diff --git a/docs/assets/teaser.jpg b/docs/assets/teaser.jpg
index a5d2056c..199cc12c 100644
Binary files a/docs/assets/teaser.jpg and b/docs/assets/teaser.jpg differ
diff --git a/examples/01_inference_pretrained.ipynb b/examples/01_inference_pretrained.ipynb
index 7c617dab..3786ff3f 100644
--- a/examples/01_inference_pretrained.ipynb
+++ b/examples/01_inference_pretrained.ipynb
@@ -8,11 +8,30 @@
    "source": [
     "# Step 1: Minimal Octo Inference Example\n",
     "\n",
-    "This Colab demonstrates how to load a pre-trained / finetuned Octo checkpoint, run inference on some images, and compare the outputs to the true actions.\n",
+    "This notebook demonstrates how to load a pre-trained / finetuned Octo checkpoint, run inference on some images, and compare the outputs to the true actions.\n",
     "\n",
     "First, let's start with a minimal example!"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "bae44461",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# run this block if you're using Colab\n",
+    "\n",
+    "# Download repo\n",
+    "!git clone https://github.com/octo-models/octo.git\n",
+    "%cd octo\n",
+    "# Install repo\n",
+    "!pip3 install -e .\n",
+    "!pip3 install -r requirements.txt\n",
+    "!pip3 install --upgrade \"jax[cuda11_pip]==0.4.20\" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html\n",
+    "!pip install numpy==1.21.1 # to fix colab AttributeError: module 'numpy' has no attribute '_no_nep50_warning', if the error still shows reload"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -31,7 +50,6 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "\n",
     "from octo.model.octo_model import OctoModel\n",
     "\n",
     "model = OctoModel.load_pretrained(\"hf://rail-berkeley/octo-small-1.5\")"
@@ -51,7 +69,7 @@
     "# download one example BridgeV2 image\n",
     "IMAGE_URL = \"https://rail.eecs.berkeley.edu/datasets/bridge_release/raw/bridge_data_v2/datacol2_toykitchen7/drawer_pnp/01/2023-04-19_09-18-15/raw/traj_group0/traj0/images0/im_12.jpg\"\n",
     "img = np.array(Image.open(requests.get(IMAGE_URL, stream=True).raw).resize((256, 256)))\n",
-    "plt.imshow(img)\n"
+    "plt.imshow(img)"
    ]
   },
   {