diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
index 88f12543..1dcbcaa7 100644
--- a/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
@@ -17,7 +17,7 @@ robot_height: 0.3
 
 
 # Traversability estimation params
-traversability_radius: 5.0 # meters
+traversability_radius: 3.0 # meters
 image_graph_dist_thr: 0.2 # meters
 proprio_graph_dist_thr: 0.1 # meters
 network_input_image_height: 224 # 448
@@ -31,14 +31,13 @@ confidence_std_factor: 4.0
 scale_traversability: False  # This parameter needs to be false when using the anomaly detection model
 scale_traversability_max_fpr: 0.25
 min_samples_for_training: 5
-prediction_per_pixel: True
+prediction_per_pixel: False
 traversability_threshold: 0.55
 clip_to_binary: False
 vis_node_index: 10
 
 # Supervision Generator
 untraversable_thr: 0.01
-
 mission_name: "test"
 mission_timestamp: True
 
@@ -51,7 +50,7 @@ status_thread_rate: 0.5 # hertz
 
 # Runtime options
 device: "cuda"
-mode: "debug" # check out comments in the class WVNMode
+mode: "online" # check out comments in the class WVNMode
 colormap: "RdYlBu"
 
 print_image_callback_time: false