diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 2ff991b..5c05ee1 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -463,7 +463,7 @@ controller_server:
       short_circuit_trajectory_evaluation: True
       stateful: True
       critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "TwirlingCritic"] # added TwirlingCritic
-      BaseObstacle.scale: 0.02
+      BaseObstacle.scale: 0.08 # was 0.02
       PathAlign.scale: 32.0
       GoalAlign.scale: 24.0
       PathAlign.forward_point_distance: 0.1
@@ -473,7 +473,7 @@ controller_server:
       RotateToGoal.scale: 32.0
       RotateToGoal.slowing_factor: 5.0
       RotateToGoal.lookahead_time: -1.0
-      TwirlingCritic.scale: 0.5
+      TwirlingCritic.scale: 0.2 # was 1.0
 
 local_costmap:
   local_costmap: