diff --git a/README.md b/README.md
index 59ba89b0e..9d2dc68ff 100644
--- a/README.md
+++ b/README.md
@@ -39,7 +39,7 @@ Finally, start Pylot in the container:
 
 ```console
 nvidia-docker exec -i -t pylot /bin/bash
-cd workspace/pylot/
+cd ~/workspace/pylot/
 python3 pylot.py --flagfile=configs/detection.conf
 ```
 
diff --git a/configs/lincoln.conf b/configs/lincoln.conf
index 906c640c9..c65462d60 100644
--- a/configs/lincoln.conf
+++ b/configs/lincoln.conf
@@ -5,13 +5,14 @@
 --obstacle_detection
 --nosimulator_obstacle_detection
 --path_coco_labels=dependencies/models/coco.names
---obstacle_detection_model_paths=coco_models/faster_rcnn_resnet101_coco_2018_01_28/frozen_inference_graph.pb
+--obstacle_detection_model_paths=dependencies/models/obstacle_detection/efficientdet/efficientdet-d4/efficientdet-d4_frozen.pb
+--obstacle_detection_model_names=efficientdet-d4
 --obstacle_detection_min_score_threshold=0.3
 --obstacle_detection_gpu_memory_fraction=0.3
 ####### Traffic light detector config ######
 --traffic_light_detection
 --nosimulator_traffic_light_detection
---traffic_light_det_model_path=dependencies/models/traffic_light_detection/graph_optimized.pb
+--traffic_light_det_model_path=dependencies/models/traffic_light_detection/faster-rcnn
 --traffic_light_det_gpu_memory_fraction=0.3
 --traffic_light_det_min_score_threshold=0.3
 ###### Lane detection ######
diff --git a/configs/lincoln_frenet.conf b/configs/lincoln_frenet.conf
index c38c664a0..b573746e9 100644
--- a/configs/lincoln_frenet.conf
+++ b/configs/lincoln_frenet.conf
@@ -5,13 +5,14 @@
 --obstacle_detection
 --nosimulator_obstacle_detection
 --path_coco_labels=dependencies/models/coco.names
---obstacle_detection_model_paths=coco_models/faster_rcnn_resnet101_coco_2018_01_28/frozen_inference_graph.pb
+--obstacle_detection_model_paths=dependencies/models/obstacle_detection/efficientdet/efficientdet-d4/efficientdet-d4_frozen.pb
+--obstacle_detection_model_names=efficientdet-d4
 --obstacle_detection_min_score_threshold=0.3
 --obstacle_detection_gpu_memory_fraction=0.3
 ####### Traffic light detector config ######
 --traffic_light_detection
 --nosimulator_traffic_light_detection
---traffic_light_det_model_path=dependencies/models/traffic_light_detection/graph_optimized.pb
+--traffic_light_det_model_path=dependencies/models/traffic_light_detection/faster-rcnn/
 --traffic_light_det_gpu_memory_fraction=0.3
 --traffic_light_det_min_score_threshold=0.3
 ###### Lane detection ######
diff --git a/configs/scenarios/car_alley.conf b/configs/scenarios/car_alley.conf
index 49da6edc2..cc21d1a56 100644
--- a/configs/scenarios/car_alley.conf
+++ b/configs/scenarios/car_alley.conf
@@ -6,7 +6,7 @@
 ###### Perception config #####
 --obstacle_detection
 --nosimulator_obstacle_detection
---obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb
+--obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/
 --obstacle_detection_model_names=faster-rcnn
 --obstacle_location_finder_sensor=depth_camera
 --perfect_traffic_light_detection
diff --git a/configs/scenarios/car_running_red_light.conf b/configs/scenarios/car_running_red_light.conf
index 75e1420fa..f0d945bd8 100644
--- a/configs/scenarios/car_running_red_light.conf
+++ b/configs/scenarios/car_running_red_light.conf
@@ -9,7 +9,7 @@
 --obstacle_detection
 #--perfect_obstacle_detection
 --obstacle_detection_model_names=faster-rcnn
---obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb
+--obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/
 --obstacle_location_finder_sensor=depth_camera
 #--perfect_traffic_light_detection
 --simulator_traffic_light_detection
diff --git a/configs/scenarios/opposite_vehicle_running_red_light_021.conf b/configs/scenarios/opposite_vehicle_running_red_light_021.conf
index 3c89eb0ac..7b6cf2ff8 100644
--- a/configs/scenarios/opposite_vehicle_running_red_light_021.conf
+++ b/configs/scenarios/opposite_vehicle_running_red_light_021.conf
@@ -4,7 +4,7 @@
 ###### Perception config #####
 --obstacle_detection
 --nosimulator_obstacle_detection
---obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb
+--obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/
 --obstacle_detection_model_names=faster-rcnn
 --obstacle_location_finder_sensor=depth_camera
 --perfect_traffic_light_detection
diff --git a/configs/scenarios/person_avoidance.conf b/configs/scenarios/person_avoidance.conf
index 467bdd5ca..57b251599 100644
--- a/configs/scenarios/person_avoidance.conf
+++ b/configs/scenarios/person_avoidance.conf
@@ -10,9 +10,9 @@
 --obstacle_detection
 --nosimulator_obstacle_detection
 #--perfect_obstacle_detection
---obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb
-#--obstacle_detection_model_paths=dependencies/models/obstacle_detection/ssd-mobilenet-v1/frozen_inference_graph.pb
-#--obstacle_detection_model_paths=dependencies/models/obstacle_detection/ssd-mobilenet-v1-fpn/frozen_inference_graph.pb
+--obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/
+#--obstacle_detection_model_paths=dependencies/models/obstacle_detection/ssd-mobilenet-v1/
+#--obstacle_detection_model_paths=dependencies/models/obstacle_detection/ssd-mobilenet-v1-fpn/
 --obstacle_detection_model_names=faster-rcnn
 --obstacle_location_finder_sensor=depth_camera
 --perfect_traffic_light_detection
diff --git a/configs/scenarios/person_avoidance_waypoint.conf b/configs/scenarios/person_avoidance_waypoint.conf
index 52625c358..b82d27948 100644
--- a/configs/scenarios/person_avoidance_waypoint.conf
+++ b/configs/scenarios/person_avoidance_waypoint.conf
@@ -11,7 +11,7 @@
 --obstacle_detection
 #--perfect_obstacle_detection
 --obstacle_detection_model_names=faster-rcnn
---obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb
+--obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/
 --obstacle_location_finder_sensor=depth_camera
 #--perfect_traffic_light_detection
 --simulator_traffic_light_detection
diff --git a/configs/scenarios/tracker_evaluation.conf b/configs/scenarios/tracker_evaluation.conf
index e327bc23f..265755b3c 100644
--- a/configs/scenarios/tracker_evaluation.conf
+++ b/configs/scenarios/tracker_evaluation.conf
@@ -7,7 +7,7 @@
 --perfect_obstacle_detection
 # Don't evaluate tracking on small, easy bounding boxes in the distance.
 --dynamic_obstacle_distance_threshold=50
---obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb
+--obstacle_detection_model_paths=dependencies/models/obstacle_detection/faster-rcnn/
 --obstacle_detection_model_names=faster-rcnn
 --obstacle_location_finder_sensor=depth_camera
 ###### Tracking config #####
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 80991608b..437841634 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,4 +1,4 @@
-FROM nvidia/cudagl:10.2-devel-ubuntu18.04
+FROM nvidia/cudagl:11.4.2-devel-ubuntu20.04
 MAINTAINER Sukrit Kalra (sukrit.kalra@berkeley.edu)
 
