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README.md

@@ -1,5 +1,199 @@
----
-license: other
-license_name: theaiinstitute-license
-license_link: https://github.com/bdaiinstitute/theia/blob/main/LICENSE
----
+---
+library_name: transformers
+tags: []
+---
+
+# Model Card for Model ID
+
+<!-- Provide a quick summary of what the model is/does. -->
+
+
+
+## Model Details
+
+### Model Description
+
+<!-- Provide a longer summary of what this model is. -->
+
+This is the model card of a 🤗 transformers model that has been pushed on the Hub. This model card has been automatically generated.
+
+- **Developed by:** [More Information Needed]
+- **Funded by [optional]:** [More Information Needed]
+- **Shared by [optional]:** [More Information Needed]
+- **Model type:** [More Information Needed]
+- **Language(s) (NLP):** [More Information Needed]
+- **License:** [More Information Needed]
+- **Finetuned from model [optional]:** [More Information Needed]
+
+### Model Sources [optional]
+
+<!-- Provide the basic links for the model. -->
+
+- **Repository:** [More Information Needed]
+- **Paper [optional]:** [More Information Needed]
+- **Demo [optional]:** [More Information Needed]
+
+## Uses
+
+<!-- Address questions around how the model is intended to be used, including the foreseeable users of the model and those affected by the model. -->
+
+### Direct Use
+
+<!-- This section is for the model use without fine-tuning or plugging into a larger ecosystem/app. -->
+
+[More Information Needed]
+
+### Downstream Use [optional]
+
+<!-- This section is for the model use when fine-tuned for a task, or when plugged into a larger ecosystem/app -->
+
+[More Information Needed]
+
+### Out-of-Scope Use
+
+<!-- This section addresses misuse, malicious use, and uses that the model will not work well for. -->
+
+[More Information Needed]
+
+## Bias, Risks, and Limitations
+
+<!-- This section is meant to convey both technical and sociotechnical limitations. -->
+
+[More Information Needed]
+
+### Recommendations
+
+<!-- This section is meant to convey recommendations with respect to the bias, risk, and technical limitations. -->
+
+Users (both direct and downstream) should be made aware of the risks, biases and limitations of the model. More information needed for further recommendations.
+
+## How to Get Started with the Model
+
+Use the code below to get started with the model.
+
+[More Information Needed]
+
+## Training Details
+
+### Training Data
+
+<!-- This should link to a Dataset Card, perhaps with a short stub of information on what the training data is all about as well as documentation related to data pre-processing or additional filtering. -->
+
+[More Information Needed]
+
+### Training Procedure
+
+<!-- This relates heavily to the Technical Specifications. Content here should link to that section when it is relevant to the training procedure. -->
+
+#### Preprocessing [optional]
+
+[More Information Needed]
+
+
+#### Training Hyperparameters
+
+- **Training regime:** [More Information Needed] <!--fp32, fp16 mixed precision, bf16 mixed precision, bf16 non-mixed precision, fp16 non-mixed precision, fp8 mixed precision -->
+
+#### Speeds, Sizes, Times [optional]
+
+<!-- This section provides information about throughput, start/end time, checkpoint size if relevant, etc. -->
+
+[More Information Needed]
+
+## Evaluation
+
+<!-- This section describes the evaluation protocols and provides the results. -->
+
+### Testing Data, Factors & Metrics
+
+#### Testing Data
+
+<!-- This should link to a Dataset Card if possible. -->
+
+[More Information Needed]
+
+#### Factors
+
+<!-- These are the things the evaluation is disaggregating by, e.g., subpopulations or domains. -->
+
+[More Information Needed]
+
+#### Metrics
+
+<!-- These are the evaluation metrics being used, ideally with a description of why. -->
+
+[More Information Needed]
+
+### Results
+
+[More Information Needed]
+
+#### Summary
+
+
+
+## Model Examination [optional]
+
+<!-- Relevant interpretability work for the model goes here -->
+
+[More Information Needed]
+
+## Environmental Impact
+
+<!-- Total emissions (in grams of CO2eq) and additional considerations, such as electricity usage, go here. Edit the suggested text below accordingly -->
+
+Carbon emissions can be estimated using the [Machine Learning Impact calculator](https://mlco2.github.io/impact#compute) presented in [Lacoste et al. (2019)](https://arxiv.org/abs/1910.09700).
+
+- **Hardware Type:** [More Information Needed]
+- **Hours used:** [More Information Needed]
+- **Cloud Provider:** [More Information Needed]
+- **Compute Region:** [More Information Needed]
+- **Carbon Emitted:** [More Information Needed]
+
+## Technical Specifications [optional]
+
+### Model Architecture and Objective
+
+[More Information Needed]
+
+### Compute Infrastructure
+
+[More Information Needed]
+
+#### Hardware
+
+[More Information Needed]
+
+#### Software
+
+[More Information Needed]
+
+## Citation [optional]
+
+<!-- If there is a paper or blog post introducing the model, the APA and Bibtex information for that should go in this section. -->
+
+**BibTeX:**
+
+[More Information Needed]
+
+**APA:**
+
+[More Information Needed]
+
+## Glossary [optional]
+
+<!-- If relevant, include terms and calculations in this section that can help readers understand the model or model card. -->
+
+[More Information Needed]
+
+## More Information [optional]
+
+[More Information Needed]
+
+## Model Card Authors [optional]
+
+[More Information Needed]
+
+## Model Card Contact
+
+[More Information Needed]

config.json

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+{
+  "architectures": [
+    "TheiaModel"
+  ],
+  "auto_map": {
+    "AutoConfig": "theia_model.TheiaConfig",
+    "AutoModel": "theia_model.TheiaModel"
+  },
+  "backbone": "facebook/deit-tiny-patch16-224",
+  "feature_neck": false,
+  "feature_neck_hidden_dim": 256,
+  "feature_neck_nonlinearity": "relu",
+  "feature_reduce_method": null,
+  "forward_neck": false,
+  "image_size": 224,
+  "num_reg_tokens": 0,
+  "pretrained": false,
+  "target_feature_sizes": {
+    "LiheYoung/depth-anything-large-hf": [
+      32,
+      64,
+      64
+    ],
+    "facebook/dinov2-large": [
+      1024,
+      16,
+      16
+    ],
+    "facebook/sam-vit-huge": [
+      256,
+      64,
+      64
+    ],
+    "google/vit-huge-patch14-224-in21k": [
+      1280,
+      16,
+      16
+    ],
+    "openai/clip-vit-large-patch14": [
+      1024,
+      16,
+      16
+    ]
+  },
+  "target_loss_weights": null,
+  "torch_dtype": "float32",
+  "transformers_version": "4.41.2",
+  "translator_hidden_size_factor": 1.0,
+  "translator_type": "lconv"
+}

model.safetensors

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9b692afcd0017ecc8b083ca6ad691bb2f09a4e89770f231a04e44687f5508524
+size 64702560

theia_model.py

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+# Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved.
+
+import math
+from itertools import chain
+from typing import Any, Optional
+from omegaconf import OmegaConf
+
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+from torch.nn.functional import interpolate
+from einops.layers.torch import Rearrange
+
+from transformers import PretrainedConfig, PreTrainedModel
+from transformers import AutoConfig, AutoModel, AutoProcessor, AutoImageProcessor
+from transformers.models.vit.modeling_vit import ViTEmbeddings, ViTModel
+
+def handle_feature_output(
+    x: torch.Tensor, feature_reduce_method: Optional[str] = None, num_discard_tokens: int = 0
+) -> torch.Tensor:
+    """Handle feature output from transformer.
+
+    Args:
+        x (torch.Tensor): input feature to be handled. shape is
+            [B, 1+H*W+N, C] if including both CLS and register tokens.
+            [B, 1+H*W, C] for standard model (N=0).
+            [B, H*W, C] for model without CLS.
+        feature_reduce_method (Optional[str]): method to select token. Options:
+            - `mean_pooling`: average over spatial tokens (non CLS tokens), output shape = [B, C].
+            - `max_pooling`: max over spatial tokens, output shape = [B, C].
+            - `cls`: return CLS token only, output shape = [B, C].
+            - `identity`: return the feature without touching it, output shape = input shape.
+            - `None`: return spatial tokens, output shape = [B, H*W, C] (assuming input is [B, 1+H*W, C]).
+            suppose raw feature is in shape [B, 1+H*W, C], `1` corresponds to CLS token.
+        num_discard_tokens (int):
+            number of tokens to be discarded. Assuming they are at the end of the sequence.
+    Returns:
+        torch.Tensor: selected feature tokens.
+    """
+
+    match feature_reduce_method:
+        case "mean_pooling":
+            return torch.mean(x[:, 1 : x.size(1) - num_discard_tokens], dim=1)  # [B, C]
+        case "max_pooling":
+            return torch.amax(x[:, 1 : x.size(1) - num_discard_tokens], dim=1)  # [B, C]
+        case "cls":
+            return x[:, 0]  # [B, C]
+        case "identity":
+            return x
+        case None:
+            return x[:, 1 : x.size(1) - num_discard_tokens]
+        case _:
+            raise NotImplementedError(f"feature_reduce_method {feature_reduce_method} it not implemented.")
