dgenerate-ultralytics-headless 8.3.196__py3-none-any.whl → 8.3.248__py3-none-any.whl

ultralytics/models/sam/predict.py

@@ -10,7 +10,8 @@ segmentation tasks.
 
 from __future__ import annotations
 
-from collections import OrderedDict
+from collections import OrderedDict, defaultdict
+from copy import deepcopy
 from typing import Any
 
 import cv2
@@ -21,7 +22,8 @@ import torch.nn.functional as F
 from ultralytics.data.augment import LetterBox
 from ultralytics.engine.predictor import BasePredictor
 from ultralytics.engine.results import Results
-from ultralytics.utils import DEFAULT_CFG, ops
+from ultralytics.utils import DEFAULT_CFG, LOGGER, ops
+from ultralytics.utils.metrics import box_iou, mask_iou
 from ultralytics.utils.torch_utils import select_device, smart_inference_mode
 
 from .amg import (
@@ -35,15 +37,15 @@ from .amg import (
     uncrop_boxes_xyxy,
     uncrop_masks,
 )
+from .sam3.geometry_encoders import Prompt
 
 
 class Predictor(BasePredictor):
-    """
-    Predictor class for SAM, enabling real-time image segmentation with promptable capabilities.
+    """Predictor class for SAM, enabling real-time image segmentation with promptable capabilities.
 
-    This class extends BasePredictor and implements the Segment Anything Model (SAM) for advanced image
-    segmentation tasks. It supports various input prompts like points, bounding boxes, and masks for
-    fine-grained control over segmentation results.
+    This class extends BasePredictor and implements the Segment Anything Model (SAM) for advanced image segmentation
+    tasks. It supports various input prompts like points, bounding boxes, and masks for fine-grained control over
+    segmentation results.
 
     Attributes:
         args (SimpleNamespace): Configuration arguments for the predictor.
@@ -80,23 +82,19 @@ class Predictor(BasePredictor):
         >>> results = predictor(bboxes=bboxes)
     """
 
+    stride = 16
+
     def __init__(self, cfg=DEFAULT_CFG, overrides=None, _callbacks=None):
-        """
-        Initialize the Predictor with configuration, overrides, and callbacks.
+        """Initialize the Predictor with configuration, overrides, and callbacks.
 
         Sets up the Predictor object for SAM (Segment Anything Model) and applies any configuration overrides or
-        callbacks provided. Initializes task-specific settings for SAM, such as retina_masks being set to True
-        for optimal results.
+        callbacks provided. Initializes task-specific settings for SAM, such as retina_masks being set to True for
+        optimal results.
 
         Args:
             cfg (dict): Configuration dictionary containing default settings.
             overrides (dict | None): Dictionary of values to override default configuration.
             _callbacks (dict | None): Dictionary of callback functions to customize behavior.
-
-        Examples:
-            >>> predictor_example = Predictor(cfg=DEFAULT_CFG)
-            >>> predictor_example_with_imgsz = Predictor(overrides={"imgsz": 640})
-            >>> predictor_example_with_callback = Predictor(_callbacks={"on_predict_start": custom_callback})
         """
         if overrides is None:
             overrides = {}
@@ -109,14 +107,15 @@ class Predictor(BasePredictor):
         self.segment_all = False
 
     def preprocess(self, im):
-        """
-        Preprocess the input image for model inference.
+        """Preprocess the input image for model inference.
 
         This method prepares the input image by applying transformations and normalization. It supports both
-        torch.Tensor and list of np.ndarray as input formats.
+        torch.Tensor and list of np.ndarray as input formats. For OpenCV-loaded images, the input is typically BGR and
+        is converted to RGB during preprocessing.
 
         Args:
-            im (torch.Tensor | list[np.ndarray]): Input image(s) in BCHW tensor format or list of HWC numpy arrays.
+            im (torch.Tensor | list[np.ndarray]): Input image(s) in BCHW tensor format or a list of HWC NumPy arrays.
+                NumPy arrays are expected to be in BGR order (as returned by OpenCV) and will be converted to RGB.
 
         Returns:
             (torch.Tensor): The preprocessed image tensor, normalized and converted to the appropriate dtype.
@@ -142,11 +141,10 @@ class Predictor(BasePredictor):
         return im
 
     def pre_transform(self, im):
-        """
-        Perform initial transformations on the input image for preprocessing.
+        """Perform initial transformations on the input image for preprocessing.
 
-        This method applies transformations such as resizing to prepare the image for further preprocessing.
-        Currently, batched inference is not supported; hence the list length should be 1.
+        This method applies transformations such as resizing to prepare the image for further preprocessing. Currently,
+        batched inference is not supported; hence the list length should be 1.
 
         Args:
             im (list[np.ndarray]): List containing a single image in HWC numpy array format.
@@ -165,15 +163,14 @@ class Predictor(BasePredictor):
             1
         """
         assert len(im) == 1, "SAM model does not currently support batched inference"
-        letterbox = LetterBox(self.args.imgsz, auto=False, center=False)
+        letterbox = LetterBox(self.imgsz, auto=False, center=False)
         return [letterbox(image=x) for x in im]
 
     def inference(self, im, bboxes=None, points=None, labels=None, masks=None, multimask_output=False, *args, **kwargs):
-        """
-        Perform image segmentation inference based on the given input cues, using the currently loaded image.
+        """Perform image segmentation inference based on the given input cues, using the currently loaded image.
 
-        This method leverages SAM's (Segment Anything Model) architecture consisting of image encoder, prompt
-        encoder, and mask decoder for real-time and promptable segmentation tasks.
+        This method leverages SAM's (Segment Anything Model) architecture consisting of image encoder, prompt encoder,
+        and mask decoder for real-time and promptable segmentation tasks.
 
