diff --git a/agbot_stanley_teacher.py b/agbot_stanley_teacher.py
index 4343f9a116b71c00c70deac1886a283c5732c84e..c43b331a910299ccb7cd43462f208c25ecae99f7 100644
--- a/agbot_stanley_teacher.py
+++ b/agbot_stanley_teacher.py
@@ -86,8 +86,8 @@ class DTreeAgBotStanleyGurobiTeacher(DTreeGurobiTeacherBase):
             m_star = sensor
             f = dynamics
             g = controller
-            v_old = v(*m_star(x, y, theta))
-            v_new = v(*m_star(*f(x, y, theta, *g(cte, psi))))
+            v_old = v(*m_star((x, y, theta)))
+            v_new = v(*m_star( f((x, y, theta),*g((ctd, psi))) ))
             return v_new <= max(v_old, self._ultimate_bound)
         return spec(*ex)