diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp
index d0d9f45..e147ab5 100644
--- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp
+++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/policy_parameters.hpp
@@ -154,8 +154,8 @@ const std::array<float, 29> kps = {
     2.0 * STIFFNESS_5020, // right_ankle_pitch_joint
     2.0 * STIFFNESS_5020, // right_ankle_roll_joint
     STIFFNESS_7520_14, // waist_yaw_joint
-    2.0 * STIFFNESS_5020, // waist_roll_joint
-    2.0 * STIFFNESS_5020, // waist_pitch_joint
+    4.0 * STIFFNESS_5020, // waist_roll_joint  (2x override for friction compensation)
+    4.0 * STIFFNESS_5020, // waist_pitch_joint (2x override for friction compensation)
     STIFFNESS_5020, // left_shoulder_pitch_joint
     STIFFNESS_5020, // left_shoulder_roll_joint
     STIFFNESS_5020, // left_shoulder_yaw_joint