No, unless you want to swap existing brakes for something weaker. If you still want to have brakes with the stopping power as much as S4 is supposed to have, there are two routes. One was mentioned by Adrian - UrS6 struts with HP2 brakes, full kit. Another route is to modify your existing UFO stuff to accept A8 brakes, but that involves turner and therefore may not be feasible for you. Here are some pictures, only text is in latvian...
http://audi-style.lv/forum/topic/616...-bremzēm/