diff --git a/.gitignore b/.gitignore
index 2cb33250f..cfc9f7611 100644
--- a/.gitignore
+++ b/.gitignore
@@ -42,4 +42,7 @@ _builds/
 *.swp
 /env
 
-.history/
\ No newline at end of file
+.history/
+
+.compile_commands.json
+.depthai_cached_models/
diff --git a/cmake/Depthai/DepthaiDeviceRVC4Config.cmake b/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
index 0efa23281..1e138ed11 100644
--- a/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
+++ b/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
@@ -4,4 +4,4 @@ set(DEPTHAI_DEVICE_RVC4_MATURITY "snapshot")
 
 # "version if applicable"
 # set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+93f7b75a885aa32f44c5e9f53b74470c49d2b1af")
-set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+ee40f16b48648261a85c3e568cb1a005ee57b2d7")
+set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+6c542270418705221fb57061b5d29137407fa9cd")
diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake
index 32505dc84..280c0cbd6 100644
--- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake
+++ b/cmake/Depthai/DepthaiDeviceSideConfig.cmake
@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "9af6aa33e593ce207ad00d09e528ce85181d543b")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "b73558f5eea7cd96b87fc4f0d2945aaa2f290dde")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")
diff --git a/examples/cpp/Visualizer/visualizer_yolo.cpp b/examples/cpp/Visualizer/visualizer_yolo.cpp
index e22113bf4..c3493fa23 100644
--- a/examples/cpp/Visualizer/visualizer_yolo.cpp
+++ b/examples/cpp/Visualizer/visualizer_yolo.cpp
@@ -35,9 +35,9 @@ int main(int argc, char** argv) {
     // Set up topics for remote connection
     remoteConnector.addTopic("detections", detectionNetwork->out);
     remoteConnector.addTopic("images", *cameraOutputVisualize);
-    remoteConnector.registerPipeline(pipeline);
     pipeline.start();
 
+    remoteConnector.registerPipeline(pipeline);
     // Main loop
     while(isRunning && pipeline.isRunning()) {
         int key = remoteConnector.waitKey(1);
diff --git a/include/depthai/common/DetectionParserOptions.hpp b/include/depthai/common/DetectionParserOptions.hpp
index 8490ab3f6..64ec02b8d 100644
--- a/include/depthai/common/DetectionParserOptions.hpp
+++ b/include/depthai/common/DetectionParserOptions.hpp
@@ -13,6 +13,7 @@ namespace dai {
 struct DetectionParserOptions {
     /// Generic Neural Network properties
     DetectionNetworkType nnFamily;
+    std::string subtype;
     float confidenceThreshold;
 
     /// YOLO specific network properties
@@ -25,6 +26,6 @@ struct DetectionParserOptions {
     float iouThreshold;
 };
 
-DEPTHAI_SERIALIZE_EXT(DetectionParserOptions, nnFamily, confidenceThreshold, classes, coordinates, anchors, anchorMasks, anchorsV2, iouThreshold);
+DEPTHAI_SERIALIZE_EXT(DetectionParserOptions, nnFamily, subtype, confidenceThreshold, classes, coordinates, anchors, anchorMasks, anchorsV2, iouThreshold);
 
 }  // namespace dai
diff --git a/src/pipeline/node/DetectionParser.cpp b/src/pipeline/node/DetectionParser.cpp
index e331ae46c..ec1485678 100644
--- a/src/pipeline/node/DetectionParser.cpp
+++ b/src/pipeline/node/DetectionParser.cpp
@@ -75,6 +75,9 @@ void DetectionParser::setConfig(const dai::NNArchiveVersionedConfig& config) {
 
     if(head.parser == "YOLO") {
         properties.parser.nnFamily = DetectionNetworkType::YOLO;
+        if(head.metadata.subtype){
+            properties.parser.subtype = *head.metadata.subtype;
+        }
     } else if(head.parser == "SSD" || head.parser == "MOBILENET") {
         properties.parser.nnFamily = DetectionNetworkType::MOBILENET;
     } else {