diff --git a/.gitignore b/.gitignore
index 415b53e..b646e99 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,7 +3,11 @@ node_modules/
 .venv/
 .vscode/
 __pycache__/
-ml/checkpoints/
+ml/checkpoints/*
+!ml/checkpoints/jackbot_kinematics_base.zip
+!ml/checkpoints/jackbot_ppo6_149994_steps.zip
+!ml/checkpoints/jackbot_ppo6_199992_steps.zip
+!ml/checkpoints/jackbot_ppo6_499980_steps.zip
 ml/logs/
 
 # Ignore environment files with private passwords/keys
diff --git a/ml/checkpoints/jackbot_kinematics_base.zip b/ml/checkpoints/jackbot_kinematics_base.zip
new file mode 100644
index 0000000..3fa9d5d
Binary files /dev/null and b/ml/checkpoints/jackbot_kinematics_base.zip differ
diff --git a/ml/checkpoints/jackbot_ppo6_149994_steps.zip b/ml/checkpoints/jackbot_ppo6_149994_steps.zip
new file mode 100644
index 0000000..de9a348
Binary files /dev/null and b/ml/checkpoints/jackbot_ppo6_149994_steps.zip differ
diff --git a/ml/checkpoints/jackbot_ppo6_199992_steps.zip b/ml/checkpoints/jackbot_ppo6_199992_steps.zip
new file mode 100644
index 0000000..4ebfce1
Binary files /dev/null and b/ml/checkpoints/jackbot_ppo6_199992_steps.zip differ
diff --git a/ml/checkpoints/jackbot_ppo6_499980_steps.zip b/ml/checkpoints/jackbot_ppo6_499980_steps.zip
new file mode 100644
index 0000000..37f721d
Binary files /dev/null and b/ml/checkpoints/jackbot_ppo6_499980_steps.zip differ