 # Set up a erdos user first.
@@ -34,19 +34,21 @@ RUN sudo apt-get -y --fix-missing update
 ENV DEBIAN_FRONTEND=noninteractive
 RUN sudo DEBIAN_FRONTEND=noninteractive sudo DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata
 
-# Get the erdos directory.
-RUN sudo apt-get -y update
-RUN sudo apt-get -y install git curl clang python3 python3-pip
+# Get the ERDOS package dependencies.
+RUN sudo apt-get -y install apt-utils git curl clang python-is-python3 python3-pip
 RUN python3 -m pip install --upgrade pip
 RUN python3 -m pip install setuptools setuptools-rust numpy==1.19.5
+
+# Setup Rust and install ERDOS.
 RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
 ENV PATH="/home/erdos/.cargo/bin:${PATH}"
+RUN echo "export PATH=/home/erdos/.cargo/bin:${PATH}" >> ~/.bashrc
 RUN rustup default nightly
 RUN mkdir -p /home/erdos/workspace
 RUN cd /home/erdos/workspace && git clone https://github.com/erdos-project/erdos.git && cd erdos && python3 python/setup.py install --user
 
 # Set up Pylot.
-RUN sudo apt-get install -y libcudnn7 cuda-toolkit-10-0 ssh libqt5core5a libeigen3-dev cmake qtbase5-dev libpng16-16 libtiff5 python3-tk
+RUN sudo apt-get install -y libcudnn8 cuda-toolkit-11-4 ssh libqt5core5a libeigen3-dev cmake qtbase5-dev libpng16-16 libtiff5 python3-tk python3-pygame libgeos-dev
 # Get the Pylot directory.
 RUN cd /home/erdos/workspace && git clone https://github.com/erdos-project/pylot.git
 WORKDIR /home/erdos/workspace/pylot/
@@ -64,7 +66,7 @@ RUN python3 -m pip install py-trees==0.8.3 networkx==2.2 Shapely==1.6.4 psutil==
 RUN cd /home/erdos/workspace && git clone https://github.com/erdos-project/leaderboard.git
 RUN python3 -m pip install dictor requests
 
-RUN echo "export PYTHONPATH=/home/erdos/workspace/pylot/dependencies/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/agents/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/:/home/erdos/workspace/scenario_runner" >> ~/.bashrc
+RUN echo "export PYTHONPATH=/home/erdos/workspace/pylot/dependencies/:/home/erdos/workspace/pylot/dependencies/lanenet:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/carla/agents/:/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1/PythonAPI/:/home/erdos/workspace/scenario_runner" >> ~/.bashrc
 RUN echo "export PYLOT_HOME=/home/erdos/workspace/pylot/" >> ~/.bashrc
 RUN echo "export CARLA_HOME=/home/erdos/workspace/pylot/dependencies/CARLA_0.9.10.1" >> ~/.bashrc
 RUN echo "if [ -f ~/.bashrc ]; then . ~/.bashrc ; fi" >> ~/.bash_profile
diff --git a/docker/Dockerfile-challenge.master b/docker/Dockerfile-challenge.master
index 2e090d44e..95c3f1619 100644
--- a/docker/Dockerfile-challenge.master
+++ b/docker/Dockerfile-challenge.master
@@ -1,4 +1,4 @@
-FROM nvidia/cuda:10.0-cudnn7-devel-ubuntu18.04
+FROM nvidia/cudagl:11.4.2-devel-ubuntu20.04
 
 ARG HTTP_PROXY
 ARG HTTPS_PROXY
@@ -13,7 +13,7 @@ ENV LC_ALL en_US.UTF-8
 RUN apt-get -y update
 ENV DEBIAN_FRONTEND=noninteractive
 RUN DEBIAN_FRONTEND=noninteractive ; apt-get install -y tzdata
-
+ 
 RUN apt-get update && apt-get install -y --no-install-recommends \
          build-essential \
          cmake \
@@ -22,8 +22,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
          vim \
          ca-certificates \
          libjpeg-dev \
-	     libpng16-16 \
-	     libtiff5 \
+         libpng16-16 \
+         libtiff5 \
          libpng-dev \
          python-dev \
          python3 \
@@ -76,14 +76,14 @@ RUN chmod +x /workspace/leaderboard/scripts/run_evaluation.sh
 ########################################################################################################################
 ########################################################################################################################
 
-RUN apt-get update && apt-get install -y clang libgeos-dev python-opencv libqt5core5a libeigen3-dev cmake qtbase5-dev python3-tk
+RUN apt-get update && apt-get install -y clang libgeos-dev python-opencv libqt5core5a libeigen3-dev cmake qtbase5-dev python3-tk libcudnn8 cuda-toolkit-11-4 ssh python3-pygame 
 RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
 ENV PATH="/root/.cargo/bin/:${PATH}"
 RUN rustup default nightly
 RUN packages='wheel setuptools setuptools-rust fire' && pip install ${packages}
 RUN git clone https://github.com/erdos-project/erdos.git && cd erdos && python3 python/setup.py install --user
 
