diff --git a/mjx/tutorial.ipynb b/mjx/tutorial.ipynb
index e77f2033..33efbe77 100644
--- a/mjx/tutorial.ipynb
+++ b/mjx/tutorial.ipynb
@@ -440,12 +440,12 @@
     "    mj_model = mujoco.MjModel.from_xml_path(\n",
     "        (path / 'humanoid.xml').as_posix())\n",
     "    mj_model.opt.solver = mujoco.mjtSolver.mjSOL_CG\n",
-    "    mj_model.opt.iterations = 6\n",
-    "    mj_model.opt.ls_iterations = 6\n",
+    "    mj_model.opt.iterations = 4\n",
+    "    mj_model.opt.ls_iterations = 4\n",
     "\n",
     "    sys = mjcf.load_model(mj_model)\n",
     "\n",
-    "    physics_steps_per_control_step = 5\n",
+    "    physics_steps_per_control_step = 4\n",
     "    kwargs['n_frames'] = kwargs.get(\n",
     "        'n_frames', physics_steps_per_control_step)\n",
     "    kwargs['backend'] = 'mjx'\n",