diff --git a/psConfig/tasks/gpsr/gpsr.conf b/psConfig/tasks/gpsr/gpsr.conf
index 025503ce1641e172026f100cde352084b2dcc4d0..6c624349efbc65c7fe5260a313094e463d7c6b6a 100644
--- a/psConfig/tasks/gpsr/gpsr.conf
+++ b/psConfig/tasks/gpsr/gpsr.conf
@@ -1,32 +1,32 @@
 [main]
 startdb=30;
 uttdb=35;
-silence=400;
+silence=600;
 timeout=8;
 openDeviceDirectly=yes;
 alsadevice=sysdefault;
 
 [pocketsphinxinstance]
-name=Main;
+name=gpsrCommands;
 dict=../../../psGrammar/dictionary/tobiDic.dic;
-jsgf=../../../psGrammar/tasks/gpsr/gpsr_2017.jsgf;
-rsbscope=/speechrec/psa/gpsrMain;
+jsgf=../../../psGrammar/tasks/gpsr/gpsr.jsgf;
+rsbscope=/speechrec/psa/gpsrCommands;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
-name=confirm;
+name=gpsrQuestions;
 dict=../../../psGrammar/dictionary/tobiDic.dic;
-jsgf=../../../psGrammar/confirm/confirm.jsgf;
-rsbscope=/speechrec/psa/confirm;
+jsgf=../../../psGrammar/tasks/gpsr/question.jsgf;
+rsbscope=/speechrec/psa/gpsrQuestions;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
-name=quest;
+name=confirm;
 dict=../../../psGrammar/dictionary/tobiDic.dic;
-jsgf=../../../psGrammar/tasks/gpsr/answer.jsgf;
-rsbscope=/speechrec/psa/answer;
+jsgf=../../../psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
 
@@ -38,10 +38,3 @@ rsbscope=/speechrec/psa/person;
 bestpath=no;
 autoload=yes;
 
-[pocketsphinxinstance]
-name=follow;
-dict=../../../psGrammar/dictionary/tobiDic.dic;
-jsgf=../../../psGrammar/tasks/gpsr/followandguide.jsgf;
-rsbscope=/speechrec/psa/followandguide;
-bestpath=no;
-autoload=yes;
diff --git a/psConfig/tasks/gpsr/gpsr_2018.conf b/psConfig/tasks/gpsr/gpsr_2018.conf
deleted file mode 100644
index 85ca60ca64fbfec6861bbb53b9f90f69e3ec0b22..0000000000000000000000000000000000000000
--- a/psConfig/tasks/gpsr/gpsr_2018.conf
+++ /dev/null
@@ -1,40 +0,0 @@
-[main]
-startdb=30;
-uttdb=35;
-silence=400;
-timeout=8;
-openDeviceDirectly=yes;
-alsadevice=sysdefault;
-
-[pocketsphinxinstance]
-name=Main;
-dict=../../../psGrammar/dictionary/tobiDic.dic;
-jsgf=../../../psGrammar/tasks/gpsr/gpsr_2018.jsgf;
-rsbscope=/speechrec/psa/gpsrMain;
-bestpath=no;
-autoload=yes;
-
-[pocketsphinxinstance]
-name=confirm;
-dict=../../../psGrammar/dictionary/tobiDic.dic;
-jsgf=../../../psGrammar/confirm/confirm.jsgf;
-rsbscope=/speechrec/psa/confirm;
-bestpath=no;
-autoload=yes;
-
-[pocketsphinxinstance]
-name=quest;
-dict=../../../psGrammar/dictionary/tobiDic.dic;
-jsgf=../../../psGrammar/tasks/gpsr/answer_2018.jsgf;
-rsbscope=/speechrec/psa/answer_2018;
-bestpath=no;
-autoload=yes;
-
-[pocketsphinxinstance]
-name=person;
-dict=../../../psGrammar/dictionary/tobiDic.dic;
-jsgf=../../../psGrammar/person/person.jsgf;
-rsbscope=/speechrec/psa/person;
-bestpath=no;
-autoload=yes;
-
diff --git a/psConfig/tasks/gpsr/gpsr_pepper.conf b/psConfig/tasks/gpsr/gpsr_pepper.conf
deleted file mode 100644
index 35909c6c3ec14b28ea9e6f19f73c98e5d65cb508..0000000000000000000000000000000000000000
--- a/psConfig/tasks/gpsr/gpsr_pepper.conf
+++ /dev/null
@@ -1,39 +0,0 @@
-[main]
-startdb=50;
-uttdb=55;
-silence=600;
-timeout=8;
-openDeviceDirectly=yes;
-alsadevice=pepper_front;
-
-[pocketsphinxinstance]
-name=Main;
-dict=../../../psGrammar/dictionary/tobiDic.dic;
-jsgf=../../../psGrammar/tasks/gpsr/pepper/gpsr.jsgf;
-rsbscope=/speechrec/psa/gpsrMain;
-bestpath=no;
-autoload=yes;
-
-[pocketsphinxinstance]
-name=confirm;
-dict=../../../psGrammar/dictionary/tobiDic.dic;
-jsgf=../../../psGrammar/confirm/confirm.jsgf;
-rsbscope=/speechrec/psa/confirm;
-bestpath=no;
-autoload=yes;
-
-[pocketsphinxinstance]
-name=quest;
-dict=../../../psGrammar/dictionary/tobiDic.dic;
-jsgf=../../../psGrammar/tasks/gpsr/answer.jsgf;
-rsbscope=/speechrec/psa/answer;
-bestpath=no;
-autoload=yes;
-
-[pocketsphinxinstance]
-name=person;
-dict=../../../psGrammar/dictionary/tobiDic.dic;
-jsgf=../../../psGrammar/person/person.jsgf;
-rsbscope=/speechrec/psa/person;
-bestpath=no;
-autoload=yes;