diff --git a/src/MLPs/fully_arm.py b/src/MLPs/fully_arm.py
deleted file mode 100644
index e69de29..0000000
diff --git a/src/MLPs/helpers.py b/src/MLPs/helpers.py
deleted file mode 100644
index e69de29..0000000
diff --git a/src/MLPs/centralized.py b/src/MLPs/mlps.py
similarity index 50%
rename from src/MLPs/centralized.py
rename to src/MLPs/mlps.py
index 14e3a22..f97452d 100644
--- a/src/MLPs/centralized.py
+++ b/src/MLPs/mlps.py
@@ -1,19 +1,20 @@
-from typing import Sequence
+from typing import Sequence, Callable
 import flax.linen as nn
 import jax.numpy as jnp
 from flax.linen.initializers import constant, orthogonal
 
 
-class Network(nn.Module):
-    hidden_size: int = 256
+# example usage: network = SemiGenericNetwork(layer_sizes=[256, 256], activation=nn.relu)
+# semi generic so we can easily make a config for it in experiments
+class SemiGenericNetwork(nn.Module):
+    layer_sizes: Sequence[int] = [64, 64]  # default 2 layers of 64 neurons
+    activation: Callable = nn.tanh  # default tanh
 
     @nn.compact
     def __call__(self, x):
-        # x shape: (batch, obs_dim)
-        x = nn.Dense(self.hidden_size, kernel_init=orthogonal(jnp.sqrt(2)))(x)
-        x = nn.tanh(x)
-        x = nn.Dense(self.hidden_size, kernel_init=orthogonal(jnp.sqrt(2)))(x)
-        x = nn.tanh(x)
+        for size in self.layer_sizes:
+            x = nn.Dense(size, kernel_init=orthogonal(jnp.sqrt(2)))(x)
+            x = self.activation(x)
         return x
 
 
diff --git a/src/MLPs/ring_arm.py b/src/MLPs/ring_arm.py
deleted file mode 100644
index e69de29..0000000
diff --git a/src/MLPs/segment.py b/src/MLPs/segment.py
deleted file mode 100644
index e69de29..0000000