The files in examples folder can be put under the folder of examples in CARLA folder (CARLA_0.9.10.1/PythonAPI/examples).
Pytorch need to installed.
town5_data.py and train_town5.py are used to generate data and train the model.
Demo.py is the file in TMP/MotionPlanner_TMPUD, the paths used in the Demo.py need to be changed accordingly.