         Args:
             im (torch.Tensor): The preprocessed input image in tensor format, with shape (N, C, H, W).
@@ -187,7 +184,8 @@ class Predictor(BasePredictor):
 
         Returns:
             pred_masks (torch.Tensor): The output masks in shape (C, H, W), where C is the number of generated masks.
-            pred_scores (torch.Tensor): An array of length C containing quality scores predicted by the model for each mask.
+            pred_scores (torch.Tensor): An array of length C containing quality scores predicted by the model for each
+                mask.
 
         Examples:
             >>> predictor = Predictor()
@@ -207,17 +205,18 @@ class Predictor(BasePredictor):
         return self.prompt_inference(im, bboxes, points, labels, masks, multimask_output)
 
     def prompt_inference(self, im, bboxes=None, points=None, labels=None, masks=None, multimask_output=False):
-        """
-        Perform image segmentation inference based on input cues using SAM's specialized architecture.
+        """Perform image segmentation inference based on input cues using SAM's specialized architecture.
 
-        This internal function leverages the Segment Anything Model (SAM) for prompt-based, real-time segmentation.
-        It processes various input prompts such as bounding boxes, points, and masks to generate segmentation masks.
+        This internal function leverages the Segment Anything Model (SAM) for prompt-based, real-time segmentation. It
+        processes various input prompts such as bounding boxes, points, and masks to generate segmentation masks.
 
         Args:
             im (torch.Tensor): Preprocessed input image tensor with shape (N, C, H, W).
             bboxes (np.ndarray | list | None): Bounding boxes in XYXY format with shape (N, 4).
-            points (np.ndarray | list | None): Points indicating object locations with shape (N, 2) or (N, num_points, 2), in pixels.
-            labels (np.ndarray | list | None): Point prompt labels with shape (N) or (N, num_points). 1 for foreground, 0 for background.
+            points (np.ndarray | list | None): Points indicating object locations with shape (N, 2) or (N, num_points,
+                2), in pixels.
+            labels (np.ndarray | list | None): Point prompt labels with shape (N) or (N, num_points). 1 for foreground,
+                0 for background.
             masks (np.ndarray | None): Low-res masks from previous predictions with shape (N, H, W). For SAM, H=W=256.
             multimask_output (bool): Flag to return multiple masks for ambiguous prompts.
 
@@ -245,8 +244,7 @@ class Predictor(BasePredictor):
         masks=None,
         multimask_output=False,
     ):
-        """
-        Perform inference on image features using the SAM model.
+        """Perform inference on image features using the SAM model.
 
         Args:
             features (torch.Tensor): Extracted image features with shape (B, C, H, W) from the SAM model image encoder.
@@ -278,16 +276,18 @@ class Predictor(BasePredictor):
         return pred_masks.flatten(0, 1), pred_scores.flatten(0, 1)
 
     def _prepare_prompts(self, dst_shape, src_shape, bboxes=None, points=None, labels=None, masks=None):
-        """
-        Prepare and transform the input prompts for processing based on the destination shape.
+        """Prepare and transform the input prompts for processing based on the destination shape.
 
         Args:
             dst_shape (tuple[int, int]): The target shape (height, width) for the prompts.
             src_shape (tuple[int, int]): The source shape (height, width) of the input image.
             bboxes (np.ndarray | list | None): Bounding boxes in XYXY format with shape (N, 4).
-            points (np.ndarray | list | None): Points indicating object locations with shape (N, 2) or (N, num_points, 2), in pixels.
-            labels (np.ndarray | list | None): Point prompt labels with shape (N) or (N, num_points). 1 for foreground, 0 for background.
-            masks (list[np.ndarray] | np.ndarray | None): Masks for the objects, where each mask is a 2D array with shape (H, W).
+            points (np.ndarray | list | None): Points indicating object locations with shape (N, 2) or (N, num_points,
+                2), in pixels.
+            labels (np.ndarray | list | None): Point prompt labels with shape (N) or (N, num_points). 1 for foreground,
+                0 for background.
+            masks (list[np.ndarray] | np.ndarray | None): Masks for the objects, where each mask is a 2D array with
+                shape (H, W).
 
         Returns:
             bboxes (torch.Tensor | None): Transformed bounding boxes.
@@ -340,11 +340,10 @@ class Predictor(BasePredictor):
         stability_score_offset=0.95,
         crop_nms_thresh=0.7,
     ):
-        """
-        Perform image segmentation using the Segment Anything Model (SAM).
+        """Perform image segmentation using the Segment Anything Model (SAM).
 
-        This method segments an entire image into constituent parts by leveraging SAM's advanced architecture
-        and real-time performance capabilities. It can optionally work on image crops for finer segmentation.
+        This method segments an entire image into constituent parts by leveraging SAM's advanced architecture and
+        real-time performance capabilities. It can optionally work on image crops for finer segmentation.
 
         Args:
             im (torch.Tensor): Input tensor representing the preprocessed image with shape (N, C, H, W).
@@ -423,7 +422,7 @@ class Predictor(BasePredictor):
             pred_masks.append(crop_masks)
             pred_bboxes.append(crop_bboxes)
             pred_scores.append(crop_scores)
-            region_areas.append(area.expand(len(crop_masks)))
+            region_areas.append(area.expand(crop_masks.shape[0]))
 
         pred_masks = torch.cat(pred_masks)
         pred_bboxes = torch.cat(pred_bboxes)
@@ -439,8 +438,7 @@ class Predictor(BasePredictor):
         return pred_masks, pred_scores, pred_bboxes
 
     def setup_model(self, model=None, verbose=True):
-        """
-        Initialize the Segment Anything Model (SAM) for inference.
+        """Initialize the Segment Anything Model (SAM) for inference.
 
         This method sets up the SAM model by allocating it to the appropriate device and initializing the necessary
         parameters for image normalization and other Ultralytics compatibility settings.
@@ -478,8 +476,7 @@ class Predictor(BasePredictor):
         return build_sam(self.args.model)
 
     def postprocess(self, preds, img, orig_imgs):
-        """
-        Post-process SAM's inference outputs to generate object detection masks and bounding boxes.
+        """Post-process SAM's inference outputs to generate object detection masks and bounding boxes.
 
