diff --git a/examples/pybullet/gym/pybullet_envs/ARS/ars.py b/examples/pybullet/gym/pybullet_envs/ARS/ars.py
index 760ebd732..6ebe28149 100644
--- a/examples/pybullet/gym/pybullet_envs/ARS/ars.py
+++ b/examples/pybullet/gym/pybullet_envs/ARS/ars.py
@@ -26,7 +26,7 @@ class Hp():
         self.episode_length = 1000
         self.learning_rate = 0.02
         self.nb_directions = 16
-        self.nb_best_directions = 16
+        self.nb_best_directions = 8
         assert self.nb_best_directions <= self.nb_directions
         self.noise = 0.03
         self.seed = 1
@@ -194,7 +194,7 @@ def train(env, policy, normalizer, hp, parentPipes, args):
         
         # Sorting the rollouts by the max(r_pos, r_neg) and selecting the best directions
         scores = {k:max(r_pos, r_neg) for k,(r_pos,r_neg) in enumerate(zip(positive_rewards, negative_rewards))}
-        order = sorted(scores.keys(), key = lambda x:scores[x])[:hp.nb_best_directions]
+        order = sorted(scores.keys(), key = lambda x:-scores[x])[:hp.nb_best_directions]
         rollouts = [(positive_rewards[k], negative_rewards[k], deltas[k]) for k in order]
         
         # Updating our policy