diff --git a/README.md b/README.md
index 01f86e2f5ae4cb5c73da163280fc7bc2699009a1..4c7358cce4d20e7bd59a7ed5121cc8e896ccac3a 100644
--- a/README.md
+++ b/README.md
@@ -2,9 +2,82 @@
 license: mit
 ---
 
+# Dataset content
+
+In the following folders you can find:
+- `blender` - our animations with scripts used to generate them
+- `configs` - configuration files used during the experimetns shown in our paper
+- `data` - contains NeRF Synthetic + Our Assets wit appriopriate `sparse_pc.ply` used for initialization of the system
+- `permuto_SDF_models` - meshes generated with [PermutoSDF](https://radualexandru.github.io/permuto_sdf/) that we have used for driving the Gaussians
+
+Dataset lacks the data for Mip-NeRF 360 dataset which can be downloaded from [here](https://jonbarron.info/mipnerf360/) and also fox which can be found [here](https://github.com/NVlabs/instant-ngp).  
+Additionally Mip-NeRF 360 shoud be processed with:
+``` bash
+# Do this for every dataset in the folder
+cd <dataset_folder>
+ns-process-data images --data . --output-dir . --skip-colmap --skip-image-processin --colmap-model-path sparse/0
+```
+
+# Bugs in nerfstudio 1.1.4
+
+There were a few bugs in nerfstudio we needed to fix in order to train on Mip-NeRF 360 dataset:
+
+File: nerfstudio/exporter/exporter_utils.py
+
+``` python
+# Lines 166-172
+
+# Change from:
+if crop_obb is not None:
+    mask = crop_obb.within(point)
+point = point[mask]
+rgb = rgb[mask]
+view_direction = view_direction[mask]
+if normal is not None:
+    normal = normal[mask]
+
+# To:
+if crop_obb is not None:
+    mask = crop_obb.within(point)
+    point = point[mask]
+    rgb = rgb[mask]
+    view_direction = view_direction[mask]
+    if normal is not None:
+        normal = normal[mask]
+
+```
+
+File: nerfstudio/model_components/ray_generators.py
+
+``` python
+# Lines 49-50
+
+# Change from:
+y = ray_indices[:, 1]  # row indices
+x = ray_indices[:, 2]  # col indices
+
+# To:
+y = torch.clamp(ray_indices[:, 1], 0, self.image_coords.shape[0] - 1)  # row indices
+x = torch.clamp(ray_indices[:, 2], 0, self.image_coords.shape[1] - 1)  # col indices
+
+```
+
+File: nerfstudio/utils/eval_utils.py
+
+``` python
+# Line 62
+
+# Change from:
+loaded_state = torch.load(load_path, map_location="cpu")
+
+# To:
+loaded_state = torch.load(load_path, map_location="cpu", weights_only=False)
+
+```
+
 ## 📄 Citation
 
-If you use this dataset, please cite:
+If you use our data, please cite:
 
 ```bibtex
 @misc{zielinski2025genie,
diff --git a/blender/fox_nodding/Fox_nodding.blend b/blender/fox_nodding/Fox_nodding.blend
new file mode 100644
index 0000000000000000000000000000000000000000..2c937c1364eed44c183b34c08ac5fd45d9a3a6a7
--- /dev/null
+++ b/blender/fox_nodding/Fox_nodding.blend
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f7ac962fc4c340dc44a450a2e858b30afae989b879f45502710ca196f13cd6b
+size 10249373
diff --git a/blender/fox_nodding/script.py b/blender/fox_nodding/script.py
new file mode 100644
index 0000000000000000000000000000000000000000..309429b20069f1a982ff5ffd58e80de4dea233f3
--- /dev/null
+++ b/blender/fox_nodding/script.py
@@ -0,0 +1,50 @@
+import bpy
+import os
+
+# Set output directory
+output_dir = "blender/fox_nodding/plys"  # Change this!