         This method scales masks and boxes to the original image size and applies a threshold to the mask
         predictions. It leverages SAM's advanced architecture for real-time, promptable segmentation tasks.
@@ -493,8 +490,8 @@ class Predictor(BasePredictor):
             orig_imgs (list[np.ndarray] | torch.Tensor): The original, unprocessed images.
 
         Returns:
-            (list[Results]): List of Results objects containing detection masks, bounding boxes, and other
-                metadata for each processed image.
+            (list[Results]): List of Results objects containing detection masks, bounding boxes, and other metadata for
+                each processed image.
 
         Examples:
             >>> predictor = Predictor()
@@ -504,14 +501,14 @@ class Predictor(BasePredictor):
         # (N, 1, H, W), (N, 1)
         pred_masks, pred_scores = preds[:2]
         pred_bboxes = preds[2] if self.segment_all else None
-        names = dict(enumerate(str(i) for i in range(len(pred_masks))))
+        names = dict(enumerate(str(i) for i in range(pred_masks.shape[0])))
 
         if not isinstance(orig_imgs, list):  # input images are a torch.Tensor, not a list
-            orig_imgs = ops.convert_torch2numpy_batch(orig_imgs)
+            orig_imgs = ops.convert_torch2numpy_batch(orig_imgs)[..., ::-1]
 
         results = []
         for masks, orig_img, img_path in zip([pred_masks], orig_imgs, self.batch[0]):
-            if len(masks) == 0:
+            if masks.shape[0] == 0:
                 masks, pred_bboxes = None, torch.zeros((0, 6), device=pred_masks.device)
             else:
                 masks = ops.scale_masks(masks[None].float(), orig_img.shape[:2], padding=False)[0]
@@ -521,7 +518,7 @@ class Predictor(BasePredictor):
                 else:
                     pred_bboxes = batched_mask_to_box(masks)
                 # NOTE: SAM models do not return cls info. This `cls` here is just a placeholder for consistency.
-                cls = torch.arange(len(pred_masks), dtype=torch.int32, device=pred_masks.device)
+                cls = torch.arange(pred_masks.shape[0], dtype=torch.int32, device=pred_masks.device)
                 idx = pred_scores > self.args.conf
                 pred_bboxes = torch.cat([pred_bboxes, pred_scores[:, None], cls[:, None]], dim=-1)[idx]
                 masks = masks[idx]
@@ -530,51 +527,25 @@ class Predictor(BasePredictor):
         self.segment_all = False
         return results
 
-    def setup_source(self, source):
-        """
-        Set up the data source for inference.
-
-        This method configures the data source from which images will be fetched for inference. It supports
-        various input types such as image files, directories, video files, and other compatible data sources.
-
-        Args:
-            source (str | Path | None): The path or identifier for the image data source. Can be a file path,
-                directory path, URL, or other supported source types.
-
-        Examples:
-            >>> predictor = Predictor()
-            >>> predictor.setup_source("path/to/images")
-            >>> predictor.setup_source("video.mp4")
-            >>> predictor.setup_source(None)  # Uses default source if available
-
-        Notes:
-            - If source is None, the method may use a default source if configured.
-            - The method adapts to different source types and prepares them for subsequent inference steps.
-            - Supported source types may include local files, directories, URLs, and video streams.
-        """
-        if source is not None:
-            super().setup_source(source)
-
     def set_image(self, image):
-        """
-        Preprocess and set a single image for inference.
+        """Preprocess and set a single image for inference.
 
         This method prepares the model for inference on a single image by setting up the model if not already
-        initialized, configuring the data source, and preprocessing the image for feature extraction. It
-        ensures that only one image is set at a time and extracts image features for subsequent use.
+        initialized, configuring the data source, and preprocessing the image for feature extraction. It ensures that
+        only one image is set at a time and extracts image features for subsequent use.
 
         Args:
-            image (str | np.ndarray): Path to the image file as a string, or a numpy array representing
-                an image read by cv2.
+            image (str | np.ndarray): Path to the image file as a string, or a numpy array representing an image read by
+                cv2 (BGR channel order).
+
+        Raises:
+            AssertionError: If more than one image is attempted to be set.
 
         Examples:
             >>> predictor = Predictor()
             >>> predictor.set_image("path/to/image.jpg")
             >>> predictor.set_image(cv2.imread("path/to/image.jpg"))
 
-        Raises:
-            AssertionError: If more than one image is attempted to be set.
-
         Notes:
             - This method should be called before performing inference on a new image.
             - The extracted features are stored in the `self.features` attribute for later use.
@@ -588,12 +559,18 @@ class Predictor(BasePredictor):
             self.features = self.get_im_features(im)
             break
 
-    def get_im_features(self, im):
-        """Extract image features using the SAM model's image encoder for subsequent mask prediction."""
+    def setup_source(self, source):
+        """Set up the data source for SAM inference."""
+        if source is None:  # handle the situation when set_imgsz in advance
+            return
+        super().setup_source(source, self.stride)
         assert isinstance(self.imgsz, (tuple, list)) and self.imgsz[0] == self.imgsz[1], (
             f"SAM models only support square image size, but got {self.imgsz}."
         )
         self.model.set_imgsz(self.imgsz)
+
+    def get_im_features(self, im):
+        """Extract image features using the SAM model's image encoder for subsequent mask prediction."""
         return self.model.image_encoder(im)
 
     def set_prompts(self, prompts):
@@ -607,12 +584,11 @@ class Predictor(BasePredictor):
 
     @staticmethod
     def remove_small_regions(masks, min_area=0, nms_thresh=0.7):
-        """
-        Remove small disconnected regions and holes from segmentation masks.
+        """Remove small disconnected regions and holes from segmentation masks.
 