+
+
+# Modified from huggingface transformers ViTEmbeddings
+# Original Copyright 2021 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+class ViTEmbeddingsNoCLS(ViTEmbeddings):
+    """ViT Embedding Module without CLS token."""
+
+    def __init__(self, config: AutoConfig, use_mask_token: bool = False):
+        """Initialization.
+
+        Args:
+            config (AutoConfig): config for ViT.
+            use_mask_token (bool, optional): whether to use mask token. Defaults to False.
+        """
+        super(ViTEmbeddingsNoCLS, self).__init__(config, use_mask_token=use_mask_token)
+        self.cls_token = None
+
+    def interpolate_pos_encoding(self, embeddings: torch.Tensor, height: int, width: int) -> torch.Tensor:
+        """
+        This method allows to interpolate the pre-trained position encodings, to be able to use the model on higher
+        resolution images.
+
+        Source:
+        https://github.com/facebookresearch/dino/blob/de9ee3df6cf39fac952ab558447af1fa1365362a/vision_transformer.py#L174
+        """
+
+        num_patches = embeddings.shape[1]
+        num_positions = self.position_embeddings.shape[1] - 1
+        if num_patches == num_positions and height == width:
+            return self.position_embeddings
+        patch_pos_embed = self.position_embeddings[:, 1:]
+        dim = embeddings.shape[-1]
+        h0 = height // self.config.patch_size
+        w0 = width // self.config.patch_size
+        # we add a small number to avoid floating point error in the interpolation
+        # see discussion at https://github.com/facebookresearch/dino/issues/8
+        h0, w0 = h0 + 0.1, w0 + 0.1
+        patch_pos_embed = patch_pos_embed.reshape(1, int(math.sqrt(num_positions)), int(math.sqrt(num_positions)), dim)
+        patch_pos_embed = patch_pos_embed.permute(0, 3, 1, 2)
+        patch_pos_embed = nn.functional.interpolate(
+            patch_pos_embed,
+            scale_factor=(h0 / math.sqrt(num_positions), w0 / math.sqrt(num_positions)),
+            mode="bicubic",
+            align_corners=False,
+        )
+        assert int(h0) == patch_pos_embed.shape[-2] and int(w0) == patch_pos_embed.shape[-1]
+        patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim)
+        return patch_pos_embed
+
+    def forward(
+        self,
+        pixel_values: torch.Tensor,
+        bool_masked_pos: Optional[torch.BoolTensor] = None,
+        interpolate_pos_encoding: bool = False,
+    ) -> torch.Tensor:
+        batch_size, num_channels, height, width = pixel_values.shape
+        embeddings = self.patch_embeddings(pixel_values, interpolate_pos_encoding=interpolate_pos_encoding)
+
+        if bool_masked_pos is not None:
+            seq_length = embeddings.shape[1]
+            mask_tokens = self.mask_token.expand(batch_size, seq_length, -1)
+            # replace the masked visual tokens by mask_tokens
+            mask = bool_masked_pos.unsqueeze(-1).type_as(mask_tokens)
+            embeddings = embeddings * (1.0 - mask) + mask_tokens * mask
+
+        # add positional encoding to each token
+        if interpolate_pos_encoding:
+            embeddings = embeddings + self.interpolate_pos_encoding(embeddings, height, width)
+        else:
+            embeddings = embeddings + self.position_embeddings[:, 1:]
+
+        embeddings = self.dropout(embeddings)
+
+        return embeddings
+
+
+# modified from huggingface transformers ViTModel
+class ViTModelNoCLS(ViTModel):
+    """ViT Model without CLS token."""
+
+    def __init__(self, config: AutoConfig, add_pooling_layer: bool = True, use_mask_token: bool = False) -> None:
+        super(ViTModelNoCLS, self).__init__(config, add_pooling_layer, use_mask_token)
+        self.embeddings = ViTEmbeddingsNoCLS(config, use_mask_token=use_mask_token)
+        self.no_cls = True
+
+    def _init_weights(self, module: nn.Linear | nn.Conv2d | nn.LayerNorm) -> None:
+        """Initialize the weights"""
+        if isinstance(module, (nn.Linear, nn.Conv2d)):
+            # Upcast the input in `fp32` and cast it back to desired `dtype` to avoid
+            # `trunc_normal_cpu` not implemented in `half` issues
+            module.weight.data = nn.init.trunc_normal_(
+                module.weight.data.to(torch.float32), mean=0.0, std=self.config.initializer_range
+            ).to(module.weight.dtype)
+            if module.bias is not None:
+                module.bias.data.zero_()
+        elif isinstance(module, nn.LayerNorm):
+            module.bias.data.zero_()
+            module.weight.data.fill_(1.0)
+        elif isinstance(module, ViTEmbeddings):
+            module.position_embeddings.data = nn.init.trunc_normal_(
+                module.position_embeddings.data.to(torch.float32),
+                mean=0.0,
+                std=self.config.initializer_range,
+            ).to(module.position_embeddings.dtype)
+
+
+# modified from huggingface transformers ViTEmbeddings
+class ViTEmbeddingsReg(ViTEmbeddings):
+    """
+    ViT Embedding Module with register tokens. https://openreview.net/forum?id=2dnO3LLiJ1
+    """
+
+    def __init__(self, config: AutoConfig, use_mask_token: bool = False, num_reg_tokens: int = 7):
+        super(ViTEmbeddingsReg, self).__init__(config, use_mask_token=use_mask_token)
+        self.reg_token = nn.Parameter(torch.randn(1, num_reg_tokens, config.hidden_size))
+        self.num_reg_tokens = num_reg_tokens
+        self.reg_pos_embed = nn.Parameter(torch.randn(1, num_reg_tokens, config.hidden_size))
+
+        self.reg_pos_embed.data = nn.init.trunc_normal_(
+            self.reg_pos_embed.data.to(torch.float32),
+            mean=0.0,
+            std=self.config.initializer_range,
+        ).to(self.reg_pos_embed.dtype)
+
+        self.reg_token.data = nn.init.trunc_normal_(
+            self.reg_token.data.to(torch.float32),
+            mean=0.0,
+            std=self.config.initializer_range,
+        ).to(self.reg_token.dtype)
+
+    def interpolate_pos_encoding(self, embeddings: torch.Tensor, height: int, width: int) -> torch.Tensor:
+        """
+        This method allows to interpolate the pre-trained position encodings, to be able to use the model on higher
+        resolution images.
