diff --git a/py_workspace/.sisyphus/notepads/full-icp-pipeline/learnings.md b/py_workspace/.sisyphus/notepads/full-icp-pipeline/learnings.md
index d1af3b2..55245ee 100644
--- a/py_workspace/.sisyphus/notepads/full-icp-pipeline/learnings.md
+++ b/py_workspace/.sisyphus/notepads/full-icp-pipeline/learnings.md
@@ -41,3 +41,14 @@
   - `test_compute_fpfh_features`: Validates feature dimension and count.
   - `test_global_registration_known_transform`: Confirms RANSAC can recover a known large transform (30 deg rotation).
   - `test_refine_with_icp_global_init_success`: End-to-end test showing global init can recover from a very bad initial guess (90 deg error) where local ICP would fail.
+
+## Task 8: Relax ICPConfig defaults
+- Relaxed defaults for ICPConfig to improve convergence and allow more flexible corrections.
+- New defaults:
+  - min_fitness: 0.15
+  - min_overlap_area: 0.5
+  - gravity_penalty_weight: 2.0
+  - max_correspondence_distance_factor: 2.5
+  - max_translation_m: 0.3
+  - max_rotation_deg: 10.0
+- Verified with 36 passing tests and clean basedpyright (0 errors, though many warnings due to missing stubs).
diff --git a/py_workspace/aruco/icp_registration.py b/py_workspace/aruco/icp_registration.py
index 63a3893..5cdd857 100644
--- a/py_workspace/aruco/icp_registration.py
+++ b/py_workspace/aruco/icp_registration.py
@@ -25,14 +25,14 @@ class ICPConfig:
     max_iterations: list[int] = field(default_factory=lambda: [50, 30, 14])
     method: str = "point_to_plane"  # "point_to_plane" or "gicp"
     band_height: float = 0.3  # Near-floor band height in meters
-    min_fitness: float = 0.3  # Min ICP fitness to accept pair
-    min_overlap_area: float = 1.0  # Min XZ overlap area in m^2
+    min_fitness: float = 0.15  # Min ICP fitness to accept pair
+    min_overlap_area: float = 0.5  # Min XZ overlap area in m^2
     overlap_margin: float = 0.5  # Inflate bboxes by this margin (m)
     overlap_mode: str = "xz"  # 'xz' or '3d'
-    gravity_penalty_weight: float = 10.0  # Soft constraint on pitch/roll
-    max_correspondence_distance_factor: float = 1.4
-    max_rotation_deg: float = 5.0  # Safety bound on ICP delta
-    max_translation_m: float = 0.1  # Safety bound on ICP delta
+    gravity_penalty_weight: float = 2.0  # Soft constraint on pitch/roll
+    max_correspondence_distance_factor: float = 2.5
+    max_rotation_deg: float = 10.0  # Safety bound on ICP delta
+    max_translation_m: float = 0.3  # Safety bound on ICP delta
     region: str = "floor"  # "floor", "hybrid", or "full"
     robust_kernel: str = "none"  # "none" or "tukey"
     robust_kernel_k: float = 0.1