-        This function performs post-processing on segmentation masks generated by the Segment Anything Model (SAM).
-        It removes small disconnected regions and holes from the input masks, and then performs Non-Maximum
-        Suppression (NMS) to eliminate any newly created duplicate boxes.
+        This function performs post-processing on segmentation masks generated by the Segment Anything Model (SAM). It
+        removes small disconnected regions and holes from the input masks, and then performs Non-Maximum Suppression
+        (NMS) to eliminate any newly created duplicate boxes.
 
         Args:
             masks (torch.Tensor): Segmentation masks to be processed, with shape (N, H, W) where N is the number of
@@ -633,7 +609,7 @@ class Predictor(BasePredictor):
         """
         import torchvision  # scope for faster 'import ultralytics'
 
-        if len(masks) == 0:
+        if masks.shape[0] == 0:
             return masks
 
         # Filter small disconnected regions and holes
@@ -669,15 +645,16 @@ class Predictor(BasePredictor):
         masks=None,
         multimask_output=False,
     ):
-        """
-        Perform prompts preprocessing and inference on provided image features using the SAM model.
+        """Perform prompts preprocessing and inference on provided image features using the SAM model.
 
         Args:
             features (torch.Tensor | dict[str, Any]): Extracted image features from the SAM/SAM2 model image encoder.
             src_shape (tuple[int, int]): The source shape (height, width) of the input image.
-            dst_shape (tuple[int, int] | None): The target shape (height, width) for the prompts. If None, defaults to (imgsz, imgsz).
+            dst_shape (tuple[int, int] | None): The target shape (height, width) for the prompts. If None, defaults to
+                (imgsz, imgsz).
             bboxes (np.ndarray | list[list[float]] | None): Bounding boxes in xyxy format with shape (N, 4).
-            points (np.ndarray | list[list[float]] | None): Points indicating object locations with shape (N, 2), in pixels.
+            points (np.ndarray | list[list[float]] | None): Points indicating object locations with shape (N, 2), in
+                pixels.
             labels (np.ndarray | list[int] | None): Point prompt labels with shape (N, ).
             masks (list[np.ndarray] | np.ndarray | None): Masks for the objects, where each mask is a 2D array.
             multimask_output (bool): Flag to return multiple masks for ambiguous prompts.
@@ -693,25 +670,23 @@ class Predictor(BasePredictor):
         dst_shape = dst_shape or (self.args.imgsz, self.args.imgsz)
         prompts = self._prepare_prompts(dst_shape, src_shape, bboxes, points, labels, masks)
         pred_masks, pred_scores = self._inference_features(features, *prompts, multimask_output)
-        if len(pred_masks) == 0:
+        if pred_masks.shape[0] == 0:
             pred_masks, pred_bboxes = None, torch.zeros((0, 6), device=pred_masks.device)
         else:
             pred_masks = ops.scale_masks(pred_masks[None].float(), src_shape, padding=False)[0]
             pred_masks = pred_masks > self.model.mask_threshold  # to bool
             pred_bboxes = batched_mask_to_box(pred_masks)
             # NOTE: SAM models do not return cls info. This `cls` here is just a placeholder for consistency.
-            cls = torch.arange(len(pred_masks), dtype=torch.int32, device=pred_masks.device)
+            cls = torch.arange(pred_masks.shape[0], dtype=torch.int32, device=pred_masks.device)
             pred_bboxes = torch.cat([pred_bboxes, pred_scores[:, None], cls[:, None]], dim=-1)
         return pred_masks, pred_bboxes
 
 
 class SAM2Predictor(Predictor):
-    """
-    SAM2Predictor class for advanced image segmentation using Segment Anything Model 2 architecture.
+    """SAM2Predictor class for advanced image segmentation using Segment Anything Model 2 architecture.
 
-    This class extends the base Predictor class to implement SAM2-specific functionality for image
-    segmentation tasks. It provides methods for model initialization, feature extraction, and
-    prompt-based inference.
+    This class extends the base Predictor class to implement SAM2-specific functionality for image segmentation tasks.
+    It provides methods for model initialization, feature extraction, and prompt-based inference.
 
     Attributes:
         _bb_feat_sizes (list[tuple]): Feature sizes for different backbone levels.
@@ -740,6 +715,7 @@ class SAM2Predictor(Predictor):
         (128, 128),
         (64, 64),
     ]
+    stride = 16
 
     def get_model(self):
         """Retrieve and initialize the Segment Anything Model 2 (SAM2) for image segmentation tasks."""
@@ -748,15 +724,16 @@ class SAM2Predictor(Predictor):
         return build_sam(self.args.model)
 
     def _prepare_prompts(self, dst_shape, src_shape, bboxes=None, points=None, labels=None, masks=None):
-        """
-        Prepare and transform the input prompts for processing based on the destination shape.
+        """Prepare and transform the input prompts for processing based on the destination shape.
 
         Args:
             dst_shape (tuple[int, int]): The target shape (height, width) for the prompts.
             src_shape (tuple[int, int]): The source shape (height, width) of the input image.
             bboxes (np.ndarray | list | None): Bounding boxes in XYXY format with shape (N, 4).
-            points (np.ndarray | list | None): Points indicating object locations with shape (N, 2) or (N, num_points, 2), in pixels.
-            labels (np.ndarray | list | None): Point prompt labels with shape (N,) or (N, num_points). 1 for foreground, 0 for background.
+            points (np.ndarray | list | None): Points indicating object locations with shape (N, 2) or (N, num_points,
+                2), in pixels.
+            labels (np.ndarray | list | None): Point prompt labels with shape (N,) or (N, num_points). 1 for foreground,
+                0 for background.
             masks (list | np.ndarray | None): Masks for the objects, where each mask is a 2D array.
 