+
+        Source:
+        https://github.com/facebookresearch/dino/blob/de9ee3df6cf39fac952ab558447af1fa1365362a/vision_transformer.py#L174
+        """
+
+        num_patches = embeddings.shape[1] - 1 - self.num_reg_tokens
+        num_positions = self.position_embeddings.shape[1] - 1
+        if num_patches == num_positions and height == width:
+            return self.position_embeddings
+        class_pos_embed = self.position_embeddings[:, 0]
+        patch_pos_embed = self.position_embeddings[:, 1:]
+        reg_pos_embed = self.reg_pos_embed
+        dim = embeddings.shape[-1]
+        h0 = height // self.config.patch_size
+        w0 = width // self.config.patch_size
+        # we add a small number to avoid floating point error in the interpolation
+        # see discussion at https://github.com/facebookresearch/dino/issues/8
+        h0, w0 = h0 + 0.1, w0 + 0.1
+        patch_pos_embed = patch_pos_embed.reshape(1, int(math.sqrt(num_positions)), int(math.sqrt(num_positions)), dim)
+        patch_pos_embed = patch_pos_embed.permute(0, 3, 1, 2)
+        patch_pos_embed = nn.functional.interpolate(
+            patch_pos_embed,
+            scale_factor=(h0 / math.sqrt(num_positions), w0 / math.sqrt(num_positions)),
+            mode="bicubic",
+            align_corners=False,
+        )
+        assert int(h0) == patch_pos_embed.shape[-2] and int(w0) == patch_pos_embed.shape[-1]
+        patch_pos_embed = patch_pos_embed.permute(0, 2, 3, 1).view(1, -1, dim)
+        return torch.cat((class_pos_embed.unsqueeze(0), patch_pos_embed, reg_pos_embed), dim=1)
+
+    def forward(
+        self,
+        pixel_values: torch.Tensor,
+        bool_masked_pos: Optional[torch.BoolTensor] = None,
+        interpolate_pos_encoding: bool = False,
+    ) -> torch.Tensor:
+        batch_size, num_channels, height, width = pixel_values.shape
+        embeddings = self.patch_embeddings(pixel_values, interpolate_pos_encoding=interpolate_pos_encoding)
+
+        if bool_masked_pos is not None:
+            seq_length = embeddings.shape[1]
+            mask_tokens = self.mask_token.expand(batch_size, seq_length, -1)
+            # replace the masked visual tokens by mask_tokens
+            mask = bool_masked_pos.unsqueeze(-1).type_as(mask_tokens)
+            embeddings = embeddings * (1.0 - mask) + mask_tokens * mask
+
+        # add the [CLS] token to the embedded patch tokens
+        cls_tokens = self.cls_token.expand(batch_size, -1, -1)
+        reg_tokens = self.reg_token.expand(batch_size, -1, -1)
+        embeddings = torch.cat((cls_tokens, embeddings, reg_tokens), dim=1)
+
+        # add positional encoding to each token
+        if interpolate_pos_encoding:
+            embeddings = embeddings + self.interpolate_pos_encoding(embeddings, height, width)
+        else:
+            embeddings = embeddings + torch.cat([self.position_embeddings, self.reg_pos_embed], dim=1)
+
+        embeddings = self.dropout(embeddings)
+
+        return embeddings
+
+
+# modified from huggingface transformers ViTModel
+class ViTModelReg(ViTModel):
+    """ViT Model with register tokens. https://openreview.net/forum?id=2dnO3LLiJ1"""
+
+    def __init__(
+        self, config: AutoConfig, add_pooling_layer: bool = True, use_mask_token: bool = False, num_reg_tokens: int = 7
+    ):
+        super(ViTModelReg, self).__init__(config, add_pooling_layer, use_mask_token)
+        self.embeddings = ViTEmbeddingsReg(config, use_mask_token=use_mask_token, num_reg_tokens=num_reg_tokens)
+        self.num_reg_tokens = num_reg_tokens
+
+    def _init_weights(self, module: nn.Linear | nn.Conv2d | nn.LayerNorm) -> None:
+        """Initialize the weights"""
+        if isinstance(module, (nn.Linear, nn.Conv2d)):
+            # Upcast the input in `fp32` and cast it back to desired `dtype` to avoid
+            # `trunc_normal_cpu` not implemented in `half` issues
+            module.weight.data = nn.init.trunc_normal_(
+                module.weight.data.to(torch.float32), mean=0.0, std=self.config.initializer_range
+            ).to(module.weight.dtype)
+            if module.bias is not None:
+                module.bias.data.zero_()
+        elif isinstance(module, nn.LayerNorm):
+            module.bias.data.zero_()
+            module.weight.data.fill_(1.0)
+        elif isinstance(module, ViTEmbeddings):
+            module.position_embeddings.data = nn.init.trunc_normal_(
+                module.position_embeddings.data.to(torch.float32),
+                mean=0.0,
+                std=self.config.initializer_range,
+            ).to(module.position_embeddings.dtype)
+            module.cls_token.data = nn.init.trunc_normal_(
+                module.cls_token.data.to(torch.float32),
+                mean=0.0,
+                std=self.config.initializer_range,
+            ).to(module.cls_token.dtype)
+
+
+class DeiT(nn.Module):
+    """DeiT model.
+
+    Paper: Training data-efficient image transformers & distillation through attention
+        https://arxiv.org/abs/2012.12877
+    Huggingface Reference: https://huggingface.co/docs/transformers/en/model_doc/deit
+
+    Attributes:
+        model_name (str): name of the model.
+        pretrained (bool): whether to use pretrained weights.
+    """
+
+    def __init__(
+        self,
+        model_name: str = "facebook/deit-small-patch16-224",
+        pretrained: bool = False,
+        image_size: int = 224,
+    ):
+        super().__init__()
+        self.image_size = image_size
+        model = AutoModel.from_pretrained(model_name)
+        if pretrained:
+            self.model = model
+        else:
+            deit_config = model.config
+            self.model = AutoModel.from_config(deit_config)
+            del model
+
+        self.model.pooler = nn.Identity()
+
+        self.processor = AutoProcessor.from_pretrained(model_name)
+
+    def get_feature_size(
+        self,
+        keep_spatial: bool = False,
+        return_torch_size: bool = False,
+    ) -> torch.Size | tuple[int, ...]:
+        """Get the size of the feature.
+
+        Args:
+            keep_spatial (bool): keep spatial dim of the feature shape. Defaults to False.
+            return_torch_size (bool): if true, return torch.Size type. Defaults to False.
+
+        Returns:
+            torch.Size | tuple[int, ...]: returned feature shape.
+        """
+        with torch.inference_mode():
+            image_size = (224, 224)
+            x = torch.zeros((1, *image_size, 3), dtype=torch.uint8)
+            y = self.forward(x)[:, 1:]  # for getting feature size, discard cls token
+            size = y.size()[1:][::-1]
+            if keep_spatial:
+                assert math.isqrt(size[-1])
+                h = w = int(math.sqrt(size[-1]))
+                size = (size[0], h, w)
+                if return_torch_size:
+                    size = torch.Size(size)
+            return size
+
+    def forward(
+        self,
+        x: torch.Tensor,
+        do_resize: bool = True,
+        interpolate_pos_encoding: Optional[bool] = None,
+        do_rescale: bool = True,
+        do_normalize: bool = True,
+    ) -> torch.Tensor:
+        """Forward pass of the model
+
+        Args:
+            x (torch.Tensor): model input.
+
+            - arguments for self.processor. Details can be find at
+                https://huggingface.co/docs/transformers/v4.41.3/en/model_doc/deit#transformers.DeiTImageProcessor
+            do_resize (bool): if do resizing in processor. Defaults to True.
+            interpolate_pos_encoding (bool): if interpolate the positional embedding. Defaults to None.
+            do_rescale (bool): if do rescaling (0-255 -> 0-1) in processor. Defaults to True.
+            do_normalize (bool): if do normalize in processor. Defaults to True.
+
+        Returns:
+            torch.Tensor: model output.
+        """
+        input = self.processor(
+            x, return_tensors="pt", do_resize=do_resize, do_rescale=do_rescale, do_normalize=do_normalize
+        ).to(self.model.device)
+        y = self.model(**input, interpolate_pos_encoding=interpolate_pos_encoding)
+        return y.last_hidden_state
+
+
+class DeiTNoCLS(nn.Module):
+    """Modified DeiT model without CLS token."""
+
+    def __init__(
+        self, model_name: str = "nocls-facebook/deit-small-patch16-224", pretrained: bool = False, image_size: int = 224
+    ):
+        super().__init__()
+        self.image_size = image_size
+        pretrained_model_name = model_name.replace("nocls-", "")
+        deit_config = AutoConfig.from_pretrained(pretrained_model_name)
+        self.model = ViTModelNoCLS(deit_config)
+        if pretrained:
+            pretrained_model = AutoModel.from_pretrained(pretrained_model_name)
+            pretrained_dict = {k: v for k, v in pretrained_model.state_dict().items() if k in self.model.state_dict()}
+            self.load_state_dict(pretrained_dict, strict=False)
+            del pretrained_model, pretrained_dict
+
+        self.model.pooler = nn.Identity()
+        self.processor = AutoProcessor.from_pretrained(pretrained_model_name)
+        self.no_cls = True
+
+    def get_feature_size(
+        self,
+        keep_spatial: bool = False,
+        return_torch_size: bool = False,
+    ) -> torch.Size | tuple[int, ...]:
+        """Get the size of the feature.
+
+        Args:
+            keep_spatial (bool): keep spatial dim of the feature shape. Defaults to False.
+            return_torch_size (bool): if true, return torch.Size type. Defaults to False.
+
+        Returns:
+            torch.Size | tuple[int, ...]: returned feature shape.
+        """
+        with torch.inference_mode():
+            image_size = (self.image_size, self.image_size)
+            x = torch.zeros((1, *image_size, 3), dtype=torch.uint8)
+            y = self.forward(x)
+            size = y.size()[1:][::-1]
+            if keep_spatial:
+                assert math.isqrt(size[-1])
+                h = w = int(math.sqrt(size[-1]))
+                size = (size[0], h, w)
+                if return_torch_size:
+                    size = torch.Size(size)
+            return size
+
+    def forward(
+        self,
+        x: torch.Tensor,
+        do_resize: bool = True,
+        interpolate_pos_encoding: Optional[bool] = None,
+        do_rescale: bool = True,
+        do_normalize: bool = True,
+    ) -> torch.Tensor:
+        """Forward pass of the model
+
+        Args:
+            x (torch.Tensor): model input.
+
+            - arguments for self.processor. Details can be find at
+                https://huggingface.co/docs/transformers/v4.41.3/en/model_doc/deit#transformers.DeiTImageProcessor
+            do_resize (bool): if do resizing in processor. Defaults to True.
+            do_rescale (bool): if do rescaling (0-255 -> 0-1) in processor. Defaults to True.
+            do_normalize (bool): if do normalize in processor. Defaults to True.
+
+            - argument for forward
+            interpolate_pos_encoding (bool): if interpolate the positional embedding. Defaults to None.
+
+        Returns:
+            torch.Tensor: model output.
+        """
+        input = self.processor(
+            x, return_tensors="pt", do_resize=do_resize, do_rescale=do_rescale, do_normalize=do_normalize
+        ).to(self.model.device)
+        y = self.model(**input, interpolate_pos_encoding=interpolate_pos_encoding)
+        return y.last_hidden_state
+
+
+class DeiTReg(nn.Module):
+    """Modified DeiT model with register tokens."""
