I used the following code to do my task:
from transformers import T5ForConditionalGeneration

tokenizer = T5Tokenizer.from_pretrained('t5-small')

model = T5ForConditionalGeneration.from_pretrained('t5-small', return_dict=True)

input = "This  is a summarization example. This is a large  sentence."
input_ids = tokenizer("summarize: "+input, return_tensors="pt").input_ids  # Batch size 1

outputs = model.generate(input_ids)

decoded = tokenizer.decode(outputs[0], skip_special_tokens=True)

print(decoded)