         Returns:
@@ -770,7 +747,7 @@ class SAM2Predictor(Predictor):
         bboxes, points, labels, masks = super()._prepare_prompts(dst_shape, src_shape, bboxes, points, labels, masks)
         if bboxes is not None:
             bboxes = bboxes.view(-1, 2, 2)
-            bbox_labels = torch.tensor([[2, 3]], dtype=torch.int32, device=bboxes.device).expand(len(bboxes), -1)
+            bbox_labels = torch.tensor([[2, 3]], dtype=torch.int32, device=bboxes.device).expand(bboxes.shape[0], -1)
             # NOTE: merge "boxes" and "points" into a single "points" input
             # (where boxes are added at the beginning) to model.sam_prompt_encoder
             if points is not None:
@@ -780,46 +757,13 @@ class SAM2Predictor(Predictor):
                 points, labels = bboxes, bbox_labels
         return points, labels, masks
 
-    def set_image(self, image):
-        """
-        Preprocess and set a single image for inference using the SAM2 model.
-
-        This method initializes the model if not already done, configures the data source to the specified image,
-        and preprocesses the image for feature extraction. It supports setting only one image at a time.
-
-        Args:
-            image (str | np.ndarray): Path to the image file as a string, or a numpy array representing the image.
-
-        Examples:
-            >>> predictor = SAM2Predictor()
-            >>> predictor.set_image("path/to/image.jpg")
-            >>> predictor.set_image(np.array([...]))  # Using a numpy array
-
-        Raises:
-            AssertionError: If more than one image is attempted to be set.
-
-        Notes:
-            - This method must be called before performing any inference on a new image.
-            - The method caches the extracted features for efficient subsequent inferences on the same image.
-            - Only one image can be set at a time. To process multiple images, call this method for each new image.
-        """
-        if self.model is None:
-            self.setup_model(model=None)
-        self.setup_source(image)
-        assert len(self.dataset) == 1, "`set_image` only supports setting one image!"
-        for batch in self.dataset:
-            im = self.preprocess(batch[1])
-            self.features = self.get_im_features(im)
-            break
+    def setup_source(self, source):
+        """Set up the data source and image size for SAM2 inference."""
+        super().setup_source(source)
+        self._bb_feat_sizes = [[int(x / (self.stride * i)) for x in self.imgsz] for i in [1 / 4, 1 / 2, 1]]
 
     def get_im_features(self, im):
         """Extract image features from the SAM image encoder for subsequent processing."""
-        assert isinstance(self.imgsz, (tuple, list)) and self.imgsz[0] == self.imgsz[1], (
-            f"SAM 2 models only support square image size, but got {self.imgsz}."
-        )
-        self.model.set_imgsz(self.imgsz)
-        self._bb_feat_sizes = [[x // (4 * i) for x in self.imgsz] for i in [1, 2, 4]]
-
         backbone_out = self.model.forward_image(im)
         _, vision_feats, _, _ = self.model._prepare_backbone_features(backbone_out)
         if self.model.directly_add_no_mem_embed:
@@ -838,12 +782,11 @@ class SAM2Predictor(Predictor):
         multimask_output=False,
         img_idx=-1,
     ):
-        """
-        Perform inference on image features using the SAM2 model.
+        """Perform inference on image features using the SAM2 model.
 
         Args:
-            features (torch.Tensor | dict[str, Any]): Extracted image features with shape (B, C, H, W) from the SAM2 model image encoder, it
-                could also be a dictionary including:
+            features (torch.Tensor | dict[str, Any]): Extracted image features with shape (B, C, H, W) from the SAM2
+            model image encoder, it could also be a dictionary including:
                 - image_embed (torch.Tensor): Image embedding with shape (B, C, H, W).
                 - high_res_feats (list[torch.Tensor]): List of high-resolution feature maps from the backbone, each with shape (B, C, H, W).
             points (np.ndarray | list[list[float]] | None): Object location points with shape (N, 2), in pixels.
@@ -883,18 +826,18 @@ class SAM2Predictor(Predictor):
 
 
 class SAM2VideoPredictor(SAM2Predictor):
-    """
-    SAM2VideoPredictor to handle user interactions with videos and manage inference states.
+    """SAM2VideoPredictor to handle user interactions with videos and manage inference states.
 
-    This class extends the functionality of SAM2Predictor to support video processing and maintains
-    the state of inference operations. It includes configurations for managing non-overlapping masks,
-    clearing memory for non-conditional inputs, and setting up callbacks for prediction events.
+    This class extends the functionality of SAM2Predictor to support video processing and maintains the state of
+    inference operations. It includes configurations for managing non-overlapping masks, clearing memory for
+    non-conditional inputs, and setting up callbacks for prediction events.
 
     Attributes:
         inference_state (dict): A dictionary to store the current state of inference operations.
         non_overlap_masks (bool): A flag indicating whether masks should be non-overlapping.
         clear_non_cond_mem_around_input (bool): A flag to control clearing non-conditional memory around inputs.
-        clear_non_cond_mem_for_multi_obj (bool): A flag to control clearing non-conditional memory for multi-object scenarios.
+        clear_non_cond_mem_for_multi_obj (bool): A flag to control clearing non-conditional memory for multi-object
+            scenarios.
         callbacks (dict): A dictionary of callbacks for various prediction lifecycle events.
 
     Methods:
@@ -904,7 +847,7 @@ class SAM2VideoPredictor(SAM2Predictor):
         add_new_prompts: Add new points or masks to a specific frame for a given object ID.
         propagate_in_video_preflight: Prepare inference_state and consolidate temporary outputs before tracking.
         init_state: Initialize an inference state for the predictor.
-        get_im_features: Extract and process image features using SAM2's image encoder for subsequent segmentation tasks.
+        get_im_features: Extract image features using SAM2's image encoder for subsequent segmentation tasks.
 