+
+    def __init__(
+        self,
+        model_name: str = "reg-facebook/deit-small-patch16-224",
+        pretrained: bool = False,
+        image_size: int = 224,
+        num_reg_tokens: int = 7,
+    ):
+        super().__init__()
+        self.image_size = image_size
+        pretrained_model_name = model_name.replace("reg-", "")
+        deit_config = AutoConfig.from_pretrained(pretrained_model_name)
+        self.model = ViTModelReg(deit_config, num_reg_tokens=num_reg_tokens)
+        if pretrained:
+            pretrained_model = AutoModel.from_pretrained(pretrained_model_name)
+            pretrained_dict = {k: v for k, v in pretrained_model.state_dict().items() if k in self.model.state_dict()}
+            self.load_state_dict(pretrained_dict, strict=False)
+            del pretrained_model, pretrained_dict
+
+        self.model.pooler = nn.Identity()
+        self.processor = AutoProcessor.from_pretrained(pretrained_model_name)
+        self.num_reg_tokens = num_reg_tokens
+
+    def get_feature_size(
+        self,
+        keep_spatial: bool = False,
+        return_torch_size: bool = False,
+    ) -> torch.Size | tuple[int, ...]:
+        """Get the size of the feature.
+
+        Args:
+            keep_spatial (bool): keep spatial dim of the feature shape. Defaults to False.
+            return_torch_size (bool): if true, return torch.Size type. Defaults to False.
+
+        Returns:
+            torch.Size | tuple[int, ...]: returned feature shape.
+        """
+        with torch.inference_mode():
+            image_size = (self.image_size, self.image_size)
+            x = torch.zeros((1, *image_size, 3), dtype=torch.uint8)
+            y = self.forward(x)[:, 1 : -self.num_reg_tokens]
+            size = y.size()[1:][::-1]
+            if keep_spatial:
+                assert math.isqrt(size[-1])
+                h = w = int(math.sqrt(size[-1]))
+                size = (size[0], h, w)
+                if return_torch_size:
+                    size = torch.Size(size)
+            return size
+
+    def forward(
+        self,
+        x: torch.Tensor,
+        do_resize: bool = True,
+        interpolate_pos_encoding: Optional[bool] = None,
+        do_rescale: bool = True,
+        do_normalize: bool = True,
+    ) -> torch.Tensor:
+        """Forward pass of the model
+
+        Args:
+            x (torch.Tensor): model input.
+
+            - arguments for self.processor. Details can be find at
+                https://huggingface.co/docs/transformers/v4.41.3/en/model_doc/deit#transformers.DeiTImageProcessor
+            do_resize (bool): if do resizing in processor. Defaults to True.
+            interpolate_pos_encoding (bool): if interpolate the positional embedding. Defaults to None.
+            do_rescale (bool): if do rescaling (0-255 -> 0-1) in processor. Defaults to True.
+            do_normalize (bool): if do normalize in processor. Defaults to True.
+
+        Returns:
+            torch.Tensor: model output.
+        """
+        input = self.processor(
+            x, return_tensors="pt", do_resize=do_resize, do_rescale=do_rescale, do_normalize=do_normalize
+        ).to(self.model.device)
+        y = self.model(**input, interpolate_pos_encoding=interpolate_pos_encoding)
+        return y.last_hidden_state
+
+
+def build_backbone(model_name: str, pretrained: bool = False, image_size: int = 224, **kwargs: Any) -> nn.Module:
+    """Build the backbone visual encoder of robot vision foundation model.
+
+    Args:
+        model_name (str): name of the model.
+        pretrained (bool): whether to use pretrained weights. Defaults to False.
+        image_size (int): size of the image. Assume a square image. Defaults to 224
+        kwargs (Any): any kwargs specific to some models. For example,
+            `num_reg_tokens` for `DeiTReg` when `"reg"` in `model_name`
+
+    Returns:
+        nn.Module: backbone network.
+    """
+    if "reg" in model_name:
+        return DeiTReg(model_name=model_name, pretrained=pretrained, image_size=image_size, **kwargs)
+    elif "nocls" in model_name:
+        return DeiTNoCLS(model_name=model_name, pretrained=pretrained, image_size=image_size, **kwargs)
+    elif "deit" in model_name:
+        return DeiT(model_name=model_name, pretrained=pretrained, image_size=image_size)
+    else:
+        raise NotImplementedError(f"Requested {model_name} is not implemented.")
+
+class Interpolation(nn.Module):
+    """Interpolation nn.Module wrap for nn.functional.interpolate.
+
+    Attributes:
+        target_size (tuple[int, int] | torch.Size): target spatial size of this interpolation.
+    """
+
+    def __init__(self, target_size: tuple[int, int] | torch.Size) -> None:
+        super().__init__()
+        self.target_size = target_size
+
+    def forward(self, x: torch.Tensor) -> torch.Tensor:
+        """Very simple forward pass to call interpolate()."""
+        return interpolate(x, self.target_size)
+
+
+class LinearAdapterHead(nn.Module):
+    """Adapter head contains a single linear layer."""
+    def __init__(
+        self, source_size: tuple[int, ...] | torch.Size, target_size: tuple[int, ...] | torch.Size
+    ):
+        """Initialization function for LinearAdapterHead.
+        Args:
+            source_size (tuple[int, ...] | torch.Size): the size of the source feature.
+            target_size (tuple[int, ...] | torch.Size): the size of the target feature.
+            num_layer (int): number of MLP layers (One linear layer if num_layer = 1).
+        """
+        super().__init__()
+
+        self.source_size = source_size
+        self.target_size = target_size
+
+        source_channel_size = self.source_size[0]
+        target_channel_size = self.target_size[0]
+
+        self.adapter = nn.Sequential(
+            nn.Linear(source_channel_size, target_channel_size),
+        )
+
+    def forward(self, x: torch.Tensor, backbone_no_cls: bool = False) -> torch.Tensor:
+        """Forward pass for the adapter. """
+        assert backbone_no_cls == False
+        # x: [B, (1+H*W), C]
+        # LinearAdapterHead is used only when there is cls token in the backbone.
+        x = x[:, 0]
+        x = self.adapter(x)
+        return x  # [B, (H*W), C]
+
+
+class MLPAdapterHead(nn.Module):
+    """MLP Adapter module.
+
+    Transforms features in shape source size [B, (H_s*W_s), C_s] to target size [B, (H_t*W_t), C_t].
+    Will first do interpolation to match the spatial size [H_t, W_t],
+    followed by MLP to project to the target channel dimension [C_t].
+
+    Attributes:
+        source_size (tuple[int, ...] | torch.Size): the size of the source feature. [C, H, W]
+        target_size (tuple[int, ...] | torch.Size): the size of the target feature. [C, H, W]
+        adapter     (nn.Module):                    the adapter module.
+        interpolation (nn.Module):                  interpolation to adjust sizes before MLP.
+    """
+
+    def __init__(
+        self, source_size: tuple[int, ...] | torch.Size, target_size: tuple[int, ...] | torch.Size, num_layer: int
+    ):
+        """Initialization function for MLPAdapter.
+
+        Args:
+            source_size (tuple[int, ...] | torch.Size): the size of the source feature.
+            target_size (tuple[int, ...] | torch.Size): the size of the target feature.
+            num_layer (int): number of MLP layers (One linear layer if num_layer = 1).
+        """
+        super().__init__()
+        assert num_layer >= 1, f"`num_layer` in {self._get_name()} should >= 1. Got {num_layer}"
+
+        self.source_size = source_size
+        self.target_size = target_size
+
+        source_channel_size = self.source_size[0]
+        target_channel_size = self.target_size[0]
+
+        self.interpolation = nn.Sequential(
+            nn.Identity(),
+        )
+        if self.source_size[1] != self.target_size[1]:
+            self.interpolation = nn.Sequential(
+                Rearrange("b (h w) c-> b c h w", h=self.source_size[1], w=self.source_size[2]),
+                Interpolation(self.target_size[1:]),
+                Rearrange("b c h w-> b (h w) c"),
+            )
+
+        if num_layer == 1:
+            self.adapter = nn.Sequential(
+                nn.Linear(source_channel_size, target_channel_size),
+            )
+        elif num_layer >= 2:
+            hidden_dim = source_channel_size * 2
+            self.adapter = nn.Sequential(
+                nn.Linear(source_channel_size, hidden_dim),
+                *list(
+                    chain.from_iterable([[nn.ReLU(), nn.Linear(hidden_dim, hidden_dim)] for _ in range(num_layer - 2)])
+                ),
+                nn.ReLU(),
+                nn.Linear(hidden_dim, target_channel_size),
+            )
+
+    def forward(self, x: torch.Tensor, backbone_no_cls: bool = False) -> torch.Tensor:
+        """Forward pass for the adapter. First interpolation then MLP."""
+        # x: [B, (1)+H*W, C]
+        if not backbone_no_cls:
+            x = x[:, 1:]
+        # x: [B, (H*W), C]
+        x = self.interpolation(x)
+        x = self.adapter(x)
+        return x  # [B, (H*W), C]
+
+
+class ConvAdapterHead(nn.Module):
+    """Convolutional Adapter module.
