In 1992, after the Cosby Show concluded, Malcolm Jamal Warner starred in a sitcom called, “Here and Now.” The sitcom was executive produced by Bill Cosby. Malcolm Jamal Warner also served as an executive consultant. Daryl “Chill” Mitchell also had a starring role in the sitcom.

Here are videos of the pilot episode. Omar Epps can be seen in this episode as a supporting character.
Part 1:

Part 2: