All of the files for the demonstration TF Lite server models live in: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tflite-server/-/tree/master/misc_files/usr/bin/dnn
On the VOXL itself they reside at: /usr/bin/dnn
You can add your specific model and execute voxl-configure-tflite-server to point to the new model.
https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tflite-server/-/blob/master/src/main.cpp#L238 shows an example with YoloV5.