-RUN packages='absl-py cvxpy gdown lapsolver matplotlib==2.2.4 motmetrics numpy<1.17 open3d-python==0.5.0.0 opencv-python>=4.1.0.25 opencv-contrib-python>=4.1.0.25 pillow>=6.2.2 pytest scikit-image<0.15 scipy==1.2.2 shapely==1.6.4 tensorflow-gpu==1.15.4 torch==1.4.0 torchvision==0.5.0 filterpy==1.4.1 scikit-learn==0.22.2 imgaug==0.2.8 nonechucks==0.3.1 Cython progress pyquaternion nuscenes-devkit' \
+RUN packages='absl-py cvxpy gdown lapsolver matplotlib==3.4.3 motmetrics numpy==1.19.5 open3d==0.13.0 opencv-python>=4.1.0.25 opencv-contrib-python>=4.1.0.25 pillow>=6.2.2 pytest scikit-image==0.18.3 scipy==1.7.1 shapely==1.6.4 tensorflow-gpu==2.5.1 torch==1.4.0 torchvision==0.5.0 filterpy==1.4.1 scikit-learn==1.0 imgaug==0.2.8 nonechucks==0.3.1 Cython progress pyquaternion nuscenes-devkit' \
 	&& pip install ${packages}
 ENV PYTHONPATH ${TEAM_CODE_ROOT}/:${TEAM_CODE_ROOT}/dependencies/:${PYTHONPATH}
 ENV TEAM_AGENT ${TEAM_CODE_ROOT}/pylot/simulation/challenge/ERDOSAgent.py
diff --git a/install.sh b/install.sh
index 16e66d486..12e704f25 100755
--- a/install.sh
+++ b/install.sh
@@ -13,88 +13,22 @@ sudo apt-get install -y git wget cmake python3-pip unzip clang libpng-dev libgeo
 # opencv requires.
 sudo apt-get install -y python3-opencv
 python3 -m pip install --user gdown
+# Install Pygame if available.
+PYGAME_PKG=`apt-cache search python3-pygame`
+if [ -n "$PYGAME_PKG" ] ; then
+    sudo apt-get install python3-pygame
+fi
 
 ###############################################################################
 # Get models & code bases we depend on
 ###############################################################################
 cd $PYLOT_HOME/dependencies/
-mkdir -p dependencies/models
-
-###### Download CARLA-trained object detection models ######
-echo "[x] Downloading the obstacle detection models..."
-cd $PYLOT_HOME/dependencies/models
-~/.local/bin/gdown https://drive.google.com/uc?id=1aT0q-HCz3KutvNGcc0Tleh88nK05unSe
-unzip obstacle_detection.zip ; rm obstacle_detection.zip
-
-###### Download the traffic light model ######
-echo "[x] Downloading the traffic light detection models..."
-cd $PYLOT_HOME/dependencies/models
-mkdir -p traffic_light_detection/faster-rcnn ; cd traffic_light_detection/faster-rcnn
-~/.local/bin/gdown https://drive.google.com/uc?id=1MbTIkh4KJubJN66-SurH1x725D9S-w50
-
-###### Download the Lanenet lane detection model ######
-echo "[x] Downloading the lane detection models..."
-cd $PYLOT_HOME/dependencies/models
-mkdir -p lane_detection ; cd lane_detection/
-~/.local/bin/gdown https://drive.google.com/uc?id=1yILceTgUr1MTZ7Q2wanvQ0r8RbBf5ILD
-unzip lanenet.zip ; rm lanenet.zip
-
-###### Download the DRN segmentation cityscapes models ######
-echo "[x] Downloading the segmentation models..."
-cd $PYLOT_HOME/dependencies/models
-mkdir -p segmentation/drn ; cd segmentation/drn
-~/.local/bin/gdown https://drive.google.com/uc?id=1ST0WYo-uDS91jKDTaK21RvShWpayiyXN
-
-###### Download the DASiamRPN object tracker models ######
-echo "[x] Downloading the object tracking models..."
-cd $PYLOT_HOME/dependencies/models
-mkdir -p tracking/DASiamRPN ; cd tracking/DASiamRPN
-# SiamRPNVOT.model
-~/.local/bin/gdown https://drive.google.com/uc?id=1G9GtKpF36-AwjyRXVLH_gHvrfVSCZMa7
-# SiamRPNBIG.model
-~/.local/bin/gdown https://drive.google.com/uc?id=1_bIGtHYdAoTMS-hqOPE1j3KU-ON15cVV
-# SiamRPNOTB.model
-~/.local/bin/gdown https://drive.google.com/uc?id=18-LyMHVLhcx6qBWpUJEcPFoay1tSqURI
 
