You can take a look at the Autoware project. It makes use of docker extensively. Although it might be a bit much to take in for a beginner, it does provide some simple drop in walkthroughs that comprise comparably impressive demos.
Careful through, I think there still working from the nvidia-docker v1 plugin, and they have an odd habit of baking the uid and gid into there docker images from the docker file. I like to set it at runtime, personally. Baidu’s Apollo, another robotics project using docker, takes a slightly different approach. However, if you find out where and why they hide their dockerfiles, let me know.