diff --git a/src/av2/datasets/sensor/sensor_dataloader.py b/src/av2/datasets/sensor/sensor_dataloader.py
index aaa7ccbf..a6586d8b 100644
--- a/src/av2/datasets/sensor/sensor_dataloader.py
+++ b/src/av2/datasets/sensor/sensor_dataloader.py
@@ -212,6 +212,8 @@ def _build_sensor_cache(self) -> pd.DataFrame:
         if self.with_cache and sensor_cache_path.exists():
             logger.info("Cache found. Loading from disk ...")
             sensor_cache = read_feather(sensor_cache_path)
+            if self.with_annotations:
+                sensor_cache = sensor_cache[sensor_cache.split != "test"]
         else:
             lidar_records = self.populate_lidar_records()
             # Load camera records if enabled.
@@ -338,7 +340,8 @@ def __getitem__(self, idx: int) -> SynchronizedSensorData:
 
         # Load annotations if enabled.
         if self.with_annotations:
-            datum.annotations = self._load_annotations(split, log_id, timestamp_ns)
+            if split != "test":
+                datum.annotations = self._load_annotations(split, log_id, timestamp_ns)
 
         # Load camera imagery if enabled.
         if self.cam_names:
diff --git a/tutorials/generate_sensor_dataset_visualizations.py b/tutorials/generate_sensor_dataset_visualizations.py
index e1a3d7a3..f07c9597 100644
--- a/tutorials/generate_sensor_dataset_visualizations.py
+++ b/tutorials/generate_sensor_dataset_visualizations.py
@@ -51,6 +51,8 @@ def generate_sensor_dataset_visualizations(
     for _, datum in enumerate(track(dataset, "Creating sensor tutorial videos ...")):
         sweep = datum.sweep
         annotations = datum.annotations
+        if annotations is None:
+            continue
 
         timestamp_city_SE3_ego_dict = datum.timestamp_city_SE3_ego_dict
         synchronized_imagery = datum.synchronized_imagery