+
+# Ensure the output directory exists
+if not os.path.exists(output_dir):
+    os.makedirs(output_dir)
+
+# Set the frame range
+start_frame = bpy.context.scene.frame_start
+end_frame = bpy.context.scene.frame_end
+
+# Name of the object to export
+object_names = ["Fox"]
+
+# Deselect everything
+bpy.ops.object.select_all(action='DESELECT')
+
+# Ensure it is selected and active
+for name in object_names:
+    obj = bpy.data.objects[name]
+    obj.select_set(True)
+    bpy.context.view_layer.objects.active = obj
+
+# Loop through each frame
+for frame in range(start_frame, end_frame + 1):
+    bpy.context.scene.frame_set(frame)
+    bpy.context.view_layer.update()  # Ensure simulation is evaluated
+
+    # Export to .obj
+    filename = f"{(frame - 1):05d}.ply"
+    filepath = os.path.join(output_dir, filename)
+
+    bpy.ops.wm.ply_export(
+        filepath=filepath,
+        apply_modifiers=True,
+        export_selected_objects=True,
+        export_normals=True,
+        export_uv=True,
+        export_colors='NONE',        # options: 'NONE', 'SRGB', 'LINEAR'
+        export_attributes=False,
+        export_triangulated_mesh=False,
+        ascii_format=True,          # Set to False for binary PLY
+        forward_axis='Y',
+        up_axis='Z'
+    )
+
+    print(f"Exported frame {frame} to {filepath}")
\ No newline at end of file
diff --git a/blender/rug_cup/Rug_cup.blend b/blender/rug_cup/Rug_cup.blend
new file mode 100644
index 0000000000000000000000000000000000000000..42281eafb4b225f040c637bcc1dc48a5b01c5324
--- /dev/null
+++ b/blender/rug_cup/Rug_cup.blend
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a0948b4f2097e093a305038a242bda7957dbc4817252fe59d5fd37026b971e8
+size 9836555
diff --git a/blender/rug_cup/script.py b/blender/rug_cup/script.py
new file mode 100644
index 0000000000000000000000000000000000000000..0cbaf45597cad2c06a2670b174f299118759b122
--- /dev/null
+++ b/blender/rug_cup/script.py
@@ -0,0 +1,50 @@
+import bpy
+import os
+
+# Set output directory
+output_dir = "blender/rug_cup/plys"  # Change this!
+
+# Ensure the output directory exists
+if not os.path.exists(output_dir):
+    os.makedirs(output_dir)
+
+# Set the frame range
+start_frame = bpy.context.scene.frame_start
+end_frame = bpy.context.scene.frame_end
+
+# Name of the object to export
+object_names = ["Fish_Cup", "Rug"]
+
+# Deselect everything
+bpy.ops.object.select_all(action='DESELECT')
+
+# Ensure it is selected and active
+for name in object_names:
+    obj = bpy.data.objects[name]
+    obj.select_set(True)
+    bpy.context.view_layer.objects.active = obj
+
+# Loop through each frame
+for frame in range(start_frame, end_frame + 1):
+    bpy.context.scene.frame_set(frame)
+    bpy.context.view_layer.update()  # Ensure simulation is evaluated
+
+    # Export to .obj
+    filename = f"{(frame - 1):05d}.ply"
+    filepath = os.path.join(output_dir, filename)
+
+    bpy.ops.wm.ply_export(
+        filepath=filepath,
+        apply_modifiers=True,
+        export_selected_objects=True,
+        export_normals=True,
+        export_uv=True,
+        export_colors='NONE',        # options: 'NONE', 'SRGB', 'LINEAR'
+        export_attributes=False,
+        export_triangulated_mesh=False,
+        ascii_format=True,          # Set to False for binary PLY
+        forward_axis='Y',
+        up_axis='Z'
+    )
+
+    print(f"Exported frame {frame} to {filepath}")
\ No newline at end of file
diff --git a/configs/bicycle.yml b/configs/bicycle.yml
new file mode 100644
index 0000000000000000000000000000000000000000..30702dabbeace02bbdf6b12f75e20e3b17732db3
--- /dev/null
+++ b/configs/bicycle.yml
@@ -0,0 +1,195 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- 360_v2
+- bicycle
+denisification_interval: 100
+densification_start_step: 100
+densification_stop_step: 10000
+experiment_name: bicycle
+freeze_means_step: 10000
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 0
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 1
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.001
+      downscale_factor: 4
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: true
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: random
+    collider_params: null
+    cone_angle: 0.00390625
+    densify: true
+    disable_scene_contraction: false
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 1000.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 0.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    unfreeze_means: true
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: test
+unfreeze_means_step: 500
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/bonsai.yml b/configs/bonsai.yml
new file mode 100644
index 0000000000000000000000000000000000000000..b48be2e3a77715555702e32933e735d6c4e08908
--- /dev/null
+++ b/configs/bonsai.yml
@@ -0,0 +1,195 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- 360_v2
+- bonsai
+denisification_interval: 100
+densification_start_step: 100
+densification_stop_step: 10000
+experiment_name: bonsai
+freeze_means_step: 10000
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.001
+      downscale_factor: 4
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: true
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: random
+    collider_params: null
+    cone_angle: 0.00390625
+    densify: true
+    disable_scene_contraction: false
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 1000.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 0.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    unfreeze_means: true
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: open_scenes_baseline
+unfreeze_means_step: 500
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/chair.yml b/configs/chair.yml
new file mode 100644
index 0000000000000000000000000000000000000000..96d70b159e89de12853d9407138afdaa17bd434d
--- /dev/null
+++ b/configs/chair.yml
@@ -0,0 +1,186 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- nerf_synthetic
+- chair
+denisification_interval: 200
+densification_start_step: 1000
+densification_stop_step: 8000
+experiment_name: chair
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:gnerf.data.dataparsers.GNeRFBlenderDataParserConfig
+      _target: !!python/name:gnerf.data.dataparsers.GNeRFBlender ''
+      alpha_color: white
+      data: !!python/object/apply:pathlib.PosixPath
+      - data
+      - blender
+      - lego
+      ply_path: null
+      scale_factor: 1.0
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: white
+    collider_params: null
+    cone_angle: 0.0
+    densify: true
+    disable_scene_contraction: true
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 6.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 32
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 2.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: hash_as_means_unfreezed_10k_lr_1e-5_densify_10k_100_prune
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: true
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/counter.yml b/configs/counter.yml
new file mode 100644
index 0000000000000000000000000000000000000000..2217d58b911e920a3ea4e2c6fc6ae914978cf75a
--- /dev/null
+++ b/configs/counter.yml
@@ -0,0 +1,195 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- 360_v2
+- counter
+denisification_interval: 100
+densification_start_step: 100
+densification_stop_step: 10000
+experiment_name: counter
+freeze_means_step: 10000
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.001
+      downscale_factor: 4
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: true
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: random
+    collider_params: null
+    cone_angle: 0.00390625
+    densify: true
+    disable_scene_contraction: false
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 1000.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 0.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    unfreeze_means: true
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: open_scenes_baseline
+unfreeze_means_step: 500
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/drums.yml b/configs/drums.yml
new file mode 100644
index 0000000000000000000000000000000000000000..1f205caaeed1cb286659c00a48d149063eaa3df5
--- /dev/null
+++ b/configs/drums.yml
@@ -0,0 +1,186 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- nerf_synthetic
+- drums
+denisification_interval: 200
+densification_start_step: 1000
+densification_stop_step: 8000
+experiment_name: drums
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:gnerf.data.dataparsers.GNeRFBlenderDataParserConfig
+      _target: !!python/name:gnerf.data.dataparsers.GNeRFBlender ''
+      alpha_color: white
+      data: !!python/object/apply:pathlib.PosixPath
+      - data
+      - blender
+      - lego
+      ply_path: null
+      scale_factor: 1.0
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: white
+    collider_params: null
+    cone_angle: 0.0
+    densify: true
+    disable_scene_contraction: true
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 6.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 32
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 2.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: hash_as_means_unfreezed_10k_lr_1e-5_densify_10k_100_prune
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: true
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/ficus.yml b/configs/ficus.yml
new file mode 100644
index 0000000000000000000000000000000000000000..50d9f5a60b1b1a1482d777fa5cd3b52a084d84e3
--- /dev/null
+++ b/configs/ficus.yml
@@ -0,0 +1,186 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- nerf_synthetic
+- ficus
+denisification_interval: 200
+densification_start_step: 1000
+densification_stop_step: 8000
+experiment_name: ficus
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:gnerf.data.dataparsers.GNeRFBlenderDataParserConfig
+      _target: !!python/name:gnerf.data.dataparsers.GNeRFBlender ''
+      alpha_color: white
+      data: !!python/object/apply:pathlib.PosixPath
+      - data
+      - blender
+      - lego
+      ply_path: null
+      scale_factor: 1.0
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: white
+    collider_params: null
+    cone_angle: 0.0
+    densify: true
+    disable_scene_contraction: true
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 6.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 32
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 2.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: hash_as_means_unfreezed_10k_lr_1e-5_densify_10k_100_prune
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: true
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/flowers.yml b/configs/flowers.yml
new file mode 100644
index 0000000000000000000000000000000000000000..342b4150ab41439b43a8dda2cd0b436c6d0edea0
--- /dev/null
+++ b/configs/flowers.yml
@@ -0,0 +1,195 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- 360_v2
+- flowers
+denisification_interval: 100
+densification_start_step: 100
+densification_stop_step: 10000
+experiment_name: flowers
+freeze_means_step: 10000
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.001
+      downscale_factor: 4
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: true
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: random
+    collider_params: null
+    cone_angle: 0.00390625
+    densify: true
+    disable_scene_contraction: false
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 1000.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 0.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    unfreeze_means: true
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: open_scenes_baseline
+unfreeze_means_step: 500
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/fox_nodding.yml b/configs/fox_nodding.yml
new file mode 100644
index 0000000000000000000000000000000000000000..07b140eb9d553542dea37a0cfb5e4b2361b1e8b2
--- /dev/null
+++ b/configs/fox_nodding.yml
@@ -0,0 +1,195 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- fox
+denisification_interval: 200
+densification_start_step: 100
+densification_stop_step: 8000
+experiment_name: fox
+freeze_means_step: 10000
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 0
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 1
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.001
+      downscale_factor: 1
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: true
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: random
+    collider_params: null
+    cone_angle: 0.00390625
+    densify: true
+    disable_scene_contraction: false
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 1000.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 0.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    unfreeze_means: true
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+start_paused: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: fox_nodding
+unfreeze_means_step: 500
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/garden.yml b/configs/garden.yml
new file mode 100644
index 0000000000000000000000000000000000000000..01fa40a54a7595a3472241590248e6fd255b52f0
--- /dev/null
+++ b/configs/garden.yml
@@ -0,0 +1,195 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- 360_v2
+- garden
+denisification_interval: 100
+densification_start_step: 100
+densification_stop_step: 10000
+experiment_name: garden
+freeze_means_step: 10000
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.001
+      downscale_factor: 4
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: true
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: random
+    collider_params: null
+    cone_angle: 0.00390625
+    densify: true
+    disable_scene_contraction: false
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 1000.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 0.25
+      device: cuda
+      n_neighbours: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 0.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    unfreeze_means: true
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: open_scenes_baseline
+unfreeze_means_step: 500
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/hotdog.yml b/configs/hotdog.yml
new file mode 100644
index 0000000000000000000000000000000000000000..a5d00070c570d4b65604232f7eb4e48e7aae89ed
--- /dev/null
+++ b/configs/hotdog.yml
@@ -0,0 +1,186 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- nerf_synthetic
+- hotdog
+denisification_interval: 200
+densification_start_step: 1000
+densification_stop_step: 8000
+experiment_name: hotdog
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:gnerf.data.dataparsers.GNeRFBlenderDataParserConfig
+      _target: !!python/name:gnerf.data.dataparsers.GNeRFBlender ''
+      alpha_color: white
+      data: !!python/object/apply:pathlib.PosixPath
+      - data
+      - blender
+      - lego
+      ply_path: null
+      scale_factor: 1.0
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: white
+    collider_params: null
+    cone_angle: 0.0
+    densify: true
+    disable_scene_contraction: true
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 6.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 32
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 2.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: hash_as_means_unfreezed_10k_lr_1e-5_densify_10k_100_prune
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: true
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/kitchen.yml b/configs/kitchen.yml
new file mode 100644
index 0000000000000000000000000000000000000000..6d32774a721a845112f5a81a5fd677cc85f17cd5
--- /dev/null
+++ b/configs/kitchen.yml
@@ -0,0 +1,195 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- 360_v2
+- kitchen
+denisification_interval: 100
+densification_start_step: 100
+densification_stop_step: 10000
+experiment_name: kitchen
+freeze_means_step: 10000
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.001
+      downscale_factor: 4
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: true
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: random
+    collider_params: null
+    cone_angle: 0.00390625
+    densify: true
+    disable_scene_contraction: false
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 1000.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 0.25
+      device: cuda
+      n_neighbours: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 0.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    unfreeze_means: true
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: open_scenes_baseline
+unfreeze_means_step: 500
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/lego.yml b/configs/lego.yml
new file mode 100644
index 0000000000000000000000000000000000000000..98bb983d347464ae63d3dddb99a3b101fd682958
--- /dev/null
+++ b/configs/lego.yml
@@ -0,0 +1,186 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- nerf_synthetic
+- lego
+denisification_interval: 200
+densification_start_step: 1000
+densification_stop_step: 8000
+experiment_name: lego
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:gnerf.data.dataparsers.GNeRFBlenderDataParserConfig
+      _target: !!python/name:gnerf.data.dataparsers.GNeRFBlender ''
+      alpha_color: white
+      data: !!python/object/apply:pathlib.PosixPath
+      - data
+      - blender
+      - lego
+      ply_path: null
+      scale_factor: 1.0
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: white
+    collider_params: null
+    cone_angle: 0.0
+    densify: true
+    disable_scene_contraction: true
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 6.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 32
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 2.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: hash_as_means_unfreezed_10k_lr_1e-5_densify_10k_100_prune
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: true
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/materials.yml b/configs/materials.yml
new file mode 100644
index 0000000000000000000000000000000000000000..a12d4c5fc59302127d21733b42f4f6d923afd60d
--- /dev/null
+++ b/configs/materials.yml
@@ -0,0 +1,186 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- nerf_synthetic
+- materials
+denisification_interval: 200
+densification_start_step: 1000
+densification_stop_step: 8000
+experiment_name: materials
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:gnerf.data.dataparsers.GNeRFBlenderDataParserConfig
+      _target: !!python/name:gnerf.data.dataparsers.GNeRFBlender ''
+      alpha_color: white
+      data: !!python/object/apply:pathlib.PosixPath
+      - data
+      - blender
+      - lego
+      ply_path: null
+      scale_factor: 1.0
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: white
+    collider_params: null
+    cone_angle: 0.0
+    densify: true
+    disable_scene_contraction: true
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 6.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 32
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 2.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: hash_as_means_unfreezed_10k_lr_1e-5_densify_10k_100_prune
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: true
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/mic.yml b/configs/mic.yml
new file mode 100644
index 0000000000000000000000000000000000000000..bad4701c11699398698063aaca09a69e3b3e42bc
--- /dev/null
+++ b/configs/mic.yml
@@ -0,0 +1,186 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- nerf_synthetic
+- mic
+denisification_interval: 200
+densification_start_step: 1000
+densification_stop_step: 8000
+experiment_name: mic
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:gnerf.data.dataparsers.GNeRFBlenderDataParserConfig
+      _target: !!python/name:gnerf.data.dataparsers.GNeRFBlender ''
+      alpha_color: white
+      data: !!python/object/apply:pathlib.PosixPath
+      - data
+      - blender
+      - lego
+      ply_path: null
+      scale_factor: 1.0
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: white
+    collider_params: null
+    cone_angle: 0.0
+    densify: true
+    disable_scene_contraction: true
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 6.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 32
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 2.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: hash_as_means_unfreezed_10k_lr_1e-5_densify_10k_100_prune
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: true
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/pillow_duck.yml b/configs/pillow_duck.yml
new file mode 100644
index 0000000000000000000000000000000000000000..14cf6a051b955ae865884a72a430ce3fc7342234
--- /dev/null
+++ b/configs/pillow_duck.yml
@@ -0,0 +1,189 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- nerf_synthetic
+- pillow_duck
+denisification_interval: 100
+densification_start_step: 100
+densification_stop_step: 10000
+experiment_name: pillow_duck
+freeze_means_step: 10000
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:gnerf.data.dataparsers.GNeRFBlenderDataParserConfig
+      _target: !!python/name:gnerf.data.dataparsers.GNeRFBlender ''
+      alpha_color: white
+      data: !!python/object/apply:pathlib.PosixPath
+      - data
+      - blender
+      - lego
+      ply_path: null
+      scale_factor: 1.0
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: white
+    collider_params: null
+    cone_angle: 0.0
+    densify: true
+    disable_scene_contraction: true