+
+    Transforms features in shape source size [B, (H_s*W_s), C_s] to target size [B, (H_t*W_t), C_t].
+    Uses CNN to map channel and spatial sizes jointly.
+    Note: only work for (16, 16), (any, any), any <= 14, and (64, 64) spatial sizes for now.
+
+    Attributes:
+        source_size (tuple[int, ...] | torch.Size): the size of the source feature.
+        target_size (tuple[int, ...] | torch.Size): the size of the target feature.
+        adapter     (nn.Module):                    the adapter module.
+        interpolation (nn.Module):                  interpolation to adjust sizes before MLP.
+    """
+
+    def __init__(
+        self,
+        source_size: tuple[int, ...] | torch.Size,
+        target_size: tuple[int, ...] | torch.Size,
+    ):
+        """Initialization function for ConvAdapter.
+
+        Args:
+            source_size (tuple[int, ...] | torch.Size): the size of the source feature.
+            target_size (tuple[int, ...] | torch.Size): the size of the target feature.
+        """
+        super().__init__()
+        self.source_size = source_size
+        self.target_size = target_size
+
+        hidden_dim = self.source_size[0] * 2
+        source_channel_size = self.source_size[0]
+        target_channel_size = self.target_size[0]
+
+        if self.source_size[1] < 12:
+            raise NotImplementedError("feature spatial size smaller than 12x12 is not supported.")
+        elif self.source_size[1] < 16:  # pad (any, any), any <= 14 to (16, 16)
+            self.pad = nn.Sequential(
+                Rearrange("b (h w) c-> b c h w", h=self.source_size[1], w=self.source_size[2]),
+                nn.ConvTranspose2d(
+                    source_channel_size,
+                    source_channel_size,
+                    kernel_size=3,
+                    stride=1,
+                    output_padding=14 - self.source_size[1],
+                ),
+            )
+            self.source_size = (self.source_size[0], 16, 16)
+        elif self.source_size[1] == 16 or self.source_size[1] == 64:  # do nothing for (16, 16) and (64, 64)
+            self.pad = nn.Sequential(
+                Rearrange("b (h w) c-> b c h w", h=self.source_size[1], w=self.source_size[2]),
+            )
+        else:
+            raise NotImplementedError("feature spatial size (>=16x16) other than 16x16 and 64x64 is not supported.")
+
+        if self.source_size[1] < self.target_size[1]:  # (16, 16) / (14, 14) to (64, 64)
+            self.adapter = nn.Sequential(
+                nn.LayerNorm(self.source_size),
+                nn.ConvTranspose2d(source_channel_size, hidden_dim, kernel_size=3, stride=2, padding=1),  # 31
+                nn.ReLU(),
+                nn.LayerNorm([hidden_dim, 31, 31]),
+                nn.ConvTranspose2d(hidden_dim, hidden_dim, kernel_size=3, stride=2, output_padding=1),  # 64
+                nn.ReLU(),
+                nn.LayerNorm([hidden_dim, 64, 64]),
+                nn.ConvTranspose2d(hidden_dim, target_channel_size, kernel_size=3, stride=1, padding=1),  # 64
+                Rearrange("b c h w-> b (h w) c"),
+            )
+        elif self.source_size[1] == self.target_size[1]:  # (16, 16) to (16, 16)
+            self.adapter = nn.Sequential(
+                nn.LayerNorm(self.source_size),
+                nn.Conv2d(source_channel_size, hidden_dim, kernel_size=3, padding=1),  # 16
+                nn.ReLU(),
+                nn.LayerNorm([hidden_dim, *self.source_size[1:]]),
+                nn.Conv2d(hidden_dim, hidden_dim, kernel_size=3, padding=1),  # 16
+                nn.ReLU(),
+                nn.LayerNorm([hidden_dim, *self.source_size[1:]]),
+                nn.Conv2d(hidden_dim, target_channel_size, kernel_size=3, padding=1),  # 16
+                Rearrange("b c h w-> b (h w) c"),
+            )
+        else:  # (64, 64) to (16, 16)
+            self.adapter = nn.Sequential(
+                nn.LayerNorm(self.source_size),
+                nn.Conv2d(source_channel_size, hidden_dim, kernel_size=3, stride=2, padding=1),  # 32
+                nn.ReLU(),
+                nn.LayerNorm([hidden_dim, 32, 32]),
+                nn.Conv2d(hidden_dim, hidden_dim, kernel_size=3, stride=2, padding=1),  # 16
+                nn.ReLU(),
+                nn.LayerNorm([hidden_dim, 16, 16]),
+                nn.Conv2d(hidden_dim, target_channel_size, kernel_size=3, padding=1),  # 16
+                Rearrange("b c h w-> b (h w) c"),
+            )
+
+    def forward(self, x: torch.Tensor, backbone_no_cls: bool = False) -> torch.Tensor:
+        """Forward pass for ConvAdapter"""
+        # x: [B, (1)+H*W, C]
+        if not backbone_no_cls:
+            x = x[:, 1:]
+        # x: [B, H*W, C]
+        x = self.pad(x)
+        x = self.adapter(x)
+        return x  # B, (H*W), C
+
+
+class LightConvAdapterHead(nn.Module):
+    """Light Convolutional Adapter module.
+
+    Transforms features from source size in [B, (H_s*W_s), C_s] to target size [B, (H_t*W_t), C_t].
+    Uses CNN to map channel and spatial sizes jointly.
+    Note: only work for source sizes (H_s, W_s): (16, 16), (any, any), 12 <= any <= 14,
+        and target sizes (H_t, W_t): (16, 16) and (64, 64) for now.
+
+    Attributes:
+        source_size (tuple[int, ...] | torch.Size): the size of the source feature,
+            channel first (C, H, W).
+        target_size (tuple[int, ...] | torch.Size): the size of the target feature,
+            channel first (C, H, W).
+        adapter     (nn.Module):                    the adapter module.
+        interpolation (nn.Module):                  interpolation to adjust sizes before MLP.
+    """
+
+    def __init__(
+        self,
+        source_size: tuple[int, ...] | torch.Size,
+        target_size: tuple[int, ...] | torch.Size,
+        hidden_size_factor: int | float = 1.0,
+    ):
+        """Initialization function for ConvAdapter.
+
+        Args:
+            source_size (tuple[int, ...] | torch.Size): the size of the source feature.
+            target_size (tuple[int, ...] | torch.Size): the size of the target feature.
+            hidden_size_factor (int | float): the size of hidden dim of feature translator
+                as a factor of input feature hidden dim.
+        """
+        super().__init__()
+        if source_size[1] != source_size[2] or target_size[1] != target_size[2]:
+            raise NotImplementedError(
+                "Currently does not support non-square feature maps like source size"
+                "{source_size} and target size {target_size}."
+            )
+        self.source_size = source_size
+        self.target_size = target_size
+        self.hidden_size_factor = hidden_size_factor
+
+        hidden_dim = int(self.source_size[0] * hidden_size_factor)
+        source_channel_size = self.source_size[0]
+        target_channel_size = self.target_size[0]
+
+        if self.source_size[1] < 12:
+            raise NotImplementedError("feature spatial size smaller than 12x12 is not supported.")
+        elif self.source_size[1] < 16 and self.target_size[1] >= 16:  # pad (any, any), any <= 14 to (16, 16)
+            self.pad = nn.Sequential(
+                Rearrange("b (h w) c-> b c h w", h=self.source_size[1], w=self.source_size[2]),
+                nn.ConvTranspose2d(
+                    source_channel_size,
+                    source_channel_size,
+                    kernel_size=3,
+                    stride=1,
+                    output_padding=14 - self.source_size[1],
+                ),
+            )
+            self.source_size = (self.source_size[0], 16, 16)
+        elif (self.source_size[1] == 16 or self.source_size[1] == 64) or \
+             (self.source_size[1] == 14 and self.target_size[1] == 14):  
+            # no padding for (16, 16), (64, 64) and (14, 14) <-> (14, 14)
+            self.pad = nn.Sequential(
+                Rearrange("b (h w) c-> b c h w", h=self.source_size[1], w=self.source_size[2]),
+            )
+        elif self.target_size[1] < 14:
+            self.pad = nn.Sequential(
+                Rearrange("b (h w) c-> b c h w", h=self.source_size[1], w=self.source_size[2]),
+            )
+        else:
+            raise NotImplementedError("feature spatial size larger than 16x16 (other than 64x64) is not supported.")
