diff --git a/behavior_metrics/configs/default_carla_multiple.yml b/behavior_metrics/configs/default_carla_multiple.yml
index d1f9a756..522dc3f7 100644
--- a/behavior_metrics/configs/default_carla_multiple.yml
+++ b/behavior_metrics/configs/default_carla_multiple.yml
@@ -35,92 +35,90 @@ Behaviors:
                     MaxW: 0.3
                     
         BrainPath: [
-            'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tensor_rt.py',
-            'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tensor_rt.py',
-            'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tensor_rt.py',
+            'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py',
+            'brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch.py',
             ]
         PilotTimeCycle: 50
         AsyncMode: True
         Parameters:
             Model: [
-                'optimized_pilotnet_models_tensorflow/pilotnet_tftrt_fp32',
-                'optimized_pilotnet_models_tensorflow/pilotnet_tftrt_fp16',
-                'optimized_pilotnet_models_tensorflow/pilotnet_tftrt_int8_2',
+                'pilotnet.h5',
+                'pilotnet_model.pth'
                 ]
             ImageCropped: True
             ImageSize: [ 100,50 ]
             ImageNormalized: True
             PredictionsNormalized: True
             GPU: True
-            UseOptimized: True
+            UseOptimized: False
             ImageTranform: ''
         Type: 'CARLA'
     Experiment:
         Name: "Experiment name"
         Description: "Experiment description"
         UseWorldTimeouts: True
-        Timeout: [10] # for each world!
+        Timeout: [10, 10, 10, 10, 10, 10, 10] # for each world!
         Repetitions: 5
     Simulation:
         World: [
-            configs/CARLA_launch_files/town_01_anticlockwise_no_gui.launch,	
+            configs/CARLA_launch_files/town_01_anticlockwise_no_gui.launch,
             configs/CARLA_launch_files/town_02_anticlockwise_no_gui.launch,
-            configs/CARLA_launch_files/town_03_anticlockwise_no_gui.launch,	
-            configs/CARLA_launch_files/town_04_anticlockwise_no_gui.launch,	
-            configs/CARLA_launch_files/town_05_anticlockwise_no_gui.launch,	
-            configs/CARLA_launch_files/town_06_anticlockwise_no_gui.launch,	
+            configs/CARLA_launch_files/town_03_anticlockwise_no_gui.launch,
+            configs/CARLA_launch_files/town_04_anticlockwise_no_gui.launch,
+            configs/CARLA_launch_files/town_05_anticlockwise_no_gui.launch,
+            configs/CARLA_launch_files/town_06_anticlockwise_no_gui.launch,
             configs/CARLA_launch_files/town_07_anticlockwise_no_gui.launch
             ]
         RandomSpawnPoint: False
         SpawnPoints: [
             [
-                "10.0, 2.0, 1.37, 0.0, 0.0, 180.0",	                
+                "10.0, 2.0, 1.37, 0.0, 0.0, 180.0",
                 "300.0, -330.0, 1.37, 0.0, 0.0, 0.0",
                 "397.0, -50.0, 1.37, 0.0, 0.0, 90.0",
                 "392.0, -50.0, 1.37, 0.0, 0.0, -90.0",
                 "20.0, -327.0, 1.37, 0.0, 0.0, 180.0"
-            ],	
-            [	
-                "55.3, -105.6, 1.37, 0.0, 0.0, 180.0",	
-                "-7.0, -270.6, 1.37, 0.0, 0.0, -90.0",	
-                "-3.0, -270.6, 1.37, 0.0, 0.0, 90.0",	
-                "100.0, -303.0, 1.37, 0.0, 0.0, 180.0",	
-                "190.0, -150.0, 1.37, 0.0, 0.0, -90.0"	
