diff --git a/cfg/HuberoPlanner.cfg b/cfg/HuberoPlanner.cfg
index 09474e3c..ad0c6038 100755
--- a/cfg/HuberoPlanner.cfg
+++ b/cfg/HuberoPlanner.cfg
@@ -121,8 +121,8 @@ group_generator_as.add("fis_as_amplifier_granularity", double_t, 0, "", 1.0, 0.0
 # Trajectory generation group parameters
 group_cost = gen.add_group("Cost", type="tab")
 
-group_cost.add("path_distance_scale", double_t, 0, "The weight for the path distance part of the cost function", 0.6, 0.0)
-group_cost.add("goal_distance_scale", double_t, 0, "The weight for the goal distance part of the cost function", 0.8, 0.0)
+group_cost.add("path_distance_scale", double_t, 0, "The weight for the path distance part of the cost function", 0.2, 0.0)
+group_cost.add("goal_distance_scale", double_t, 0, "The weight for the goal distance part of the cost function", 0.4, 0.0)
 group_cost.add("occdist_scale", double_t, 0, "The weight for the obstacle distance part of the cost function", 0.2, 0.0)
 group_cost.add("ttc_scale", double_t, 0, "The weight for the time to collision cost function (scores whole trajectory instead of a single cell)", 3.0, 0.0)
 group_cost.add("chc_scale", double_t, 0, "The weight for the cost function that penalizes robot heading changes", 1.0, 0.0)