+
+        if self.source_size[1] == 16 and self.target_size[1] == 64:  # (16, 16) to (64, 64)
+            self.adapter = nn.Sequential(
+                nn.LayerNorm(self.source_size),
+                nn.ConvTranspose2d(source_channel_size, hidden_dim, kernel_size=3, stride=2, padding=1),  # 31
+                nn.ReLU(),
+                nn.LayerNorm([hidden_dim, 31, 31]),
+                nn.ConvTranspose2d(hidden_dim, hidden_dim, kernel_size=3, stride=2, output_padding=1),  # 64
+                nn.ReLU(),
+                nn.LayerNorm([hidden_dim, 64, 64]),
+                Rearrange("b c h w-> b (h w) c"),
+                nn.Linear(hidden_dim, target_channel_size),
+            )
+        elif self.source_size[1] == self.target_size[1]:  # (16, 16) to (16, 16)
+            self.adapter = nn.Sequential(
+                nn.LayerNorm(self.source_size),
+                nn.Conv2d(source_channel_size, hidden_dim, kernel_size=3, padding=1),  # 16
+                nn.ReLU(),
+                nn.LayerNorm([hidden_dim, *self.source_size[1:]]),
+                nn.Conv2d(hidden_dim, hidden_dim, kernel_size=3, padding=1),  # 16
+                nn.ReLU(),
+                nn.LayerNorm([hidden_dim, *self.source_size[1:]]),
+                Rearrange("b c h w-> b (h w) c"),
+                nn.Linear(hidden_dim, target_channel_size),
+            )
+        elif self.source_size[1] == 64 and self.target_size[1] == 16:  # (64, 64) to (16, 16)
+            self.adapter = nn.Sequential(
+                nn.LayerNorm(self.source_size),
+                nn.Conv2d(source_channel_size, hidden_dim, kernel_size=3, stride=2, padding=1),  # 32
+                nn.ReLU(),
+                nn.LayerNorm([hidden_dim, 32, 32]),
+                nn.Conv2d(hidden_dim, hidden_dim, kernel_size=3, stride=2, padding=1),  # 16
+                nn.ReLU(),
+                nn.LayerNorm([hidden_dim, 16, 16]),
+                Rearrange("b c h w-> b (h w) c"),
+                nn.Linear(hidden_dim, target_channel_size),
+            )
+        elif self.target_size[1] == 7:
+            self.adapter = nn.Sequential(
+                nn.LayerNorm(self.source_size),
+                nn.Conv2d(source_channel_size, hidden_dim, kernel_size=4, stride=2, padding=1), #14x14 -> 7x7
+                nn.ReLU(),
+                nn.LayerNorm([hidden_dim, 7, 7]),
+                Rearrange("b c h w-> b (h w) c"),
+                nn.Linear(hidden_dim, target_channel_size)
+            )
+        else:
+            NotImplementedError(f"{self.source_size} to {self.target_size} is not supported.")
+
+    def forward(self, x: torch.Tensor, backbone_no_cls: bool = False) -> torch.Tensor:
+        """Forward pass for ConvAdapter"""
+        # x: [B, (1)+H*W, C]
+        if not backbone_no_cls:
+            x = x[:, 1:]
+        x = self.pad(x)
+        x = self.adapter(x)
+        return x  # [B, H*W, C]
+
+
+class FeatureTranslator(nn.Module):
+    """Base class for the feature translator.
+
+    The flow is backbone_adapter -> translator_stem -> translator_heads.
+
+    Attributes:
+        backbone_feature_size (torch.Size): the size of features of the backbone.
+        target_feature_sizes (dict[str, torch.Size | tuple[int, ...]]): the sizes of features of target models.
+        translator_hidden_size (int): the hidden dim of the translator. Defaults to 2048.
+        target_model_names (list[str]): convenient attribute to hold all the names of the target models.
+
+        backbone_adapter (nn.Module): the adapter to map channel dim of backbone to the translator hidden dim.
+        translator_stem (nn.Module):  the shared stem for all target models.
+        translator_heads (nn.ModuleDict): specific heads for different target models.
+    """
+
+    def __init__(
+        self,
+        backbone_feature_size: torch.Size,
+        target_feature_sizes: dict[str, torch.Size | tuple[int, ...]],
+        translator_hidden_size: int = 1024,
+    ) -> None:
+        """Initalization function for FeatureTranslator.
+
+        Args:
+            backbone_feature_size (torch.Size): the size of features of the backbone.
+            target_feature_sizes (dict[str, torch.Size | tuple[int, ...]]): the sizes of features of target models.
+            translator_hidden_size (int): the hidden dim of the translator. Defaults to 2048.
+        """
+        super().__init__()
+        self.backbone_feature_size = backbone_feature_size  # (C, H, W)
+        self.target_feature_sizes = target_feature_sizes  # [(C, H, W)]
+        self.translator_hidden_size = translator_hidden_size  # C
+        self.target_model_names = list(target_feature_sizes.keys())
+        self.legit_target_model_name_map: dict[str, str] = {t: t.replace(".", "_") for t in self.target_model_names}
+        self.translator_heads: nn.ModuleDict = None
+
+        self.backbone_adapter = nn.Sequential(
+            nn.LayerNorm(self.backbone_feature_size[0]),  # do a pre-norm
+            nn.Linear(
+                self.backbone_feature_size[0],  # C in [C,H,W]
+                self.translator_hidden_size,
+            ),
+        )
+        self.translator_stem: nn.Module = nn.Identity()
+        self.build_translator_heads()
+
+    def build_translator_heads(self) -> None:
+        """Build translator heads to match the dimension of each target feature set.
+
+        Example:
+            translator_heads: dict[str, nn.Module] = ...
+            self.translator_heads = nn.ModuleDict(translator_heads)
+        """
+        raise NotImplementedError("build_translator_heads() should be overridden")
+
+    def forward(
+        self, x: torch.Tensor, target_model_names: Optional[list[str]] = None, backbone_no_cls: bool = False
+    ) -> torch.Tensor:
+        """Forward pass for a base feature translator.
+
+        Args:
+            x (torch.Tensor): input features from the backbone. [B, (1)+H*W, C].
+                (1) means optional CLS token. If `backbone_no_cls==True`, then [B, H*W, C].
+            target_model_names (Optional[list[str]]): names of the target models.
+            backbone_no_cls (bool): indicate backbone has cls token or not.
+                Can use it to customize whether to drop cls.
+
+        Returns:
+            dict[str, torch.Tensor]: predicted features for target models.
+        """
+        # x: [B, (1)+H*W, C]
+        x = self.backbone_adapter(x)  
+        x = self.translator_stem(x) 
+        target_model_names = target_model_names if target_model_names is not None else self.target_model_names
+        features = {t: self.translator_heads[self.legit_target_model_name_map[t]](x, backbone_no_cls=backbone_no_cls) for t in target_model_names}
+        return features
+
+
+class MLPFeatureTranslator(FeatureTranslator):
+    def __init__(
+        self,
+        backbone_feature_size: torch.Size,
+        target_feature_sizes: dict[str, torch.Size | tuple[int, ...]],
+        translator_hidden_size: int = 1024,
+        translator_n_layer: int = 3,
+    ) -> None:
+        """Initalization function for MLPFeatureTranslator.
+
+        Args:
+            backbone_feature_size (torch.Size): the size of features of the backbone.
+            target_feature_sizes (dict[str, torch.Size  |  tuple[int, ...]]): the sizes of features of target models.
+            translator_hidden_size (Optional[int]): the hidden dim of the translator. Defaults to 2048.
+            translator_n_layer (int): number of MLP layers. Defaults to 3.
+        """
+        self.translator_n_layer = translator_n_layer
+
+        super().__init__(
+            backbone_feature_size=backbone_feature_size,
+            target_feature_sizes=target_feature_sizes,
+            translator_hidden_size=translator_hidden_size,
+        )
+
+    def build_translator_heads(self) -> nn.ModuleDict:
+        """Build MLP translator heads to match the dimension of each target feature set."""
+        translator_heads = {}
+        source_size = (self.translator_hidden_size, *self.backbone_feature_size[1:])
+        for target_model, target_size in self.target_feature_sizes.items():
+            head = MLPAdapterHead(source_size=source_size, target_size=target_size, num_layer=self.translator_n_layer)
+            translator_heads[self.legit_target_model_name_map[target_model]] = head
+        self.translator_heads = nn.ModuleDict(translator_heads)
+
+
+class ConvFeatureTranslator(FeatureTranslator):
+    def __init__(
+        self,
+        backbone_feature_size: torch.Size,
+        target_feature_sizes: dict[str, torch.Size | tuple[int, ...]],
+        translator_hidden_size: int = 1024,
+    ) -> None:
+        """Initalization function for ConvFeatureTranslator.
+
+        Args:
+            backbone_feature_size (torch.Size): the size of features of the backbone.
+            target_feature_sizes (dict[str, torch.Size  |  tuple[int, ...]]): the sizes of features of target models.
+            translator_hidden_size (Optional[int]): the hidden dim of the translator. Defaults to 2048.
+        """
+        super().__init__(
+            backbone_feature_size=backbone_feature_size,
+            target_feature_sizes=target_feature_sizes,
+            translator_hidden_size=translator_hidden_size,
+        )
+
+    def build_translator_heads(self) -> nn.ModuleDict:
+        """Build translator heads to match the dimension of each target feature set.
+
+        Returns:
+            nn.ModuleDict: the translator heads.
