PilotNet-LIF training code?

[R-Gaurav]

User story

I couldn't find the training code for PilotNet-LIF example.

I do see a PilotNet-SDNN training example (and it's corresponding netx inference). However, despite seeing a PilotNet-LIF netx inference, I was unable to find it's corresponding training code.

Conditions of satisfaction

Please provide a training notebook for the PilotNet-LIF example.

Acceptance tests

I am particularly interested in the regression part of PilotNet-LIF where the output neuron's voltage state is used to decode the steering angle. How would someone use the output neuron's voltage to compute training loss in a regression setting (in a slayer framework)? What would be the PilotNet-LIF's network layers?