic: "/wide_angle_camera_front/image_color_rect"
     info_topic: "/wide_angle_camera_front/camera_info"
-    use_for_training: true
+    use_for_training: false
     publish_confidence: true
     publish_input_image: true
     scheduler_weight: 1
   rear:
     image_topic: "/wide_angle_camera_rear/image_color_rect"
     info_topic: "/wide_angle_camera_rear/camera_info"
-    use_for_training: false
+    use_for_training: true
     publish_confidence: true
     publish_input_image: true
     scheduler_weight: 1
diff --git a/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_dual_resize.yaml b/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_dual_resize.yaml
index f16c3728..b119c22d 100644
--- a/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_dual_resize.yaml
+++ b/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_dual_resize.yaml
@@ -2,14 +2,14 @@ camera_topics:
   front:
     image_topic: "/wide_angle_camera_front/image_color_rect_resize"
     info_topic: "/wide_angle_camera_front_resize/camera_info"
-    use_for_training: true
+    use_for_training: false
     publish_confidence: true
     publish_input_image: true
     scheduler_weight: 1
   rear:
     image_topic: "/wide_angle_camera_rear/image_color_rect_resize"
     info_topic: "/wide_angle_camera_rear_resize/camera_info"
-    use_for_training: false
+    use_for_training: true
     publish_confidence: true
     publish_input_image: true
     scheduler_weight: 1
diff --git a/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_front.yaml b/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_front.yaml
index 538caac7..a8b8ca62 100644
--- a/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_front.yaml
+++ b/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_front.yaml
@@ -1,7 +1,7 @@
 camera_topics:
-  front:
-    image_topic: "/wide_angle_camera_front/image_color"
-    info_topic: "/wide_angle_camera_front/camera_info"
+  rear:
+    image_topic: "/wide_angle_camera_rear/image_color"
+    info_topic: "/wide_angle_camera_rear/camera_info"
     use_for_training: true
     publish_confidence: true
     publish_input_image: true
diff --git a/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_front_resize.yaml b/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_front_resize.yaml
index a848c505..c3d8ae6b 100644
--- a/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_front_resize.yaml
+++ b/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_front_resize.yaml
@@ -1,7 +1,7 @@
 camera_topics:
-  front:
-    image_topic: "/wide_angle_camera_front/image_color_resize"
-    info_topic: "/wide_angle_camera_front_resize/camera_info"
+  rear:
+    image_topic: "/wide_angle_camera_rear/image_color_resize"
+    info_topic: "/wide_angle_camera_rear_resize/camera_info"
     use_for_training: true
     publish_confidence: true
     publish_input_image: true