diff --git a/mushr_rhc_ros/launch/sim/sim_server_eval.launch b/mushr_rhc_ros/launch/sim/sim_server_eval.launch
index b9f5dd8..d4eb742 100644
--- a/mushr_rhc_ros/launch/sim/sim_server_eval.launch
+++ b/mushr_rhc_ros/launch/sim/sim_server_eval.launch
@@ -10,18 +10,23 @@
     <arg name="n_layers" default="12" />
 
     <!-- action model -->
-    <!-- <arg name="model_path_act" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/hvd_test_16/GPTcorl_scratch_trainm_e2e_statet_pointnet_traini_1_nla_12_nhe_8_statel_0.01_2022-06-02_1654131996.2524076_2022-06-02_1654131996.2524228/model/epoch30.pth.tar" /> -->
-    <arg name="model_path_act" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/model_sizes_0/GPTcorl_scratch_trainm_e2e_statet_pointnet_traini_0_nla_6_nhe_8_statel_0.01_2022-06-03_1654253046.3212142_2022-06-03_1654253046.3212266/model/epoch30.pth.tar" />
+    <arg name="model_path_act" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/hvd_test_16/GPTcorl_scratch_trainm_e2e_statet_pointnet_traini_1_nla_12_nhe_8_statel_0.01_2022-06-02_1654131996.2524076_2022-06-02_1654131996.2524228/model/epoch30.pth.tar" />
+    <!-- <arg name="model_path_act" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/model_sizes_0/GPTcorl_scratch_trainm_e2e_statet_pointnet_traini_0_nla_6_nhe_8_statel_0.01_2022-06-03_1654253046.3212142_2022-06-03_1654253046.3212266/model/epoch30.pth.tar" /> -->
+    <!-- <arg name="model_path_act" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/model_sizes_0/GPTcorl_scratch_trainm_e2e_statet_pointnet_traini_1_nla_24_nhe_8_statel_0.01_2022-06-03_1654235683.085602_2022-06-03_1654235683.0856125/model/epoch30.pth.tar" /> -->
 
     <!-- map model -->
-    <arg name="use_map" default="false" />
-    <arg name="model_path_map" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/mapscratch_new_0/GPTcorl_map_trainm_map_sta_pointnet_traini_1_nla_12_nhe_8_2022-05-31_1653978768.732001_2022-05-31_1653978768.7320147/model/epoch28.pth.tar" />
+    <arg name="use_map" default="true" />
+    <!-- without fine-tuning, 100% of data -->
+    <!-- <arg name="model_path_map" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/nofinetune_episodes_map_0/GPTcorl_map_trainm_map_sta_pointnet_traini_1_nla_12_nhe_8_2022-06-03_1654271262.2364998_2022-06-03_1654271262.2365131/model/epoch30.pth.tar" /> -->
+    
+    <!-- with fine-tuning, 100% of data -->
+    <arg name="model_path_map" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/finetune_episodes_map_0/GPTcorl_map_trainm_map_sta_pointnet_traini_1_nla_12_nhe_8_2022-06-03_1654275654.0652122_2022-06-03_1654275654.0652246/model/epoch30.pth.tar" />
 
     <!-- localization model -->
     <arg name="use_loc" default="false" />
     <arg name="model_path_loc" default="/home/rb/hackathon_data_premium/aml_outputs/log_output/locscratch_new_0/GPTcorl_loc_trainm_loc_sta_pointnet_lr_6e-5_traini_1_nla_12_nhe_8_locx_0.01_locy_1_loca_10_locd_joint_2022-05-31_1653978601.5423563_2022-05-31_1653978601.5423756/model/epoch30.pth.tar" />
 
-    <arg name="deployment_map" default="train" />
+    <arg name="deployment_map" default="test" />
     <!-- <arg name="deployment_map" default="test" /> -->
 
     <group if="$(eval arg('deployment_map') == 'train')">
diff --git a/mushr_rhc_ros/src/rhcnode_network_pcl_new.py b/mushr_rhc_ros/src/rhcnode_network_pcl_new.py
index f3ec23e..af52bb5 100755
--- a/mushr_rhc_ros/src/rhcnode_network_pcl_new.py
+++ b/mushr_rhc_ros/src/rhcnode_network_pcl_new.py
@@ -168,7 +168,7 @@ def __init__(self, dtype, params, logger, name):
                       map_decoder='deconv', map_recon_dim=64, freeze_core=False,
                       state_loss_weight=0.1,
                       loc_x_loss_weight=0.01, loc_y_loss_weight=0.1, loc_angle_loss_weight=10.0,
-                      loc_decoder_type='separate')
+                      loc_decoder_type='joint')
             map_model = GPT(mconf_map, device)
             # map_model=torch.nn.DataParallel(map_model)
 
@@ -185,6 +185,7 @@ def __init__(self, dtype, params, logger, name):
             map_model.eval()
             map_model.to(device)
             self.map_model = map_model
+            rate_map_display = 1.0
             self.map_viz_timer = rospy.Timer(rospy.Duration(1.0 / rate_map_display), self.map_viz_cb)
 
         # localization model
@@ -216,6 +217,7 @@ def __init__(self, dtype, params, logger, name):
             loc_model.eval()
             loc_model.to(device)
             self.loc_model = loc_model
+            rate_loc_display = 20
             self.map_viz_loc = rospy.Timer(rospy.Duration(1.0 / rate_loc_display), self.loc_viz_cb)
 
 
@@ -236,9 +238,8 @@ def __init__(self, dtype, params, logger, name):
         self.time_so_far = 0.0
         self.file_name = os.path.join(self.out_path,'info.csv')
 
-        # set timer callbacks for visualization
-        rate_map_display = 1.0
-        rate_loc_display = 20
+        
+