-###### Download DeepSort models ######
-# Download the real-world model.
-cd $PYLOT_HOME/dependencies/models
-mkdir -p tracking/deep-sort ; cd tracking/deep-sort
-~/.local/bin/gdown https://drive.google.com/uc?id=1bB66hP9voDXuoBoaCcKYY7a8IYzMMs4P
-cd ../
-# Download the CARLA model.
-mkdir deep-sort-carla ; cd deep-sort-carla
-~/.local/bin/gdown https://drive.google.com/uc?id=14JLC_eo_Xpf2KbWffC96qtSAl2sXLyIl
-
-###### Download CenterTrack models ######
-cd $PYLOT_HOME/dependencies/models
-mkdir -p tracking/center_track ; cd tracking/center_track
-# MOT model
-~/.local/bin/gdown https://drive.google.com/uc?id=1h_8Ts11rf0GQ4_n6FgmCeBuFcWrRjJfa
-# KITTI model
-~/.local/bin/gdown https://drive.google.com/uc?id=1kBX4AgQj7R7HvgMdbgBcwvIac-IFp95h
-# nuScenes
-~/.local/bin/gdown https://drive.google.com/uc?id=1e8zR1m1QMJne-Tjp-2iY_o81hn2CiQRt
-# COCO model
-~/.local/bin/gdown https://drive.google.com/uc?id=1tJCEJmdtYIh8VuN8CClGNws3YO7QGd40
-
-###### Download QDTrack models ######
-cd $PYLOT_HOME/dependencies/models
-mkdir -p tracking/qd_track ; cd tracking/qd_track
-~/.local/bin/gdown https://drive.google.com/uc?id=1YNAQgd8rMqqEG-fRj3VWlO4G5kdwJbxz
-
-##### Download AnyNet depth estimation models #####
-echo "[x] Downloading the depth estimation models..."
-cd $PYLOT_HOME/dependencies/models
-mkdir -p depth_estimation/AnyNet ; cd depth_estimation/AnyNet
-~/.local/bin/gdown https://drive.google.com/uc?id=18Vi68rQO-vcBn3882vkumIWtGggZQDoU
-unzip checkpoint.zip ; rm checkpoint.zip
-
-###### Download the R2P2 prediction model ######
-echo "[x] Downloading the prediction models..."
-cd $PYLOT_HOME/dependencies/models
-mkdir -p prediction/r2p2 ; cd prediction/r2p2
-~/.local/bin/gdown https://drive.google.com/uc?id=1Ky_6daMnovoYxlQ8iTTGwJj_4bKd8EKn
+###### Download the model weights ######
+echo "[x] Downloading all model weights..."
+cd $PYLOT_HOME/dependencies/
+~/.local/bin/gdown https://drive.google.com/uc?id=1rQKFDxGDFi3rBLsMrJzb7oGZvvtwgyiL
+unzip models.zip ; rm models.zip
 
 #################### Download the code bases ####################
 echo "[x] Compiling the planners..."
@@ -130,12 +64,12 @@ cd $PYLOT_HOME/dependencies/
 git clone https://github.com/ICGog/nanonets_object_tracking.git
 sudo apt-get install python3-tk
 git clone https://github.com/ICGog/sort.git
-
 ###### Download the DaSiamRPN code ######
 cd $PYLOT_HOME/dependencies/
 git clone https://github.com/ICGog/DaSiamRPN.git
 
 ###### Install CenterTrack ######
+echo "[x] Installing the CenterTrack object tracking code..."
 cd $PYLOT_HOME/dependencies/
 git clone https://github.com/ICGog/CenterTrack
 cd CenterTrack/src/lib/model/networks/
@@ -148,11 +82,9 @@ python3 setup.py build develop --user
 ###### Install QDTrack ######
 cd $PYLOT_HOME/dependencies/
 git clone https://github.com/mageofboy/qdtrack.git
-git clone https://github.com/open-mmlab/mmdetection.git
-cd mmdetection
-python3 setup.py develop #need to add mmcv
 cd $PYLOT_HOME/dependencies/qdtrack
-python3 setup.py develop
+python3 -m pip install mmcv==1.3.10 mmdet==2.14.0
+python3 -m pip install -e ./
 
 ##### Download the Lanenet code #####
 echo "[x] Cloning the lanenet lane detection code..."
diff --git a/pylot/flags.py b/pylot/flags.py
index 7b88c7f71..ff10a54ee 100644
--- a/pylot/flags.py
+++ b/pylot/flags.py
@@ -278,7 +278,7 @@ def prediction_validator(flags_dict):
 flags.register_multi_flags_validator(
     ['visualize_prediction', 'execution_mode'],
     lambda flags_dict: ((not flags_dict['visualize_prediction']) or flags_dict[
-        'execution_mode'] == 'simulator'),
+        'execution_mode'] == 'simulation'),
     message='--visualize_prediction can only be enabled when running atop the'
     ' simulator')
 
diff --git a/pylot/simulation/challenge/challenge.conf b/pylot/simulation/challenge/challenge.conf
index 3f9c49769..795d0de18 100644
--- a/pylot/simulation/challenge/challenge.conf
+++ b/pylot/simulation/challenge/challenge.conf
@@ -3,7 +3,7 @@
 ########## Object detection flags ##########
 --obstacle_detection
 --nosimulator_obstacle_detection
---obstacle_detection_model_paths=/workspace/team_code/dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb
+--obstacle_detection_model_paths=/workspace/team_code/dependencies/models/obstacle_detection/faster-rcnn/
 --obstacle_detection_model_names=faster-rcnn
 --path_coco_labels=/workspace/team_code/dependencies/models/pylot.names
 # --obstacle_detection_model_paths=/workspace/team_code/dependencies/models/obstacle_detection/efficientdet/efficientdet-d6/efficientdet-d6_frozen.pb
@@ -18,7 +18,7 @@
 --traffic_light_det_min_score_threshold=0.4
 --traffic_light_det_gpu_memory_fraction=0.4
 --traffic_light_det_gpu_index=0
---traffic_light_det_model_path=/workspace/team_code/dependencies/models/traffic_light_detection/faster-rcnn/frozen_inference_graph.pb
+--traffic_light_det_model_path=/workspace/team_code/dependencies/models/traffic_light_detection/faster-rcnn/
 ######### Tracker config #########
 --obstacle_tracking
 --min_matching_iou=0.2
diff --git a/pylot/simulation/challenge/challenge_sensors.conf b/pylot/simulation/challenge/challenge_sensors.conf
index 6f2eee8d3..493bdbae1 100644
--- a/pylot/simulation/challenge/challenge_sensors.conf
+++ b/pylot/simulation/challenge/challenge_sensors.conf
@@ -3,7 +3,7 @@
 ########## Object detection flags ##########
 --obstacle_detection
 --nosimulator_obstacle_detection
-# --obstacle_detection_model_paths=/workspace/team_code/dependencies/models/obstacle_detection/faster-rcnn/frozen_inference_graph.pb
+# --obstacle_detection_model_paths=/workspace/team_code/dependencies/models/obstacle_detection/faster-rcnn/
 # --obstacle_detection_model_names=faster-rcnn
 #--path_coco_labels=/workspace/team_code/dependencies/models/pylot.names
 --obstacle_detection_model_paths=/workspace/team_code/dependencies/models/obstacle_detection/efficientdet/efficientdet-d6/efficientdet-d6_frozen.pb
@@ -18,7 +18,7 @@
 --traffic_light_det_min_score_threshold=0.4
 --traffic_light_det_gpu_memory_fraction=0.3
 --traffic_light_det_gpu_index=0
---traffic_light_det_model_path=/workspace/team_code/dependencies/models/traffic_light_detection/faster-rcnn/frozen_inference_graph.pb
+--traffic_light_det_model_path=/workspace/team_code/dependencies/models/traffic_light_detection/faster-rcnn/
 ######### Tracker config #########
 --obstacle_tracking
 --min_matching_iou=0.2
diff --git a/pylot/simulation/utils.py b/pylot/simulation/utils.py
index 214aab1a1..a6a0d62a2 100644
--- a/pylot/simulation/utils.py
+++ b/pylot/simulation/utils.py
@@ -19,9 +19,8 @@ def check_simulator_version(simulator_version: str,
     """Checks if the simulator meets the minimum version requirements."""
     ver_strs = simulator_version.split('.')
     if len(ver_strs) < 2 or len(ver_strs) > 3:
-        print('WARNING: CARLA version {} is not supported; assuming that the '
-              'API of this version is compatible with 0.9.10'.format(
-                  simulator_version))
+        print('WARNING: Assuming that installed CARLA {} API is compatible '
+              'with CARLA 0.9.10 API'.format(simulator_version))
         ver_strs = '0.9.10'.split('.')
     major = int(ver_strs[0])
     minor = int(ver_strs[1])
diff --git a/requirements.txt b/requirements.txt
index 463e80b6c..6d7faf64b 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -11,23 +11,21 @@ pillow>=6.2.2
 pycocotools
 pygame==1.9.6
 pytest
-scikit-image<0.15
-scipy==1.2.2
+scikit-image==0.18.3
+scipy==1.7.1
 shapely==1.6.4
-tensorflow-gpu==2.0.0
+tensorflow-gpu==2.5.1
 torch==1.4.0
 torchvision==0.5.0
 ##### Tracking dependencies #####
 Cython
 filterpy==1.4.1
 imgaug==0.2.8
-matplotlib==2.2.4
+matplotlib==3.4.3
 nonechucks==0.3.1
 nuscenes-devkit
 progress
 pyquaternion
-scikit-learn==0.22.2
-mmcv>=0.3.0
-mmdet
+scikit-learn==1.0
 ##### CARLA dependencies #####
 networkx==2.2
diff --git a/setup.py b/setup.py
index 3d73c431b..a64abcf1a 100644
--- a/setup.py
+++ b/setup.py
@@ -2,7 +2,7 @@
 
 setup(
     name="erdos-pylot",
-    version="0.3.2",
+    version="0.3.3",
     author="Pylot Team",
     description=("A platform for developing autonomous vehicles."),
     long_description=open("README.md").read(),
@@ -16,7 +16,7 @@
         "erdos>=0.3.1",
         "lapsolver",
         "motmetrics",
-        "numpy<1.20",  # Update to newer numpy version once we switch to tf2
+        "numpy<1.20",  # Update once TF supports a newer version.
         "open3d==0.13.0",
         "opencv-python>=4.1.0.25",
         "opencv-contrib-python>=4.1.0.25",
@@ -24,22 +24,22 @@
         "pycocotools",
         "pygame==1.9.6",
         "pytest",
-        "scikit-image<0.15",
-        "scipy==1.2.2",
+        "scikit-image==0.18.3",
+        "scipy==1.7.1",
         "shapely==1.6.4",
-        "tensorflow-gpu==2.0.0",
+        "tensorflow-gpu==2.5.1",
         "torch==1.4.0",
         "torchvision==0.5.0",
         ##### Tracking dependencies #####
         "Cython",
         "filterpy==1.4.1",
         "imgaug==0.2.8",
-        "matplotlib==2.2.4",
+        "matplotlib==3.4.3",
         "nonechucks==0.3.1",
         "nuscenes-devkit",
         "progress",
         "pyquaternion",
-        "scikit-learn==0.22.2",
+        "scikit-learn==1.0",
         ##### CARLA dependencies #####
         "networkx==2.2",
     ],