diff --git a/trap/prediction_server.py b/trap/prediction_server.py
index 84b9178..d2b178f 100644
--- a/trap/prediction_server.py
+++ b/trap/prediction_server.py
@@ -192,8 +192,12 @@ class PredictionServer:
         eval_scene = eval_env.scenes[scene_idx]
         online_env = create_online_env(eval_env, hyperparams, scene_idx, init_timestep)
 
+        # auto-find highest iteration
         model_registrar = ModelRegistrar(self.config.model_dir, self.config.eval_device)
-        model_registrar.load_models(iter_num=100)
+        model_iterations = pathlib.Path(self.config.model_dir).glob('model_registrar-*.pt')
+        highest_iter = max([int(p.stem.split('-')[-1]) for p in model_iterations])
+
+        model_registrar.load_models(iter_num=highest_iter)
 
         trajectron = OnlineTrajectron(model_registrar,
                                     hyperparams,