-            ],	
-            [	
-                "246.0, 150.0, 1.37, 0.0, 0.0, 90.0",	
-                "243.0, -100., 1.37, 0.0, 0.0, 90.0",	
-                "-88.0, 170, 1.37, 0.0, 0.0, -90.0",	
-                "232.0, 0.0, 1.37, 0.0, 0.0, -90.0",	
-                "-50.0, 195, 1.37, 0.0, 0.0, 0.0"	
-            ],	
-            [	
-                "381.5, 60.0, 1.37, 0.0, 0.0, -90.0",	
-                "-16.0, -184.6, 1.37, 0.0, 0.0, -90.0",	
-                "381.5, 60.0, 1.37, 0.0, 0.0, -90.0",	
-                "-16.0, -184.6, 1.37, 0.0, 0.0, -90.0",	
-                "381.5, 60.0, 1.37, 0.0, 0.0, -90.0"	
-            ],	
-            [	
-                "20, -187.5, 1.37, 0.0, 0.0, 180.0",	
-                "210.1, -87.3, 1.37, 0.0, 0.0, 90.0",	
-                "189, -87.3, 1.37, 0.0, 0.0, -90.0",	
-                "20, -187.5, 1.37, 0.0, 0.0, 180.0",	
-                "210.1, -87.3, 1.37, 0.0, 0.0, 90.0"	
-            ],	
-            [	
-                "659.0, -70.5, 1.37, 0.0, 0.0, -90.0",	
-                "351.5, 10.5, 1.37, 0.0, 0.0, 0.0",	
-                "351.5, 24.5, 1.37, 0.0, 0.0, 180.0",	
-                "672.5, -70.5, 1.37, 0.0, 0.0, 90.0",	
-                "659.0, -70.5, 1.37, 0.0, 0.0, -90.0"	
-            ],	
-            [	
-                "-3.0, 243.0, 1.37, 0.0, 0.0, 180.0",	
-                "70.5, 5.0, 1.37, 0.0, 0.0, 60.0",	
-                "-184.5, -107.2, 1.37, 0.0, 0.0, 180.0",	
-                "-3.0, 243.0, 1.37, 0.0, 0.0, 180.0",	
-                "70.5, 5.0, 1.37, 0.0, 0.0, 60.0"	
+            ],
+            [
+                "55.3, -105.6, 1.37, 0.0, 0.0, 180.0",
+                "-7.0, -270.6, 1.37, 0.0, 0.0, -90.0",
+                "-3.0, -270.6, 1.37, 0.0, 0.0, 90.0",
+                "100.0, -303.0, 1.37, 0.0, 0.0, 180.0",
+                "190.0, -150.0, 1.37, 0.0, 0.0, -90.0"
+            ],
+            [
+                "246.0, 150.0, 1.37, 0.0, 0.0, 90.0",
+                "243.0, -100., 1.37, 0.0, 0.0, 90.0",
+                "-88.0, 170, 1.37, 0.0, 0.0, -90.0",
+                "232.0, 0.0, 1.37, 0.0, 0.0, -90.0",
+                "-50.0, 195, 1.37, 0.0, 0.0, 0.0"
+            ],
+            [
+                "381.5, 60.0, 1.37, 0.0, 0.0, -90.0",
+                "-16.0, -184.6, 1.37, 0.0, 0.0, -90.0",
+                "381.5, 60.0, 1.37, 0.0, 0.0, -90.0",
+                "-16.0, -184.6, 1.37, 0.0, 0.0, -90.0",
+                "381.5, 60.0, 1.37, 0.0, 0.0, -90.0"
+            ],
+            [
+                "20, -187.5, 1.37, 0.0, 0.0, 180.0",
+                "210.1, -87.3, 1.37, 0.0, 0.0, 90.0",
+                "189, -87.3, 1.37, 0.0, 0.0, -90.0",
+                "20, -187.5, 1.37, 0.0, 0.0, 180.0",
+                "210.1, -87.3, 1.37, 0.0, 0.0, 90.0"
+            ],
+            [
+                "659.0, -70.5, 1.37, 0.0, 0.0, -90.0",
+                "351.5, 10.5, 1.37, 0.0, 0.0, 0.0",
+                "351.5, 24.5, 1.37, 0.0, 0.0, 180.0",
+                "672.5, -70.5, 1.37, 0.0, 0.0, 90.0",
+                "659.0, -70.5, 1.37, 0.0, 0.0, -90.0"
+            ],
+            [
+                "-3.0, 243.0, 1.37, 0.0, 0.0, 180.0",
+                "70.5, 5.0, 1.37, 0.0, 0.0, 60.0",
+                "-184.5, -107.2, 1.37, 0.0, 0.0, 180.0",
+                "-3.0, 243.0, 1.37, 0.0, 0.0, 180.0",
+                "70.5, 5.0, 1.37, 0.0, 0.0, 60.0"
             ]
         ]
     Dataset: