diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 82c447d..b83e279 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -28,4 +28,4 @@ pip_package:
   stage: build
   script:
     - VERBOSE=1 pip install --verbose .
-    - mapmos_pipeline --help
\ No newline at end of file
+    - mapmos_pipeline --help
diff --git a/README.md b/README.md
index 9454352..ef059e3 100644
--- a/README.md
+++ b/README.md
@@ -15,7 +15,7 @@
 
 <details>
 <summary><b>Click here for qualitative results!</b></summary>
-  
+
 [![MapMOS](https://github.com/PRBonn/MapMOS/assets/38326482/a4238431-bd2d-4b2c-991b-7ff5e9378a8e)](https://github.com/PRBonn/MapMOS/assets/38326482/04c7e5a2-dd44-431a-95b0-c42d5605078a)
 
  <i>Our predictions for the KITTI Tracking sequence 19 with true positives (green), false positives (red), and false negatives (blue).</i>
@@ -54,7 +54,7 @@ Just type
 ```bash
 mapmos_pipeline --help
 ```
-to see how to run MapMOS. 
+to see how to run MapMOS.
 <details>
 <summary>This is what you should see</summary>
 
@@ -62,7 +62,7 @@ to see how to run MapMOS.
 
 </details>
 
-Check the [Download](#downloads) section for a pre-trained model. Like [KISS-ICP](https://github.com/PRBonn/kiss-icp), our pipeline runs on a variety of point cloud data formats like `bin`, `pcd`, `ply`, `xyz`, `rosbags`, and more. To visualize these, just type 
+Check the [Download](#downloads) section for a pre-trained model. Like [KISS-ICP](https://github.com/PRBonn/kiss-icp), our pipeline runs on a variety of point cloud data formats like `bin`, `pcd`, `ply`, `xyz`, `rosbags`, and more. To visualize these, just type
 
 ```bash
 mapmos_pipeline --visualize /path/to/weights.ckpt /path/to/data
@@ -122,7 +122,7 @@ by replacing the paths and the config file names. To evaluate for example on the
 mapmos_pipeline /path/to/weights.ckpt /path/to/HeLiMOS --dataloader helimos -s Velodyne/test.txt
 ```
 
-Note that our sequence `-s` encodes both the sensor type `Velodyne` and split `test.txt`, just replace these with `Ouster`, `Aeva`, or `Avia` and/or `train.txt` or `val.txt` to run MapMOS on different sensors and/or splits. 
+Note that our sequence `-s` encodes both the sensor type `Velodyne` and split `test.txt`, just replace these with `Ouster`, `Aeva`, or `Avia` and/or `train.txt` or `val.txt` to run MapMOS on different sensors and/or splits.
 
 ## Downloads
 You can download the post-processed and labeled [Apollo dataset](https://www.ipb.uni-bonn.de/html/projects/apollo_dataset/LiDAR-MOS.zip) and [KITTI Tracking sequence 19](https://www.ipb.uni-bonn.de/html/projects/kitti-tracking/post-processed/kitti-tracking.zip) from our website.
diff --git a/config/apollo.yaml b/config/apollo.yaml
index 9abcccb..a67b286 100644
--- a/config/apollo.yaml
+++ b/config/apollo.yaml
@@ -1,5 +1,5 @@
 data:
-  deskew: False 
+  deskew: False
 
 mos:
   max_range_mos: -1.0 # No limit
diff --git a/config/kitti-tracking.yaml b/config/kitti-tracking.yaml
index e72273c..0afdfa2 100644
--- a/config/kitti-tracking.yaml
+++ b/config/kitti-tracking.yaml
@@ -1,5 +1,5 @@
 data:
-  deskew: True 
+  deskew: True
 
 mos:
   max_range_mos: -1.0 # No limit
diff --git a/config/kitti.yaml b/config/kitti.yaml
index 9abcccb..a67b286 100644
--- a/config/kitti.yaml
+++ b/config/kitti.yaml
@@ -1,5 +1,5 @@
 data:
-  deskew: False 
+  deskew: False
 
 mos:
   max_range_mos: -1.0 # No limit
diff --git a/scripts/cache_to_ply.py b/scripts/cache_to_ply.py
index 7aefa75..d56d09b 100755
--- a/scripts/cache_to_ply.py
+++ b/scripts/cache_to_ply.py
@@ -21,19 +21,19 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-import os
-import typer
 import importlib
+import os
+from pathlib import Path
+from typing import List, Optional
 
 import numpy as np
 import torch
-from typing import List, Optional
+import typer
 from torch.utils.data import DataLoader
 from tqdm import tqdm
-from pathlib import Path
 
-from mapmos.datasets.mapmos_dataset import MapMOSDataset, collate_fn
 from mapmos.config import load_config
+from mapmos.datasets.mapmos_dataset import MapMOSDataset, collate_fn
 
 
 def cache_to_ply(
diff --git a/scripts/precache.py b/scripts/precache.py
index e5b27fd..25f5a0f 100755
--- a/scripts/precache.py
+++ b/scripts/precache.py
@@ -21,10 +21,11 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-from tqdm import tqdm
 from pathlib import Path
 from typing import List, Optional
+
 import typer
+from tqdm import tqdm
 
 from mapmos.config import load_config
 
@@ -62,6 +63,7 @@ def precache(
     ),
 ):
     from torch.utils.data import DataLoader
+
     from mapmos.datasets.mapmos_dataset import MapMOSDataset, collate_fn
 
     cfg = load_config(config)
diff --git a/scripts/train.py b/scripts/train.py
index 7733a81..bcf2288 100755
--- a/scripts/train.py
+++ b/scripts/train.py
@@ -22,18 +22,19 @@
 # SOFTWARE.
 
 import os
+from pathlib import Path
+from typing import Optional
+
 import torch
 import typer
-from typing import Optional
-from pathlib import Path
 from pytorch_lightning import Trainer
 from pytorch_lightning import loggers as pl_loggers
 from pytorch_lightning.callbacks import LearningRateMonitor, ModelCheckpoint
 
+from mapmos.config import load_config
 from mapmos.datasets.mapmos_dataset import MapMOSDataModule
 from mapmos.training_module import TrainingModule
 from mapmos.utils.seed import set_seed
-from mapmos.config import load_config
 
 
 def train(
diff --git a/src/mapmos/cli.py b/src/mapmos/cli.py
index 9688276..22bcaf9 100644
--- a/src/mapmos/cli.py
+++ b/src/mapmos/cli.py
@@ -35,6 +35,7 @@
 
 import typer
 from kiss_icp.tools.cmd import guess_dataloader
+
 from mapmos.datasets import (
     available_dataloaders,
     jumpable_dataloaders,
diff --git a/src/mapmos/config/config.py b/src/mapmos/config/config.py
index 71e1f42..52f0911 100644
--- a/src/mapmos/config/config.py
+++ b/src/mapmos/config/config.py
@@ -21,6 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 from typing import List
+
 from pydantic import BaseModel, Field
 
 
diff --git a/src/mapmos/config/parser.py b/src/mapmos/config/parser.py
index 71a56f4..618832b 100644
--- a/src/mapmos/config/parser.py
+++ b/src/mapmos/config/parser.py
@@ -25,18 +25,12 @@
 
 import importlib
 import sys
-
 from pathlib import Path
 from typing import Any, Dict, Optional
 
 from pydantic_settings import BaseSettings, SettingsConfigDict
 
-from mapmos.config.config import (
-    DataConfig,
-    OdometryConfig,
-    MOSConfig,
-    TrainingConfig,
-)
+from mapmos.config.config import DataConfig, MOSConfig, OdometryConfig, TrainingConfig
 
 
 class MapMOSConfig(BaseSettings):
diff --git a/src/mapmos/datasets/apollo.py b/src/mapmos/datasets/apollo.py
index 8d8fc8c..49ed10a 100644
--- a/src/mapmos/datasets/apollo.py
+++ b/src/mapmos/datasets/apollo.py
@@ -21,6 +21,7 @@
 # SOFTWARE.
 
 import numpy as np
+
 from mapmos.datasets.kitti import SemanticKITTIDataset
 
 
diff --git a/src/mapmos/datasets/helimos.py b/src/mapmos/datasets/helimos.py
index fe8a8a7..9d4d476 100644
--- a/src/mapmos/datasets/helimos.py
+++ b/src/mapmos/datasets/helimos.py
@@ -22,6 +22,7 @@
 
 import glob
 import os
+
 import numpy as np
 
 
diff --git a/src/mapmos/datasets/kitti.py b/src/mapmos/datasets/kitti.py
index c6263b1..9dfcaa9 100644
--- a/src/mapmos/datasets/kitti.py
+++ b/src/mapmos/datasets/kitti.py
@@ -22,6 +22,7 @@
 
 import glob
 import os
+
 import numpy as np
 from kiss_icp.datasets.kitti import KITTIOdometryDataset
 
diff --git a/src/mapmos/datasets/kitti_tracking.py b/src/mapmos/datasets/kitti_tracking.py
index a25e932..a7aa4af 100644
--- a/src/mapmos/datasets/kitti_tracking.py
+++ b/src/mapmos/datasets/kitti_tracking.py
@@ -21,6 +21,7 @@
 # SOFTWARE.
 