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 6.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 2.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    unfreeze_means: true
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: pillow_duck
+unfreeze_means_step: 500
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: true
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/pirate_flag.yml b/configs/pirate_flag.yml
new file mode 100644
index 0000000000000000000000000000000000000000..9dd62e17687836b6649d81f0e0f7e7ced0842520
--- /dev/null
+++ b/configs/pirate_flag.yml
@@ -0,0 +1,189 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- nerf_synthetic
+- pirate_flag
+denisification_interval: 100
+densification_start_step: 100
+densification_stop_step: 2000
+experiment_name: pirate_flag
+freeze_means_step: 10000
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:gnerf.data.dataparsers.GNeRFBlenderDataParserConfig
+      _target: !!python/name:gnerf.data.dataparsers.GNeRFBlender ''
+      alpha_color: white
+      data: !!python/object/apply:pathlib.PosixPath
+      - data
+      - blender
+      - lego
+      ply_path: null
+      scale_factor: 1.0
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: white
+    collider_params: null
+    cone_angle: 0.0
+    densify: true
+    disable_scene_contraction: true
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 6.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 2.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    unfreeze_means: true
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: pirate_flag
+unfreeze_means_step: 500
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: true
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/room.yml b/configs/room.yml
new file mode 100644
index 0000000000000000000000000000000000000000..ad832360c12781eaf7239052217d113215f8ba4c
--- /dev/null
+++ b/configs/room.yml
@@ -0,0 +1,195 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- 360_v2
+- room
+denisification_interval: 100
+densification_start_step: 100
+densification_stop_step: 10000
+experiment_name: room
+freeze_means_step: 10000
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.001
+      downscale_factor: 4
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: true
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: random
+    collider_params: null
+    cone_angle: 0.00390625
+    densify: true
+    disable_scene_contraction: false
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 1000.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 0.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    unfreeze_means: true
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: open_scenes_baseline
+unfreeze_means_step: 500
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/rug_cup.yml b/configs/rug_cup.yml
new file mode 100644
index 0000000000000000000000000000000000000000..05166badcf0b2b1b020ae0e8ebdcf7c96642a582
--- /dev/null
+++ b/configs/rug_cup.yml
@@ -0,0 +1,187 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- nerf_synthetic
+- rug
+denisification_interval: 200
+densification_start_step: 1000
+densification_stop_step: 8000
+experiment_name: rug
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 0
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 1
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:gnerf.data.dataparsers.GNeRFBlenderDataParserConfig
+      _target: !!python/name:gnerf.data.dataparsers.GNeRFBlender ''
+      alpha_color: white
+      data: !!python/object/apply:pathlib.PosixPath
+      - data
+      - blender
+      - lego
+      ply_path: null
+      scale_factor: 1.0
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: white
+    collider_params: null
+    cone_angle: 0.0
+    densify: false
+    disable_scene_contraction: true
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 6.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 2.0
+    prompt: null
+    prune: false
+    render_step_size: 0.005
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+start_paused: false
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: falling_rug
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/ship.yml b/configs/ship.yml
new file mode 100644
index 0000000000000000000000000000000000000000..24073fc765b3a5355a0ba3298896b99c10ef65ef
--- /dev/null
+++ b/configs/ship.yml
@@ -0,0 +1,186 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- nerf_synthetic
+- ship
+denisification_interval: 200
+densification_start_step: 1000
+densification_stop_step: 8000
+experiment_name: ship
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:gnerf.data.dataparsers.GNeRFBlenderDataParserConfig
+      _target: !!python/name:gnerf.data.dataparsers.GNeRFBlender ''
+      alpha_color: white
+      data: !!python/object/apply:pathlib.PosixPath
+      - data
+      - blender
+      - lego
+      ply_path: null
+      scale_factor: 1.0
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: white
+    collider_params: null
+    cone_angle: 0.0
+    densify: true
+    disable_scene_contraction: true
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 6.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 32
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 2.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: hash_as_means_unfreezed_10k_lr_1e-5_densify_10k_100_prune