     Examples:
         >>> predictor = SAM2VideoPredictor(cfg=DEFAULT_CFG)
@@ -912,29 +855,22 @@ class SAM2VideoPredictor(SAM2Predictor):
         >>> bboxes = [[100, 100, 200, 200]]
         >>> results = predictor(bboxes=bboxes)
 
-    Note:
+    Notes:
         The `fill_hole_area` attribute is defined but not used in the current implementation.
     """
 
     # fill_hole_area = 8  # not used
 
     def __init__(self, cfg=DEFAULT_CFG, overrides=None, _callbacks=None):
-        """
-        Initialize the predictor with configuration and optional overrides.
+        """Initialize the predictor with configuration and optional overrides.
 
-        This constructor initializes the SAM2VideoPredictor with a given configuration, applies any
-        specified overrides, and sets up the inference state along with certain flags
-        that control the behavior of the predictor.
+        This constructor initializes the SAM2VideoPredictor with a given configuration, applies any specified overrides,
+        and sets up the inference state along with certain flags that control the behavior of the predictor.
 
         Args:
             cfg (dict): Configuration dictionary containing default settings.
             overrides (dict | None): Dictionary of values to override default configuration.
             _callbacks (dict | None): Dictionary of callback functions to customize behavior.
-
-        Examples:
-            >>> predictor = SAM2VideoPredictor(cfg=DEFAULT_CFG)
-            >>> predictor_example_with_imgsz = SAM2VideoPredictor(overrides={"imgsz": 640})
-            >>> predictor_example_with_callback = SAM2VideoPredictor(_callbacks={"on_predict_start": custom_callback})
         """
         super().__init__(cfg, overrides, _callbacks)
         self.inference_state = {}
@@ -942,12 +878,12 @@ class SAM2VideoPredictor(SAM2Predictor):
         self.clear_non_cond_mem_around_input = False
         self.clear_non_cond_mem_for_multi_obj = False
         self.callbacks["on_predict_start"].append(self.init_state)
+        self.clear_non_cond_mem = True  # Whether to clear non-conditioning memory periodically
 
     def get_model(self):
-        """
-        Retrieve and configure the model with binarization enabled.
+        """Retrieve and configure the model with binarization enabled.
 
-        Note:
+        Notes:
             This method overrides the base class implementation to set the binarize flag to True.
         """
         model = super().get_model()
@@ -955,10 +891,9 @@ class SAM2VideoPredictor(SAM2Predictor):
         return model
 
     def inference(self, im, bboxes=None, points=None, labels=None, masks=None):
-        """
-        Perform image segmentation inference based on the given input cues, using the currently loaded image. This
-        method leverages SAM's (Segment Anything Model) architecture consisting of image encoder, prompt encoder, and
-        mask decoder for real-time and promptable segmentation tasks.
+        """Perform image segmentation inference based on the given input cues, using the currently loaded image. This
+        method leverages SAM's (Segment Anything Model) architecture consisting of image encoder, prompt
+        encoder, and mask decoder for real-time and promptable segmentation tasks.
 
         Args:
             im (torch.Tensor): The preprocessed input image in tensor format, with shape (N, C, H, W).
@@ -969,7 +904,7 @@ class SAM2VideoPredictor(SAM2Predictor):
 
         Returns:
             pred_masks (torch.Tensor): The output masks in shape CxHxW, where C is the number of generated masks.
-            pred_scores (torch.Tensor): An array of length C containing quality scores predicted by the model for each mask.
+            pred_scores (torch.Tensor): An array of length C containing predicted quality scores for each mask.
         """
         # Override prompts if any stored in self.prompts
         bboxes = self.prompts.pop("bboxes", bboxes)
@@ -1018,6 +953,7 @@ class SAM2VideoPredictor(SAM2Predictor):
                 run_mem_encoder=True,
             )
             output_dict[storage_key][frame] = current_out
+            self._prune_non_cond_memory(frame)
         # Create slices of per-object outputs for subsequent interaction with each
         # individual object after tracking.
         self._add_output_per_object(frame, current_out, storage_key)
@@ -1025,15 +961,14 @@ class SAM2VideoPredictor(SAM2Predictor):
         pred_masks = current_out["pred_masks"].flatten(0, 1)
         pred_masks = pred_masks[(pred_masks > self.model.mask_threshold).sum((1, 2)) > 0]  # filter blank masks
 
-        return pred_masks, torch.ones(len(pred_masks), dtype=pred_masks.dtype, device=pred_masks.device)
+        return pred_masks, torch.ones(pred_masks.shape[0], dtype=pred_masks.dtype, device=pred_masks.device)
 
     def postprocess(self, preds, img, orig_imgs):
-        """
-        Post-process the predictions to apply non-overlapping constraints if required.
+        """Post-process the predictions to apply non-overlapping constraints if required.
 
-        This method extends the post-processing functionality by applying non-overlapping constraints
-        to the predicted masks if the `non_overlap_masks` flag is set to True. This ensures that
-        the masks do not overlap, which can be useful for certain applications.
+        This method extends the post-processing functionality by applying non-overlapping constraints to the predicted
+        masks if the `non_overlap_masks` flag is set to True. This ensures that the masks do not overlap, which can be
+        useful for certain applications.
 
         Args:
             preds (tuple[torch.Tensor, torch.Tensor]): The predicted masks and scores from the model.
@@ -1043,7 +978,7 @@ class SAM2VideoPredictor(SAM2Predictor):
         Returns:
             (list): The post-processed predictions.
 
-        Note:
+        Notes:
             If `non_overlap_masks` is True, the method applies constraints to ensure non-overlapping masks.
         """
         results = super().postprocess(preds, img, orig_imgs)
@@ -1062,14 +997,14 @@ class SAM2VideoPredictor(SAM2Predictor):
         labels=None,
         masks=None,
         frame_idx=0,
+        inference_state: dict[str, Any] | None = None,
     ):
-        """
-        Add new points or masks to a specific frame for a given object ID.
+        """Add new points or masks to a specific frame for a given object ID.
 