 import numpy as np
+
 from mapmos.datasets.kitti import SemanticKITTIDataset
 
 
diff --git a/src/mapmos/datasets/mapmos_dataset.py b/src/mapmos/datasets/mapmos_dataset.py
index 8696ef9..1e2d518 100644
--- a/src/mapmos/datasets/mapmos_dataset.py
+++ b/src/mapmos/datasets/mapmos_dataset.py
@@ -21,18 +21,19 @@
 # SOFTWARE.
 
 import os
-import torch
-import numpy as np
-from typing import Dict
 from pathlib import Path
-from torch.utils.data import Dataset, DataLoader
+from typing import Dict
+
+import numpy as np
+import torch
 from pytorch_lightning import LightningDataModule
+from torch.utils.data import DataLoader, Dataset
 
-from mapmos.utils.cache import get_cache, memoize
-from mapmos.config import MapMOSConfig, DataConfig, OdometryConfig
-from mapmos.odometry import Odometry
-from mapmos.mapping import VoxelHashMap
+from mapmos.config import DataConfig, MapMOSConfig, OdometryConfig
 from mapmos.datasets import dataset_factory, sequence_dataloaders
+from mapmos.mapping import VoxelHashMap
+from mapmos.odometry import Odometry
+from mapmos.utils.cache import get_cache, memoize
 
 
 def collate_fn(batch):
diff --git a/src/mapmos/datasets/nuscenes.py b/src/mapmos/datasets/nuscenes.py
index d62400e..67b2868 100644
--- a/src/mapmos/datasets/nuscenes.py
+++ b/src/mapmos/datasets/nuscenes.py
@@ -25,9 +25,10 @@
 import sys
 from pathlib import Path
 from typing import List
+
+import numpy as np
 from nuscenes.utils.geometry_utils import transform_matrix
 from pyquaternion import Quaternion
-import numpy as np
 
 
 class NuScenesDataset:
diff --git a/src/mapmos/mapmos_net.py b/src/mapmos/mapmos_net.py
index 001d569..0f9420b 100644
--- a/src/mapmos/mapmos_net.py
+++ b/src/mapmos/mapmos_net.py
@@ -20,9 +20,10 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-import torch
 import copy
+
 import MinkowskiEngine as ME
+import torch
 from pytorch_lightning import LightningModule
 
 from mapmos.minkunet import CustomMinkUNet14
diff --git a/src/mapmos/mapping.py b/src/mapmos/mapping.py
index beb407e..b92edaf 100644
--- a/src/mapmos/mapping.py
+++ b/src/mapmos/mapping.py
@@ -21,6 +21,7 @@
 # SOFTWARE.
 
 import numpy as np
+
 from mapmos.pybind import mapmos_pybind
 
 
diff --git a/src/mapmos/minkunet.py b/src/mapmos/minkunet.py
index 390b3d5..3892a21 100644
--- a/src/mapmos/minkunet.py
+++ b/src/mapmos/minkunet.py
@@ -22,8 +22,8 @@
 # Please cite "4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural
 # Networks", CVPR'19 (https://arxiv.org/abs/1904.08755) if you use any part
 # of the code.
-import torch.nn as nn
 import MinkowskiEngine as ME
+import torch.nn as nn
 
 
 class BasicBlock(nn.Module):
diff --git a/src/mapmos/odometry.py b/src/mapmos/odometry.py
index a5ff20e..b9ecbea 100644
--- a/src/mapmos/odometry.py
+++ b/src/mapmos/odometry.py
@@ -20,14 +20,15 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-import numpy as np
-from mapmos.config import DataConfig, OdometryConfig
 from typing import Type
 
+import numpy as np
 from kiss_icp.config import KISSConfig
 from kiss_icp.kiss_icp import KissICP, get_registration
-from mapmos.registration import get_registration
+
+from mapmos.config import DataConfig, OdometryConfig
 from mapmos.mapping import VoxelHashMap
+from mapmos.registration import get_registration
 
 
 def parse_config(config_data: DataConfig, config_odometry: OdometryConfig):
diff --git a/src/mapmos/paper_pipeline.py b/src/mapmos/paper_pipeline.py
index 8536ef3..76841d2 100644
--- a/src/mapmos/paper_pipeline.py
+++ b/src/mapmos/paper_pipeline.py
@@ -23,8 +23,9 @@
 import time
 from pathlib import Path
 from typing import Optional
-import torch
+
 import numpy as np
+import torch
 from tqdm.auto import trange
 
 from mapmos.mapping import VoxelHashMap
diff --git a/src/mapmos/pipeline.py b/src/mapmos/pipeline.py
index 009e723..f33a300 100644
--- a/src/mapmos/pipeline.py
+++ b/src/mapmos/pipeline.py
@@ -22,23 +22,23 @@
 
 import os
 import time
+from collections import deque
 from pathlib import Path
 from typing import Optional
-from collections import deque
-import torch
-import numpy as np
-from tqdm.auto import trange
 
+import numpy as np
+import torch
 from kiss_icp.pipeline import OdometryPipeline
+from tqdm.auto import trange
 
+from mapmos.config import load_config
 from mapmos.mapmos_net import MapMOSNet
-from mapmos.odometry import Odometry
 from mapmos.mapping import VoxelHashMap
 from mapmos.metrics import get_confusion_matrix
-from mapmos.utils.visualizer import MapMOSVisualizer, StubVisualizer
+from mapmos.odometry import Odometry
 from mapmos.utils.pipeline_results import MOSPipelineResults
-from mapmos.utils.save import PlyWriter, KITTIWriter, StubWriter
-from mapmos.config import load_config
+from mapmos.utils.save import KITTIWriter, PlyWriter, StubWriter
+from mapmos.utils.visualizer import MapMOSVisualizer, StubVisualizer
 
 
 class MapMOSPipeline(OdometryPipeline):
diff --git a/src/mapmos/registration.py b/src/mapmos/registration.py
index 277a53a..d972b99 100644
--- a/src/mapmos/registration.py
+++ b/src/mapmos/registration.py
@@ -21,8 +21,8 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 import numpy as np
-
 from kiss_icp.config.parser import KISSConfig
+
 from mapmos.mapping import VoxelHashMap
 from mapmos.pybind import mapmos_pybind
 
diff --git a/src/mapmos/training_module.py b/src/mapmos/training_module.py
index 6c29219..9dc3acb 100644
--- a/src/mapmos/training_module.py
+++ b/src/mapmos/training_module.py
@@ -20,24 +20,18 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-import torch
 import numpy as np
-
+import torch
 from pytorch_lightning import LightningModule
-from mapmos.mapmos_net import MapMOSNet
+
 from mapmos.config import MapMOSConfig
+from mapmos.mapmos_net import MapMOSNet
+from mapmos.metrics import get_confusion_matrix, get_iou, get_precision, get_recall
 from mapmos.utils.augmentation import (
-    rotate_point_cloud,
     random_flip_point_cloud,
     random_scale_point_cloud,
     rotate_perturbation_point_cloud,
-)
-
-from mapmos.metrics import (
-    get_confusion_matrix,
-    get_iou,
-    get_precision,
-    get_recall,
+    rotate_point_cloud,
 )
 
 
diff --git a/src/mapmos/utils/pipeline_results.py b/src/mapmos/utils/pipeline_results.py
index 03931b6..5220eda 100644
--- a/src/mapmos/utils/pipeline_results.py
+++ b/src/mapmos/utils/pipeline_results.py
@@ -21,15 +21,10 @@
 # SOFTWARE.
 
 import numpy as np
+from kiss_icp.metrics import absolute_trajectory_error, sequence_error
 from kiss_icp.tools.pipeline_results import PipelineResults
-from kiss_icp.metrics import sequence_error, absolute_trajectory_error
-from mapmos.metrics import (
-    get_stats,
-    get_iou,
-    get_recall,
-    get_f1,
-    get_precision,
-)
+
+from mapmos.metrics import get_f1, get_iou, get_precision, get_recall, get_stats
 
 
 class MOSPipelineResults(PipelineResults):
diff --git a/src/mapmos/utils/save.py b/src/mapmos/utils/save.py
index de18775..1c75569 100644
--- a/src/mapmos/utils/save.py
+++ b/src/mapmos/utils/save.py
@@ -20,11 +20,12 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-import numpy as np
-import os
 import importlib
+import os
 from pathlib import Path
 
+import numpy as np
+
 
 class StubWriter:
     def __init__(self) -> None:
diff --git a/src/mapmos/utils/seed.py b/src/mapmos/utils/seed.py
index bfb5817..6c99677 100644
--- a/src/mapmos/utils/seed.py
+++ b/src/mapmos/utils/seed.py
@@ -20,11 +20,12 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
+import os
 import random
+
+import numpy as np
 import torch
 import torch.backends.cudnn
-import numpy as np
-import os
 
 
 def set_seed(seed):