diff --git a/demos/yolo_nas/Dockerfile b/demos/yolo_nas/Dockerfile
new file mode 100644
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+++ b/demos/yolo_nas/Dockerfile
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+# https://catalog.ngc.nvidia.com/orgs/nvidia/containers/pytorch/tags
+FROM nvcr.io/nvidia/pytorch:22.08-py3
+
+RUN apt-get update && \
+    apt-get install -y libgl1 && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN pip install --upgrade pip
+
+RUN pip install -r https://raw.githubusercontent.com/Deci-AI/super-gradients/master/requirements.txt && \
+    # For some reason it doesn't work with latest version of OpenCV \ --> AttributeError: partially initialized module 'cv2' has no attribute '_registerMatType' (most likely due to a circular import)
+    pip install opencv-python==4.5.5.64
+
+RUN pip install git+https://github.com/tryolabs/norfair.git@master#egg=norfair
+
+COPY requirements.txt requirements.txt
+RUN pip install -r requirements.txt
+
+WORKDIR /demo/src/
\ No newline at end of file
diff --git a/demos/yolo_nas/README.md b/demos/yolo_nas/README.md
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+++ b/demos/yolo_nas/README.md
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+# YOLO nas example
+
+Simplest possible example of tracking. Based on [YOLO-NAS-L](https://github.com/Deci-AI/super-gradients/blob/master/YOLONAS.md).
+
+## Instructions
+
+1. Build and run the Docker container with `./run_gpu.sh`.
+2. Copy a video to the `src` folder.
+3. Within the container, run with the default parameters:
+
+   ```bash
+   python demo.py <video>.mp4
+   ```
+
+For additional settings, you may display the instructions using `python demo.py --help`.
+
+## Explanation
+
+This example tracks objects using a single point per detection: the centroid of the bounding boxes around cars returned by YOLO-NAS-L
+
+https://github.com/agosl/norfair/assets/35232517/3faffb87-6d18-4bcd-9321-3742080ef2e4
+
diff --git a/demos/yolo_nas/requirements.txt b/demos/yolo_nas/requirements.txt
new file mode 100644
index 00000000..6a95e21b
--- /dev/null
+++ b/demos/yolo_nas/requirements.txt
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+super-gradient==3.1.1
\ No newline at end of file
diff --git a/demos/yolo_nas/run_gpu.sh b/demos/yolo_nas/run_gpu.sh
new file mode 100755
index 00000000..00d7e2d1
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+++ b/demos/yolo_nas/run_gpu.sh
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+#!/usr/bin/env -S bash -e
+docker build . -t norfair-yolonas
+docker run -it --rm \
+           --gpus all \
+           --shm-size=1gb \
+           -v `realpath .`:/demo \
+           norfair-yolonas \
+           bash
diff --git a/demos/yolo_nas/src/demo.py b/demos/yolo_nas/src/demo.py
new file mode 100644
index 00000000..df2ccd7f
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+++ b/demos/yolo_nas/src/demo.py
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+import argparse
+from typing import List, Optional, Union
+
+import norfair
+import numpy as np
+import super_gradients
+import torch
+from norfair import Detection, Tracker, Video
+
+DISTANCE_THRESHOLD_BBOX: float = 0.7
+DISTANCE_THRESHOLD_CENTROID: int = 30
+MAX_DISTANCE: int = 10000
+
+
+class YOLO_NAS:
+    def __init__(self, model_name: str, device: Optional[str] = None):
+        if device is not None and "cuda" in device and not torch.cuda.is_available():
+            raise Exception(
+                "Selected device='cuda', but cuda is not available to Pytorch."
+            )
+        # automatically set device if its None
+        elif device is None:
+            device = "cuda:0" if torch.cuda.is_available() else "cpu"
+
+        # load model
+        else:
+            self.model = super_gradients.training.models.get(
+                "yolo_nas_l", pretrained_weights="coco"
+            ).cuda()
+
+    def __call__(
+        self,
+        img: Union[str, np.ndarray],
+        conf_threshold: float = 0.35,
+        iou_threshold: float = 0.45,
+        image_size: int = 720,
+        classes: Optional[List[int]] = None,
+    ) -> torch.tensor:
+
+        if classes is not None:
+            self.model.classes = classes
+
+        detections = self.model.predict(img, iou_threshold, conf_threshold)
+        return detections
+
+
+def yolo_detections_to_norfair_detections(
+    yolo_detections: torch.tensor, track_points: str = "centroid"  # bbox or centroid
+) -> List[Detection]:
+    """convert detections_as_xywh to norfair detections"""
+    norfair_detections: List[Detection] = []
+
+    if track_points == "centroid":
+        detections_as_xywh = yolo_detections.xywh[0]
+        for detection_as_xywh in detections_as_xywh:
+            centroid = np.array(
+                [detection_as_xywh[0].item(), detection_as_xywh[1].item()]
+            )
+            scores = np.array([detection_as_xywh[4].item()])
+            norfair_detections.append(
+                Detection(
+                    points=centroid,
+                    scores=scores,
+                    label=int(detection_as_xywh[-1].item()),
+                )
+            )
+
+    elif track_points == "bbox":
+
+        # yolo_nas detections
+        detections_as_xyxy = yolo_detections[0]
+        class_names = detections_as_xyxy.class_names
+        labels = detections_as_xyxy.prediction.labels
+        confidence = detections_as_xyxy.prediction.confidence
+        bboxes = detections_as_xyxy.prediction.bboxes_xyxy
+
+        for i, (label, conf, bbox_yolo) in enumerate(zip(labels, confidence, bboxes)):
+            bbox = np.array(
+                [
+                    [bbox_yolo[0], bbox_yolo[1]],
+                    [bbox_yolo[2], bbox_yolo[3]],
+                ]
+            )
+
+            scores = np.array([conf, conf])
+            norfair_detections.append(
+                Detection(points=bbox, scores=scores, label=class_names[int(label)])
+            )
+
+        return norfair_detections
+
+
+parser = argparse.ArgumentParser(description="Track objects in a video.")
+parser.add_argument("files", type=str, nargs="+", help="Video files to process")
+parser.add_argument(
+    "--model-name", type=str, default="yolovnas", help="YOLOv5 model name"
+)
+parser.add_argument(
+    "--img-size", type=int, default="720", help="YOLO_nas inference size (pixels)"
+)
+parser.add_argument(
+    "--conf-threshold",
+    type=float,
+    default="0.25",
+    help="YOLOv5 object confidence threshold",
+)
+parser.add_argument(
+    "--iou-threshold", type=float, default="0.45", help="YOLOv5 IOU threshold for NMS"
+)
+parser.add_argument(
+    "--classes",
+    nargs="+",
+    type=int,
+    help="Filter by class: --classes 0, or --classes 0 2 3",
+)
+parser.add_argument(
+    "--device", type=str, default="cuda", help="Inference device: 'cpu' or 'cuda'"
+)
+parser.add_argument(
+    "--track-points",
+    type=str,
+    default="bbox",
+    help="Track points: 'centroid' or 'bbox'",
+)
+args = parser.parse_args()
+
+model = YOLO_NAS(args.model_name, device=args.device)
+
+for input_path in args.files:
+    video = Video(input_path=input_path)
+    distance_function = "iou" if args.track_points == "bbox" else "euclidean"
+    distance_threshold = (
+        DISTANCE_THRESHOLD_BBOX
+        if args.track_points == "bbox"
+        else DISTANCE_THRESHOLD_CENTROID
+    )
+
+    tracker = Tracker(
+        distance_function=distance_function,
+        distance_threshold=distance_threshold,
+    )
+
+    for frame in video:
+        yolo_detections = model(
+            frame,
+            conf_threshold=args.conf_threshold,
+            iou_threshold=args.iou_threshold,
+            image_size=args.img_size,
+        )
+
+        detections = yolo_detections_to_norfair_detections(
+            yolo_detections, track_points=args.track_points
+        )
+        tracked_objects = tracker.update(detections=detections)
+        if args.track_points == "centroid":
+            norfair.draw_points(frame, detections)
+            norfair.draw_tracked_objects(frame, tracked_objects)
+        elif args.track_points == "bbox":
+            norfair.draw_boxes(frame, detections)
+            norfair.draw_boxes(frame, tracked_objects, draw_ids=True)
+        video.write(frame)