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: true
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/stump.yml b/configs/stump.yml
new file mode 100644
index 0000000000000000000000000000000000000000..080d019e48266f001313115a1b5b00f879e6678d
--- /dev/null
+++ b/configs/stump.yml
@@ -0,0 +1,195 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- 360_v2
+- stump
+denisification_interval: 100
+densification_start_step: 100
+densification_stop_step: 10000
+experiment_name: stump
+freeze_means_step: 10000
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.001
+      downscale_factor: 4
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: true
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: random
+    collider_params: null
+    cone_angle: 0.00390625
+    densify: true
+    disable_scene_contraction: false
+    enable_collider: false
+    eval_num_rays_per_chunk: 8192
+    far_plane: 1000.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 0.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    unfreeze_means: true
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: open_scenes_baseline
+unfreeze_means_step: 500
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/configs/treehill.yml b/configs/treehill.yml
new file mode 100644
index 0000000000000000000000000000000000000000..03995f23266e4be0ba2e4c124426596dcac1f767
--- /dev/null
+++ b/configs/treehill.yml
@@ -0,0 +1,195 @@
+!!python/object:gnerf.gnerf_trainer.GNeRFTrainerConfig
+_target: !!python/name:gnerf.gnerf_trainer.GNeRFTrainer ''
+data: &id004 !!python/object/apply:pathlib.PosixPath
+- data
+- 360_v2
+- treehill
+denisification_interval: 100
+densification_start_step: 100
+densification_stop_step: 10000
+experiment_name: treehill
+freeze_means_step: 10000
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 20000
+method_name: gnerf
+mixed_precision: false
+optimizers:
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 1.0e-06
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: &id002 !!python/name:gnerf.utils.schedulers.ChainedScheduler ''
+      gamma: 0.33
+      max_steps: 20000
+      milestones: &id003 !!python/tuple
+      - 0.5
+      - 0.75
+      - 0.9
+  log_covs:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.001
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+  means:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 1.0e-05
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:gnerf.utils.schedulers.ChainedSchedulerConfig
+      _target: *id002
+      gamma: 0.33
+      max_steps: 20000
+      milestones: *id003
+output_dir: !!python/object/apply:pathlib.PosixPath
+- outputs
+pipeline: !!python/object:gnerf.gnerf_pipeline.GNeRFPipelineConfig
+  _target: !!python/name:gnerf.gnerf_pipeline.GNeRFPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id004
+    dataparser: !!python/object:nerfstudio.data.dataparsers.nerfstudio_dataparser.NerfstudioDataParserConfig
+      _target: !!python/name:nerfstudio.data.dataparsers.nerfstudio_dataparser.Nerfstudio ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.001
+      downscale_factor: 4
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: true
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: -1
+    eval_num_rays_per_batch: 1024
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      rejection_sample_mask: false
+    train_num_images_to_sample_from: -1
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  max_num_samples_per_ray: 1024
+  model: !!python/object:gnerf.gnerf_model.GNeRFModelConfig
+    _target: !!python/name:gnerf.gnerf_model.GNeRFModel ''
+    alpha_thre: 0.0
+    appearance_embedding_dim: 32
+    background_color: random
+    collider_params: null
+    cone_angle: 0.00390625
+    densify: true
+    disable_scene_contraction: false
+    enable_collider: false
+    eval_num_rays_per_chunk: 2048
+    far_plane: 1000.0
+    grid_resolution: 128
+    knn_algorithm: !!python/object:gnerf.knn.knn_algorithms.OptixKNNConfig
+      _target: !!python/name:gnerf.knn.knn_algorithms.OptixKNN ''
+      chi_squared_radius: 2.0
+      device: cuda
+      n_neighbours: 16
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_gb: 20
+    near_plane: 0.0
+    prompt: null
+    prune: true
+    render_step_size: 0.005
+    unfreeze_means: true
+    use_appearance_embedding: false
+    use_gradient_scaling: true
+  target_num_samples: 262144
+project_name: nerfstudio-project
+prompt: null
+pruning_interval: 1000
+pruning_start_step: 1000
+pruning_stop_step: 15000
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 25000
+steps_per_eval_batch: 500
+steps_per_eval_image: 500
+steps_per_save: 100
+timestamp: open_scenes_baseline
+unfreeze_means_step: 500
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 4096
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: viewer
diff --git a/data/pillow_duck/train/transforms.json b/data/pillow_duck/train/transforms.json
deleted file mode 100644
index d0f910ee0ff0ceaa62bd6ea2fc7a0ddbf11b41de..0000000000000000000000000000000000000000
--- a/data/pillow_duck/train/transforms.json
+++ /dev/null
@@ -1,3005 +0,0 @@
-{
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diff --git a/data/rug_cup/transforms_val.json b/data/rug_cup/transforms_val.json
new file mode 100644
index 0000000000000000000000000000000000000000..d00ee4dbf28dba1ac8c8e2a9973f45b4320cf807
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