diff --git a/perception/tensorrt_yolox/CMakeLists.txt b/perception/tensorrt_yolox/CMakeLists.txt
index 01ade9bac43d6..80a7f0964b4bc 100644
--- a/perception/tensorrt_yolox/CMakeLists.txt
+++ b/perception/tensorrt_yolox/CMakeLists.txt
@@ -30,7 +30,7 @@ set(DATA_PATH "${CMAKE_CURRENT_SOURCE_DIR}/data")
 if(NOT EXISTS "${DATA_PATH}")
   execute_process(COMMAND mkdir -p ${DATA_PATH})
 endif()
-function(download FILE_NAME FILE_HASH)
+function(download SUB_DIR FILE_NAME FILE_HASH)
   message(STATUS "Checking and downloading ${FILE_NAME}")
   set(FILE_PATH ${DATA_PATH}/${FILE_NAME})
   set(STATUS_CODE 0)
@@ -44,14 +44,14 @@ function(download FILE_NAME FILE_HASH)
     else()
       message(STATUS "diff ${FILE_NAME}")
       message(STATUS "File hash changes. Downloading now ...")
-      file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 3600)
+      file(DOWNLOAD https://awf.ml.dev.web.auto/perception/${SUB_DIR}/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 3600)
       list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
       list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
     endif()
   else()
     message(STATUS "not found ${FILE_NAME}")
     message(STATUS "File doesn't exists. Downloading now ...")
-    file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 3600)
+    file(DOWNLOAD https://awf.ml.dev.web.auto/perception/${SUB_DIR}/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 3600)
     list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
     list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
   endif()
@@ -62,10 +62,13 @@ function(download FILE_NAME FILE_HASH)
   endif()
 endfunction()
 
-download(yolox-tiny.onnx 97028baf73ce55e115599c9c60651b08)
-download(yolox-sPlus-opt.onnx bf3b0155351f90fcdca2626acbfd3bcf)
-download(yolox-sPlus-opt.EntropyV2-calibration.table c6e6f1999d5724a017516a956096701f)
-download(label.txt 9ceadca8b72b6169ee6aabb861fe3e1e)
+set(V1_PATH models/object_detection_yolox_s/v1)
+download(models yolox-tiny.onnx 97028baf73ce55e115599c9c60651b08)
+download(models yolox-sPlus-opt.onnx bf3b0155351f90fcdca2626acbfd3bcf)
+download(models yolox-sPlus-opt.EntropyV2-calibration.table c6e6f1999d5724a017516a956096701f)
+download(${V1_PATH} yolox-sPlus-T4-960x960-pseudo-finetune.onnx 37165a7e67bdaf6acff93925c628f2b2)
+download(${V1_PATH} yolox-sPlus-T4-960x960-pseudo-finetune.EntropyV2-calibration.table d266ea9846b10e4dab53572152c6fd8f)
+download(models label.txt 9ceadca8b72b6169ee6aabb861fe3e1e)
 
 ##########
 # tensorrt_yolox
diff --git a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
index 43f59e944f889..cb89f5829c65d 100644
--- a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
+++ b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml
@@ -1,8 +1,9 @@
 <?xml version="1.0"?>
 <launch>
+  <!-- cspell:ignore finetune -->
   <arg name="input/image" default="/sensing/camera/camera0/image_rect_color"/>
   <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
-  <arg name="model_name" default="yolox-sPlus-opt"/>
+  <arg name="model_name" default="yolox-sPlus-T4-960x960-pseudo-finetune"/>
   <arg name="model_path" default="$(find-pkg-share tensorrt_yolox)/data"/>
   <arg name="score_threshold" default="0.35"/>
   <arg name="nms_threshold" default="0.7"/>