Tutorial Jupyter Notebooks

The notebooks were tested on VSCode. This setting makes sure the notebooks are started in project root.

Pipline Verification Notebooks

1. Inspect Expert’s Output

Notebook: notebooks/inspect_expert_output.ipynb

Run expert, produce data and verify that everything works.

2. Load Pre-trained Model, Data and Example Inference

Notebook: notebooks/carla_offline_inference.ipynb

Load model checkpoints. Load data, visualize a random sample, and run offline inference.

Data Format Explained Interactively

Notebook: notebooks/data_format.ipynb

Understand what the dataloader outputs and how to fit them to your model.

Debug Closed-Loop Evaluation Interactively

Notebook: notebooks/inspect_sensor_agent_io.ipynb

Debug model inputs/outputs during closed-loop evaluation.