diff --git a/paper/src/chapters/mdp_agent.pdf b/paper/src/chapters/mdp_agent.pdf
index aeab1b7..24d141e 100644
Binary files a/paper/src/chapters/mdp_agent.pdf and b/paper/src/chapters/mdp_agent.pdf differ
diff --git a/paper/src/chapters/mdp_human.pdf b/paper/src/chapters/mdp_human.pdf
index b753b4e..6ae3aa3 100644
Binary files a/paper/src/chapters/mdp_human.pdf and b/paper/src/chapters/mdp_human.pdf differ
diff --git a/sim/rl/behavior_loader/models.py b/sim/rl/behavior_loader/models.py
index 25c8c15..0b1d95e 100644
--- a/sim/rl/behavior_loader/models.py
+++ b/sim/rl/behavior_loader/models.py
@@ -310,12 +310,24 @@ def visualize_mdp(
     layout_radius: float = 10.0,
     node_diameter: float = 1.8,
     label_threshold: float = 0.08,
+    drop_isolated_nodes: bool = False,
 ):
     if not model.mdp:
         raise ValueError("build MDP first")
 
     evt_trans = aggregate_event_transitions(model.mdp)
     ordered_events = _resolve_event_order(evt_trans, event_order=event_order)
+
+    edges = [
+        (src, dst, prob)
+        for src, dsts in evt_trans.items()
+        for dst, prob in dsts.items()
+        if prob > threshold
+    ]
+    if drop_isolated_nodes:
+        connected = {src for src, _, _ in edges} | {dst for _, dst, _ in edges}
+        ordered_events = [evt for evt in ordered_events if evt in connected]
+
     positions = _compute_flow_positions(ordered_events, layout_radius=layout_radius)
 
     g = graphviz.Digraph(format=fmt, engine="neato")
@@ -353,15 +365,14 @@ def visualize_mdp(
         x, y = positions[evt]
         g.node(evt, label=_format_node_label(evt), pos=f"{x:.2f},{y:.2f}!", pin="true")
 
-    edges = [
-        (src, dst, prob)
-        for src, dsts in evt_trans.items()
-        for dst, prob in dsts.items()
-        if prob > threshold
-    ]
-    edge_set = {(src, dst) for src, dst, _ in edges}
+    edge_set = {
+        (src, dst) for src, dst, _ in edges if src in positions and dst in positions
+    }
 
     for src, dst, prob in sorted(edges, key=lambda row: row[2]):
+        if src not in positions or dst not in positions:
+            continue
+
         edge_attrs: Dict[str, str] = _edge_style(prob)
 
         if src == dst:
@@ -537,6 +548,7 @@ if __name__ == "__main__":
         fmt="pdf",
         export_dot=True,
         event_order=canonical_events,
+        drop_isolated_nodes=True,
     )
 
     common = set(human_evt.keys()) & set(agent_evt.keys())