diff --git a/behavior_metrics/brains/brains_handler.py b/behavior_metrics/brains/brains_handler.py
index 3bbaaf75..084c5dcf 100755
--- a/behavior_metrics/brains/brains_handler.py
+++ b/behavior_metrics/brains/brains_handler.py
@@ -34,9 +34,13 @@ def __init__(self, sensors, actuators, brain_path, controller, model=None, confi
     def load_brain(self, path, model=None):
 
         path_split = path.split("/")
-        robot_type = path_split[-2]
+        robot_type = path_split[1]
         module_name = path_split[-1][:-3]  # removing .py extension
-        import_name = 'brains.' + robot_type + '.' + module_name
+        if len(path_split) == 4:
+            framework = path_split[2]
+            import_name = 'brains.' + robot_type + '.' + framework + '.' + module_name
+        else:
+            import_name = 'brains.' + robot_type + '.' + module_name
 
         if robot_type == 'CARLA':
             module = importlib.import_module(import_name)
diff --git a/behavior_metrics/configs/default_carla.yml b/behavior_metrics/configs/default_carla.yml
index a25024b3..65d11697 100644
--- a/behavior_metrics/configs/default_carla.yml
+++ b/behavior_metrics/configs/default_carla.yml
@@ -37,13 +37,13 @@ Behaviors:
         PilotTimeCycle: 50 # Turn up to reduce number of control decisions
         AsyncMode: True # Set to False to control simulator time
         Parameters:
-            Model: '20230724-125225_pilotnet_CARLA_19_05_dataset_bird_eye_300_epochs_no_flip_3_output_both_directions_all_towns_adam_AFFINE_OPTIMIZATION_PAPER_UPDATED_SHAPE_pretrained_cp.h5'
+            Model: 'pilotnet.h5'
             ImageCropped: True
             ImageSize: [ 200,66 ]
             ImageNormalized: True
             PredictionsNormalized: True
             GPU: True
-            UseOptimized: True
+            UseOptimized: False
             ImageTranform: ''
         Type: 'CARLA'
     Simulation:
diff --git a/behavior_metrics/models/carla_tf_models/pilotnet.h5 b/behavior_metrics/models/carla_tf_models/pilotnet.h5
new file mode 100644
index 00000000..9cd17687
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diff --git a/behavior_metrics/models/carla_tf_models/pilotnet_model.pth b/behavior_metrics/models/carla_tf_models/pilotnet_model.pth
new file mode 100644
index 00000000..0fa3fd2e
Binary files /dev/null and b/behavior_metrics/models/carla_tf_models/pilotnet_model.pth differ