diff --git a/cfg/active_grasp.yaml b/cfg/active_grasp.yaml
index aeb99ca..e02cfc5 100644
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -34,3 +34,5 @@ policy:
 nbv_grasp:
   max_views: 80
   min_gain: 10
+  downsample: 20  # 10/20 for sim/hw respectively
+