No pilots as such, further back up the branch, banking locomotives would be held on the centre road in Torquay, pushing heavier trains up as far as Torre. The gas works between Torquay and Paignton was usually capstan worked, but had a 48DS for a period. There was also apparently a Peckett used there too, but I haven't seen any photos showing it.
On the Brixham branch itself, although it was mostly worked by 14xx, a small Prairie was used on Sunday engineering trains on at least one occasion, after closure the branch was used as a backdrop for the film "The System". - a d63xx was brought in for filming.
Chris Potts' book on the Kingswear branch was updated last year and is thoroughly recommended in either edition,as is his book on the Brixham branch.