diff --git a/nuplan/planning/script/config/common/simulation_metric/common_metrics.yaml b/nuplan/planning/script/config/common/simulation_metric/common_metrics.yaml
index a111b3a2d47a413e5f8644268d17fea86a60e877..604c88f7fbf3f8f7a42c0dd6af9184770b97cd02 100644
--- a/nuplan/planning/script/config/common/simulation_metric/common_metrics.yaml
+++ b/nuplan/planning/script/config/common/simulation_metric/common_metrics.yaml
@@ -3,5 +3,4 @@ defaults:
- ego_mean_speed_statistics
- ego_expert_l2_error_statistics
- ego_expert_l2_error_with_yaw_statistics
- - is_relavant_agent_occluded_statistics
- - can_scenario_be_made_dangerous_statistics
+ - is_relavant_agent_occluded_statistics
\ No newline at end of file
diff --git a/nuplan/planning/script/config/common/simulation_metric/simulation_open_loop_boxes.yaml b/nuplan/planning/script/config/common/simulation_metric/simulation_open_loop_boxes.yaml
index 1801f38d855c8cee1e31b833dbae6d9421355370..4372e23c13b32eaa8a88d953bbeddcafcdcbc6e8 100644
--- a/nuplan/planning/script/config/common/simulation_metric/simulation_open_loop_boxes.yaml
+++ b/nuplan/planning/script/config/common/simulation_metric/simulation_open_loop_boxes.yaml
@@ -2,6 +2,8 @@ defaults:
- common_metrics # Uncomment this for common information about the scenario as specified in the config
- low_level: # Low level metrics
- planner_expert_average_l2_error_within_bound_statistics
+ - can_scenario_be_made_dangerous_statistics
+
- high_level: # High level metrics that depend on low level metrics, they can also rely on the previously called high level metrics
- planner_expert_final_l2_error_within_bound_statistics
- planner_miss_rate_within_bound_statistics
diff --git a/nuplan/planning/script/config/simulation/metric_aggregator/closed_loop_multiagent_weighted_average.yaml b/nuplan/planning/script/config/simulation/metric_aggregator/closed_loop_multiagent_weighted_average.yaml
index ffd8e103f5da3167fa1ea4ceaaf45a0e91d2514e..6a12edf6d7f1cc24f187bd036d6f4093e170e2e9 100644
--- a/nuplan/planning/script/config/simulation/metric_aggregator/closed_loop_multiagent_weighted_average.yaml
+++ b/nuplan/planning/script/config/simulation/metric_aggregator/closed_loop_multiagent_weighted_average.yaml
@@ -5,7 +5,6 @@ closed_loop_reactive_agents_weighted_average:
# if not specified, the weight is set as default.
# metric name : metric weight in the weighted average function
is_relavant_agent_occluded: 0.0 # this metric is only for our occlusion stuff so it should not affect the other weights
- can_scenario_be_made_dangerous: 0.0 # this metric is only for our occlusion stuff so it should not affect the other weights
ego_progress_along_expert_route: 5.0 # This metric has the highest weight equal to 5.0 in the weighted average function, its base score can take a value in [0,1] depending on the ratio of ego to expert progress
time_to_collision_within_bound: 5.0 # This metric has the highest weight equal to 5.0 in the weighted average function, its base score can be 0 or 1 depending on the minimum time to collision threshold
speed_limit_compliance: 4.0 # This metric has a weight equal to 4.0 in the weighted average function, its base score can take a value in [0,1] depending on the amount and duration of over-speeding
diff --git a/nuplan/planning/script/config/simulation/metric_aggregator/closed_loop_nonreactive_agents_weighted_average.yaml b/nuplan/planning/script/config/simulation/metric_aggregator/closed_loop_nonreactive_agents_weighted_average.yaml
index dcb75ca1c0629b93b824372101e3e7f299b98a6c..2f0f1d2ab701660fe50f45e58c4fc5cad98c1b4f 100644
--- a/nuplan/planning/script/config/simulation/metric_aggregator/closed_loop_nonreactive_agents_weighted_average.yaml
+++ b/nuplan/planning/script/config/simulation/metric_aggregator/closed_loop_nonreactive_agents_weighted_average.yaml
@@ -5,7 +5,6 @@ closed_loop_nonreactive_agents_weighted_average:
# if not specified, the weight is set as default.
# metric name : metric weight in the weighted average function
is_relavant_agent_occluded: 0.0 # this metric is only for our occlusion stuff so it should not affect the other weights
- can_scenario_be_made_dangerous: 0.0 # this metric is only for our occlusion stuff so it should not affect the other weights
ego_progress_along_expert_route: 5.0 # This metric has the highest weight equal to 5.0 in the weighted average function, its base score can take a value in [0,1] depending on the ratio of ego to expert progress
time_to_collision_within_bound: 5.0 # This metric has the highest weight equal to 5.0 in the weighted average function, its base score can be 0 or 1 depending on the minimum time to collision threshold
speed_limit_compliance: 4.0 # This metric has a weight equal to 4.0 in the weighted average function, its base score can take a value in [0,1] depending on the amount and duration of over-speeding
diff --git a/nuplan/planning/script/config/simulation/metric_aggregator/closed_loop_reactive_agents_weighted_average.yaml b/nuplan/planning/script/config/simulation/metric_aggregator/closed_loop_reactive_agents_weighted_average.yaml
index 6fa1412b5cd7251cd4c515c5ed38268a0f1f575e..4db298e5a9d4c5c46d6216e44caa852381d07a86 100644
--- a/nuplan/planning/script/config/simulation/metric_aggregator/closed_loop_reactive_agents_weighted_average.yaml
+++ b/nuplan/planning/script/config/simulation/metric_aggregator/closed_loop_reactive_agents_weighted_average.yaml
@@ -5,7 +5,6 @@ closed_loop_reactive_agents_weighted_average:
# if not specified, the weight is set as default.
# metric name : metric weight in the weighted average function
is_relavant_agent_occluded: 0.0 # this metric is only for our occlusion stuff so it should not affect the other weights
- can_scenario_be_made_dangerous: 0.0 # this metric is only for our occlusion stuff so it should not affect the other weights
ego_progress_along_expert_route: 5.0 # This metric has the highest weight equal to 5.0 in the weighted average function, its base score can take a value in [0,1] depending on the ratio of ego to expert progress
time_to_collision_within_bound: 5.0 # This metric has the highest weight equal to 5.0 in the weighted average function, its base score can be 0 or 1 depending on the minimum time to collision threshold
speed_limit_compliance: 4.0 # This metric has a weight equal to 4.0 in the weighted average function, its base score can take a value in [0,1] depending on the amount and duration of over-speeding