-        This method updates the inference state with new prompts (points or masks) for a specified
-        object and frame index. It ensures that the prompts are either points or masks, but not both,
-        and updates the internal state accordingly. It also handles the generation of new segmentations
-        based on the provided prompts and the existing state.
+        This method updates the inference state with new prompts (points or masks) for a specified object and frame
+        index. It ensures that the prompts are either points or masks, but not both, and updates the internal state
+        accordingly. It also handles the generation of new segmentations based on the provided prompts and the existing
+        state.
 
         Args:
             obj_id (int): The ID of the object to which the prompts are associated.
@@ -1077,6 +1012,8 @@ class SAM2VideoPredictor(SAM2Predictor):
             labels (torch.Tensor, optional): The labels corresponding to the points.
             masks (torch.Tensor, optional): Binary masks for the object.
             frame_idx (int, optional): The index of the frame to which the prompts are applied.
+            inference_state (dict[str, Any], optional): The current inference state. If None, uses the instance's
+                inference state.
 
         Returns:
             pred_masks (torch.Tensor): The flattened predicted masks.
@@ -1085,29 +1022,30 @@ class SAM2VideoPredictor(SAM2Predictor):
         Raises:
             AssertionError: If both `masks` and `points` are provided, or neither is provided.
 
-        Note:
+        Notes:
             - Only one type of prompt (either points or masks) can be added per call.
             - If the frame is being tracked for the first time, it is treated as an initial conditioning frame.
             - The method handles the consolidation of outputs and resizing of masks to the original video resolution.
         """
+        inference_state = inference_state or self.inference_state
         assert (masks is None) ^ (points is None), "'masks' and 'points' prompts are not compatible with each other."
-        obj_idx = self._obj_id_to_idx(obj_id)
+        obj_idx = self._obj_id_to_idx(obj_id, inference_state)
 
         point_inputs = None
         pop_key = "point_inputs_per_obj"
         if points is not None:
             point_inputs = {"point_coords": points, "point_labels": labels}
-            self.inference_state["point_inputs_per_obj"][obj_idx][frame_idx] = point_inputs
+            inference_state["point_inputs_per_obj"][obj_idx][frame_idx] = point_inputs
             pop_key = "mask_inputs_per_obj"
-        self.inference_state["mask_inputs_per_obj"][obj_idx][frame_idx] = masks
-        self.inference_state[pop_key][obj_idx].pop(frame_idx, None)
+        inference_state["mask_inputs_per_obj"][obj_idx][frame_idx] = masks
+        inference_state[pop_key][obj_idx].pop(frame_idx, None)
         # If this frame hasn't been tracked before, we treat it as an initial conditioning
         # frame, meaning that the inputs points are to generate segments on this frame without
         # using any memory from other frames, like in SAM. Otherwise (if it has been tracked),
         # the input points will be used to correct the already tracked masks.
-        is_init_cond_frame = frame_idx not in self.inference_state["frames_already_tracked"]
-        obj_output_dict = self.inference_state["output_dict_per_obj"][obj_idx]
-        obj_temp_output_dict = self.inference_state["temp_output_dict_per_obj"][obj_idx]
+        is_init_cond_frame = frame_idx not in inference_state["frames_already_tracked"]
+        obj_output_dict = inference_state["output_dict_per_obj"][obj_idx]
+        obj_temp_output_dict = inference_state["temp_output_dict_per_obj"][obj_idx]
         # Add a frame to conditioning output if it's an initial conditioning frame or
         # if the model sees all frames receiving clicks/mask as conditioning frames.
         is_cond = is_init_cond_frame or self.model.add_all_frames_to_correct_as_cond
@@ -1126,7 +1064,9 @@ class SAM2VideoPredictor(SAM2Predictor):
             )
 
             if prev_out is not None and prev_out.get("pred_masks") is not None:
-                prev_sam_mask_logits = prev_out["pred_masks"].to(device=self.device, non_blocking=True)
+                prev_sam_mask_logits = prev_out["pred_masks"].to(
+                    device=self.device, non_blocking=self.device.type == "cuda"
+                )
                 # Clamp the scale of prev_sam_mask_logits to avoid rare numerical issues.
                 prev_sam_mask_logits.clamp_(-32.0, 32.0)
         current_out = self._run_single_frame_inference(
@@ -1143,6 +1083,7 @@ class SAM2VideoPredictor(SAM2Predictor):
             # them into memory.
             run_mem_encoder=False,
             prev_sam_mask_logits=prev_sam_mask_logits,
+            inference_state=inference_state,
         )
         # Add the output to the output dict (to be used as future memory)
         obj_temp_output_dict[storage_key][frame_idx] = current_out
@@ -1152,32 +1093,37 @@ class SAM2VideoPredictor(SAM2Predictor):
             frame_idx,
             is_cond=is_cond,
             run_mem_encoder=False,
+            inference_state=inference_state,
         )
         pred_masks = consolidated_out["pred_masks"].flatten(0, 1)
         return pred_masks.flatten(0, 1), torch.ones(1, dtype=pred_masks.dtype, device=pred_masks.device)
 
     @smart_inference_mode()
-    def propagate_in_video_preflight(self):
-        """
-        Prepare inference_state and consolidate temporary outputs before tracking.
+    def propagate_in_video_preflight(self, inference_state: dict[str, Any] | None = None):
+        """Prepare inference_state and consolidate temporary outputs before tracking.
+
+        This method marks the start of tracking, disallowing the addition of new objects until the session is reset. It
+        consolidates temporary outputs from `temp_output_dict_per_obj` and merges them into `output_dict`. Additionally,
+        it clears non-conditioning memory around input frames and ensures that the state is consistent with the provided
+        inputs.
 