+        """
+        translator_heads = {}
+        source_size = (self.translator_hidden_size, *self.backbone_feature_size[1:])
+        for target_model, target_size in self.target_feature_sizes.items():
+            head = ConvAdapterHead(source_size=source_size, target_size=target_size)
+            translator_heads[self.legit_target_model_name_map[target_model]] = head
+        self.translator_heads = nn.ModuleDict(translator_heads)
+
+
+class LightConvFeatureTranslator(FeatureTranslator):
+    def __init__(
+        self,
+        backbone_feature_size: torch.Size,
+        target_feature_sizes: dict[str, torch.Size | tuple[int, ...]],
+        translator_hidden_size: int = 1024,
+        hidden_size_factor: int | float = 1.0,
+    ) -> None:
+        """Initalization function for LightConvFeatureTranslator.
+            It's for a smaller translator compared to ConvFeatureTranslator.
+
+        Args:
+            backbone_feature_size (torch.Size): the size of features of the backbone.
+            target_feature_sizes (dict[str, torch.Size  |  tuple[int, ...]]): the sizes of features of target models.
+            translator_hidden_size (Optional[int]): the hidden dim of the translator. Defaults to 1024.
+            hidden_size_factor: the size of hidden dim of feature translator
+                as a factor of input feature hidden dim. Defaults to 1.0
+        """
+        self.hidden_size_factor = hidden_size_factor
+        super().__init__(
+            backbone_feature_size=backbone_feature_size,
+            target_feature_sizes=target_feature_sizes,
+            translator_hidden_size=translator_hidden_size,
+        )
+        self.backbone_adapter = nn.Identity()
+
+    def build_translator_heads(self) -> nn.ModuleDict:
+        """Build translator heads to match the dimension of each target feature set.
+
+        Returns:
+            nn.ModuleDict: the translator heads.
+        """
+        translator_heads = {}
+        for target_model, target_size in self.target_feature_sizes.items():
+            if "_cls" in target_model:
+                head = LinearAdapterHead(
+                    source_size=self.backbone_feature_size,
+                    target_size=target_size
+                )
+            else:
+                head = LightConvAdapterHead(
+                    source_size=self.backbone_feature_size, 
+                    target_size=target_size, 
+                    hidden_size_factor=self.hidden_size_factor
+                )
+            translator_heads[self.legit_target_model_name_map[target_model]] = head
+        self.translator_heads = nn.ModuleDict(translator_heads)
+
+
+class TransformerFreatureTranslator(FeatureTranslator):
+    def __init__(
+        self,
+        backbone_feature_size: torch.Size,
+        target_feature_sizes: dict[str, torch.Size | tuple[int, int]],
+        translator_hidden_size: int = 1024,
+        translator_n_layers: int = 2,
+        translator_n_heads: int = 8,
+        translator_activation: str = "gelu",
+    ) -> None:
+        super().__init__(
+            backbone_feature_size=backbone_feature_size,
+            target_feature_sizes=target_feature_sizes,
+            translator_hidden_size=translator_hidden_size,
+        )
+
+        self.translator_stem = nn.TransformerDecoder(
+            nn.TransformerDecoderLayer(
+                d_model=translator_hidden_size,
+                nhead=translator_n_heads,
+                dim_feedforward=translator_hidden_size * 2,
+                activation=translator_activation,
+                batch_first=True,
+                norm_first=True,
+            ),
+            num_layers=translator_n_layers,
+        )
+
+        self.decode_tokens = nn.Parameter(
+            torch.randn((1, math.prod(self.backbone_feature_size[1:]), translator_hidden_size))
+        )
+
+        self.target_model_emb = nn.ParameterDict(
+            {
+                self.legit_target_model_name_map[t]: torch.randn(1, 1, translator_hidden_size)
+                for t in self.target_model_names
+            }
+        )
+
+    def build_translator_heads(self) -> None:
+        """Build Transformer translator heads to match the dimension of each target feature set."""
+        translator_heads = {}
+        for target_model, target_size in self.target_feature_sizes.items():
+            head = MLPAdapterHead(
+                source_size=(self.translator_hidden_size, *self.backbone_feature_size[1:]),
+                target_size=target_size,
+                num_layer=2,
+            )
+            translator_heads[self.legit_target_model_name_map[target_model]] = head
+        self.translator_heads = nn.ModuleDict(translator_heads)
+
+    def forward(
+        self, x: torch.Tensor, target_model_names: Optional[list[str]] = None, backbone_no_cls: bool = False
+    ) -> torch.Tensor:
+        """Forward pass for a simple linear translator.
+
+        Args:
+            x (torch.Tensor): input features from the backbone.
+            target_model_names (Optional[str]): names of the target models.
+            backbone_no_cls (bool): indicate backbone has cls token or not.
+                Can use it to customize whether to drop cls.
+
+        Returns:
+            dict[str, torch.Tensor]: predicted features for target models.
+        """
+        if not backbone_no_cls:
+            x = x[:, 1:]
+        x = self.backbone_adapter(x)
+        features = {}
+        target_model_names = target_model_names if target_model_names is not None else self.target_model_names
+        for t in target_model_names:
+            feature = self.translator_stem(
+                torch.cat(
+                    [
+                        self.decode_tokens.repeat(x.size(0), 1, 1),
+                        self.target_model_emb[self.legit_target_model_name_map[t]].repeat(x.size(0), 1, 1),
+                    ],
+                    dim=1,
+                ),
+                memory=x,
+            )[:, 1:, ...]
+            features[t] = self.translator_heads[self.legit_target_model_name_map[t]](feature)
+        return features
+
+
+def build_feature_translator(translator_type: str, **kwargs: Any) -> FeatureTranslator:
+    """Handy function to build feature translators given the type
+
+    Args:
+        translator_type (str): the type of the translator,
+            one in `"mlp"`, `"conv"`, `"lconv"`, `"transformer"` (or `"trans"`).
+            At the moment we are actively using `"lconv"`.
+
+    Returns:
+        FeatureTranslator: the corresponding FeatureTranslator
+    """
+    if translator_type == "mlp":
+        return MLPFeatureTranslator(**kwargs)
+    elif translator_type == "conv":
+        return ConvFeatureTranslator(**kwargs)
+    elif translator_type == "lconv":
+        return LightConvFeatureTranslator(**kwargs)
+    elif translator_type == "transformer" or translator_type == "trans":
+        return TransformerFreatureTranslator(**kwargs)
+    else:
+        raise NotImplementedError(f"Requested {translator_type} is not implemented yet.")
+
+
+class TheiaConfig(PretrainedConfig):
+    def __init__(
+        self,
+        backbone: str | nn.Module = "facebook/deit-tiny-patch16-224",
+        pretrained: bool = False,
+        target_feature_sizes: Optional[dict[str, torch.Size | tuple[int, ...]]] = None,
+        translator_type: str = "lconv",
+        translator_hidden_size_factor: float | int = 1.0,
+        target_loss_weights: Optional[dict[str, float]] = None,
+        feature_reduce_method: Optional[str] = None,
+        feature_neck: bool = False,
+        feature_neck_hidden_dim: int = 256,
+        forward_neck: bool = False,
+        feature_neck_nonlinearity: str = "relu",
+        iamge_size: int = 224,
+        num_reg_tokens: int = 0,
+        **kwargs: Any
+    ):
+        self.backbone = backbone
+        self.pretrained = pretrained
+        self.target_feature_sizes = target_feature_sizes
+        self.translator_type = translator_type
+        self.translator_hidden_size_factor = translator_hidden_size_factor
+        self.target_loss_weights = target_loss_weights
+        self.feature_reduce_method = feature_reduce_method
+        self.feature_neck = feature_neck
+        self.feature_neck_hidden_dim = feature_neck_hidden_dim
+        self.forward_neck = forward_neck
+        self.feature_neck_nonlinearity = feature_neck_nonlinearity
+        self.image_size = 224
+        self.num_reg_tokens = num_reg_tokens
+        super().__init__(**kwargs)
+
+class TheiaModel(PreTrainedModel):
+    config_class = TheiaConfig
+
+    def __init__(self, config: TheiaConfig):
+        super().__init__(config)
+
+        self.target_feature_sizes = config.target_feature_sizes
+        self.preprocessor = None
+        self.pretrained = config.pretrained
+
+        # backbone
+        self.image_size = config.image_size
+        if "reg" in config.backbone:
+            self.backbone: nn.Module = build_backbone(config.backbone, config.pretrained, image_size=config.image_size, num_reg_tokens = config.num_reg_tokens)
+        else:
+            self.backbone: nn.Module = build_backbone(config.backbone, config.pretrained, image_size=config.image_size)
+
+        # handle output feature (feature reduce)
+        self.feature_reduce_method = config.feature_reduce_method
+        self.no_cls = hasattr(self.backbone, "no_cls")
+        self.num_reg_tokens = self.backbone.num_reg_tokens if hasattr(self.backbone, "num_reg_tokens") else 0
+
+        # translator
+        backbone_feature_size = self.backbone.get_feature_size(keep_spatial=True)
+        if self.target_feature_sizes:
+            translator_kwargs = {
+                "hidden_size_factor": config.translator_hidden_size_factor
+            }
+            translator_kwargs["backbone_feature_size"] = backbone_feature_size
+            translator_kwargs["target_feature_sizes"] = config.target_feature_sizes
+            self.translator = build_feature_translator(
+                config.translator_type, **translator_kwargs
+            )
+        else:
+            self.translator = None
+
+        self.feature_neck = config.feature_neck
+        self.feature_neck_hidden_dim = config.feature_neck_hidden_dim
+        self.forward_neck = config.forward_neck
+        if self.feature_neck:
+            num_tokens_edge = self.backbone.model.config.image_size // self.backbone.model.config.patch_size
+            self.neck = nn.Sequential(
+                Rearrange("b (h w) c -> b c h w", h=num_tokens_edge, w=num_tokens_edge),
+                nn.Conv2d(self.backbone.model.config.hidden_size, self.feature_neck_hidden_dim, kernel_size=4, stride=2, padding=1), #14x14 -> 7x7
+                nn.ReLU() if config.feature_neck_nonlinearity == 'relu' else nn.Tanh(), # just to keep the same as super class
+                nn.Conv2d(self.feature_neck_hidden_dim, self.feature_neck_hidden_dim, kernel_size=3, stride=2), #7x7 -> 3x3
+                nn.ReLU() if config.feature_neck_nonlinearity == 'relu' else nn.Tanh(),
+                nn.Conv2d(self.feature_neck_hidden_dim, self.feature_neck_hidden_dim, kernel_size=3, stride=1), #3x3 -> 1x1
+                nn.ReLU() if config.feature_neck_nonlinearity == 'relu' else nn.Tanh(),
+                nn.Flatten()
+            )
+        else:
+            self.neck = None
+
+        # loss
+        self.mse_loss = nn.MSELoss()
+        self.l1_loss = nn.SmoothL1Loss()
+        self.cos_loss = nn.CosineEmbeddingLoss()
+        self.cos_target = torch.ones((1), dtype=torch.int, requires_grad=False)
+        self.target_loss_weights = config.target_loss_weights
+
+    def load_pretrained_weights(self, checkpoint_path: str) -> None:
+        """
+        Load weights from `checkpoint_path` manually.
+
+        Args:
+            checkpoint_path (str): path to the weights.
+        """
+        # load theia weights
+        if checkpoint_path:
+            weights_dict = torch.load(checkpoint_path, map_location="cpu")
+            # Filter out unnecessary keys
+            pretrained_dict = {k: v for k, v in weights_dict.items() if k in self.state_dict()}
+            self.load_state_dict(pretrained_dict, strict=False)
+
+    def freeze_translator(self) -> None:
+        """Freeze feature translators `self.translator`."""
+        if self.translator is not None:
+            for param in self.translator.parameters():
+                param.requires_grad = False
+
+    def freeze_backbone(self) -> None:
+        """Freeze backbone (encoder) `self.backbone`. """
+        self.freeze_encoder()
+
+    def freeze_encoder(self) -> None:
+        """Freeze backbone (encoder) `self.backbone`. """
+        for param in self.backbone.parameters():
+            param.requires_grad = False
+
+    def freeze_neck(self) -> None:
+        """Freeze feature neck `self.neck`."""
+        if self.neck is not None:
+            for param in self.neck.parameters():
+                param.requires_grad = False
+    
+    def freeze_everything(self) -> None:
+        """Freeze all parameters in the model."""
+        self.freeze_translator()
+        self.freeze_neck()
+        self.freeze_encoder()
+
+    def unfreeze_translator(self) -> None:
+        if self.translator is not None:
+            for param in self.translator.parameters():
+                param.requires_grad = True
+
+    def unfreeze_backbone(self) -> None:
+        "Set parameters in backbone (encoder) `self.backbone` trainable."
+        self.unfreeze_encoder()
+
+    def unfreeze_encoder(self) -> None:
+        "Set parameters in backbone (encoder) `self.backbone` trainable."
+        for param in self.backbone.parameters():
+            param.requires_grad = True
+
+    def unfreeze_neck(self) -> None:
+        "Set parameters in feature neck `self.neck` trainable."
+        if self.neck is not None:
+            for param in self.neck.parameters():
+                param.requires_grad = True
+    
+    def unfreeze_everything(self) -> None:
+        """Set all parameters trainable."""
+        self.unfreeze_translator()
+        self.unfreeze_neck()
+        self.unfreeze_encoder()
+
+    def set_forward_neck(self, forward_neck: bool = True) -> None:
+        """
+        Set `self.forward_neck` to `forward_neck` value.
+
+        Args:
+            forward_neck (bool): whether forward the feature through the random initialized neck.
+                If set to True, the output from `self.forward()` will be in shape [batch_size, self.config.feature_neck_hidden_dim]
+        """
+        self.forward_neck = forward_neck
+
+    def forward_feature(self, x: torch.Tensor, **kwargs: Any) -> torch.Tensor:
+        """Forward RVFM feature only (before translators).
+
+        Args:
+            x (torch.Tensor): input image. By default it accepts images 
+                in shape [B, H, W, C] or [B, C, H, W], pixel range [0,255], torch.uint8.
+            kwargs (Any): kwargs including mainly those for huggingface preprocessor:
+                `do_resize` (bool) defaults to True.
+                `interpolate_pos_encoding` (Optional[bool]) defaults to None.
+                `do_rescale` (bool) defaults to True.
+                `do_normalize` (bool) defaults to True.
+
+        Returns:
+            torch.Tensor: RVFM feature.
+        """
+        feature = self.backbone(x, **kwargs)
+        # [B, 1+H*W+N, C] if including both CLS and register tokens.
+        # [B, 1+H*W, C] for standard model (N=0).
+        # [B, H*W, C] for model without CLS.
+        return handle_feature_output(feature, num_discard_tokens=self.num_reg_tokens)
+
+    def forward(self, x: torch.Tensor, target_model_names: Optional[list[str]] = None, **kwargs: Any) -> dict[str, torch.Tensor] | torch.Tensor:
+        """Forward pass of Robot Vision Foundation Model.
+
+       Args:
+            x (torch.Tensor): input image. By default it accepts images 
+                in shape [B, H, W, C] or [B, C, H, W], pixel range [0,255], torch.uint8.
+            target_model_names (Optional[list[str]]): names of the target foundation models.
+            kwargs (Any): kwargs including mainly those for huggingface preprocessor:
+                `do_resize` (bool) defaults to True.
+                `interpolate_pos_encoding` (Optional[bool]) defaults to None.
+                `do_rescale` (bool) defaults to True.
+                `do_normalize` (bool) defaults to True.
+
+        Returns:
+        if `self.forward_neck`:
+            torch.Tensor: compact vector feature passed through the neck. [B, C_neck]
+        else:
+            dict[str, torch.Tensor]: features that match to each foundation model.
+                Each feature is in [B, (H*W), C] or [B, C].
+        """
+        if self.forward_neck:
+            x = self.forward_feature(x)
+            return self.neck(x)
+        else:
+            x = self.backbone(x, **kwargs)
+            if self.num_reg_tokens > 0:
+                x = x[:, :-self.num_reg_tokens]  # [B, (1)+H*W, C]
+            features = self.translator(x, target_model_names, backbone_no_cls=self.no_cls)  # each is [B, H*W, C] or [B, C]
+            return features
+
+    def get_loss(self, pred_features: dict[str, torch.Tensor], y: dict[str, torch.Tensor]) -> dict[str, Any]:
+        """Get loss terms given predictions and targets.
+
+        Args:
+            pred_features (dict[str, torch.Tensor]): predictions.
+            y (dict[str, torch.Tensor]): targets.
+
+        Returns:
+            tuple[Any, ...]: loss terms
+        """
+        mse_loss_avg, cos_loss_avg, l1_loss_avg = 0, 0, 0
+        mse_losses_per_model = {}
+        cos_losses_per_model = {}
+        l1_losses_per_model = {}
+
+        for t in pred_features:
+            pred = pred_features[t]
+            target = y[t]
+
+            # mse loss
+            mse_loss = self.mse_loss(pred, target)
+            weight = self.target_loss_weights if self.target_loss_weights else 1.0 / len(pred_features)
+
+            # l1 loss
+            l1_loss = self.l1_loss(pred, target)
+
+            # cos loss
+            pred_norm = F.normalize(pred.flatten(start_dim=1), dim=1, p=2)
+            target_norm = F.normalize(target.flatten(start_dim=1), dim=1, p=2)
+            target = self.cos_target.repeat(pred.size(0)).to(pred.device)
+            cos_loss = self.cos_loss(pred_norm, target_norm, target)
+
+            mse_loss_avg += mse_loss * weight
+            cos_loss_avg += cos_loss / len(pred_features)  # balance cos by default for meaningful eval
+            l1_loss_avg += l1_loss * weight
+
+            mse_losses_per_model[t] = mse_loss.item()
+            cos_losses_per_model[t] = cos_loss.item()
+            l1_losses_per_model[t] = l1_loss.item()
+
+        return {
+            "mse_loss": mse_loss_avg,
+            "cos_loss": cos_loss_avg,
+            "l1_loss": l1_loss_avg,
+            "mse_losses_per_model": mse_losses_per_model,
+            "cos_losses_per_model": cos_losses_per_model,
+            "l1_losses_per_model": l1_losses_per_model,
+        }