diff --git a/config/nav2_params.yaml b/config/nav2_params.yaml
index 93e8b96..8901149 100644
--- a/config/nav2_params.yaml
+++ b/config/nav2_params.yaml
@@ -167,7 +167,7 @@ controller_server:
       trans_stopped_velocity: 0.25
       short_circuit_trajectory_evaluation: True
       stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "ObstacleFootprintCritic"]
+      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist", "ObstacleFootprint", "PreferForward"]
       BaseObstacle.scale: 0.02
       PathAlign.scale: 32.0
       PathAlign.forward_point_distance: 0.1