So, issues that I need to work on: He is focussing on me too much. He doesn't want to drive away from me, but rather to me. Hopefully repetition and high-level rewards will help with that. And I need to alter my position and movement more, so that he learns that what I am doing doesn't matter. I'm going to go back to food rewards on hard surface, so that we can build more value for the poles as opposed to me. Still we had a lot of fun, and even worked on some "fetch" training after this.
Sorry that this is out of order. I apparently didn't "publish" it after I wrote it, and since I published it after today's, it put it after today's.
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