-        This method marks the start of tracking, disallowing the addition of new objects until the session is reset.
-        It consolidates temporary outputs from `temp_output_dict_per_obj` and merges them into `output_dict`.
-        Additionally, it clears non-conditioning memory around input frames and ensures that the state is consistent
-        with the provided inputs.
+        Args:
+            inference_state (dict[str, Any], optional): The current inference state. If None, uses the instance's
+                inference state.
         """
+        inference_state = inference_state or self.inference_state
         # Tracking has started and we don't allow adding new objects until session is reset.
-        self.inference_state["tracking_has_started"] = True
-        batch_size = len(self.inference_state["obj_idx_to_id"])
+        inference_state["tracking_has_started"] = True
+        batch_size = len(inference_state["obj_idx_to_id"])
 
         # Consolidate per-object temporary outputs in "temp_output_dict_per_obj" and
         # add them into "output_dict".
-        temp_output_dict_per_obj = self.inference_state["temp_output_dict_per_obj"]
-        output_dict = self.inference_state["output_dict"]
+        temp_output_dict_per_obj = inference_state["temp_output_dict_per_obj"]
+        output_dict = inference_state["output_dict"]
         # "consolidated_frame_inds" contains indices of those frames where consolidated
         # temporary outputs have been added (either in this call or any previous calls
         # to `propagate_in_video_preflight`).
-        consolidated_frame_inds = self.inference_state["consolidated_frame_inds"]
+        consolidated_frame_inds = inference_state["consolidated_frame_inds"]
         for is_cond in {False, True}:
             # Separately consolidate conditioning and non-conditioning temp outputs
             storage_key = "cond_frame_outputs" if is_cond else "non_cond_frame_outputs"
@@ -1191,11 +1137,11 @@ class SAM2VideoPredictor(SAM2Predictor):
             # consolidate the temporary output across all objects on this frame
             for frame_idx in temp_frame_inds:
                 consolidated_out = self._consolidate_temp_output_across_obj(
-                    frame_idx, is_cond=is_cond, run_mem_encoder=True
+                    frame_idx, is_cond=is_cond, run_mem_encoder=True, inference_state=inference_state
                 )
                 # merge them into "output_dict" and also create per-object slices
                 output_dict[storage_key][frame_idx] = consolidated_out
-                self._add_output_per_object(frame_idx, consolidated_out, storage_key)
+                self._add_output_per_object(frame_idx, consolidated_out, storage_key, inference_state=inference_state)
                 if self.clear_non_cond_mem_around_input and (self.clear_non_cond_mem_for_multi_obj or batch_size <= 1):
                     # clear non-conditioning memory of the surrounding frames
                     self._clear_non_cond_mem_around_input(frame_idx)
@@ -1208,7 +1154,7 @@ class SAM2VideoPredictor(SAM2Predictor):
         # output on the same frame in "non_cond_frame_outputs"
         for frame_idx in output_dict["cond_frame_outputs"]:
             output_dict["non_cond_frame_outputs"].pop(frame_idx, None)
-        for obj_output_dict in self.inference_state["output_dict_per_obj"].values():
+        for obj_output_dict in inference_state["output_dict_per_obj"].values():
             for frame_idx in obj_output_dict["cond_frame_outputs"]:
                 obj_output_dict["non_cond_frame_outputs"].pop(frame_idx, None)
         for frame_idx in consolidated_frame_inds["cond_frame_outputs"]:
@@ -1221,20 +1167,19 @@ class SAM2VideoPredictor(SAM2Predictor):
             consolidated_frame_inds["cond_frame_outputs"] | consolidated_frame_inds["non_cond_frame_outputs"]
         )
         input_frames_inds = set()
-        for point_inputs_per_frame in self.inference_state["point_inputs_per_obj"].values():
+        for point_inputs_per_frame in inference_state["point_inputs_per_obj"].values():
             input_frames_inds.update(point_inputs_per_frame.keys())
-        for mask_inputs_per_frame in self.inference_state["mask_inputs_per_obj"].values():
+        for mask_inputs_per_frame in inference_state["mask_inputs_per_obj"].values():
             input_frames_inds.update(mask_inputs_per_frame.keys())
         assert all_consolidated_frame_inds == input_frames_inds
 
     @staticmethod
     def init_state(predictor):
-        """
-        Initialize an inference state for the predictor.
+        """Initialize an inference state for the predictor.
 
-        This function sets up the initial state required for performing inference on video data.
-        It includes initializing various dictionaries and ordered dictionaries that will store
-        inputs, outputs, and other metadata relevant to the tracking process.
+        This function sets up the initial state required for performing inference on video data. It includes
+        initializing various dictionaries and ordered dictionaries that will store inputs, outputs, and other metadata
+        relevant to the tracking process.
 
         Args:
             predictor (SAM2VideoPredictor): The predictor object for which to initialize the state.
@@ -1243,9 +1188,21 @@ class SAM2VideoPredictor(SAM2Predictor):
             return
         assert predictor.dataset is not None
         assert predictor.dataset.mode == "video"
+        predictor.inference_state = predictor._init_state(predictor.dataset.frames)
+
+    @staticmethod
+    def _init_state(num_frames):
+        """Initialize an inference state.
 
+        This function sets up the initial state required for performing inference on video data. It includes
+        initializing various dictionaries and ordered dictionaries that will store inputs, outputs, and other metadata
+        relevant to the tracking process.
+
+        Args:
+            num_frames (int): The number of frames in the video.
+        """
         inference_state = {
-            "num_frames": predictor.dataset.frames,
+            "num_frames": num_frames,  # TODO: see if there's any chance to remove it
             "point_inputs_per_obj": {},  # inputs points on each frame
             "mask_inputs_per_obj": {},  # inputs mask on each frame
             "constants": {},  # values that don't change across frames (so we only need to hold one copy of them)
@@ -1273,11 +1230,10 @@ class SAM2VideoPredictor(SAM2Predictor):
             "tracking_has_started": False,
             "frames_already_tracked": [],
         }
-        predictor.inference_state = inference_state
+        return inference_state
 
     def get_im_features(self, im, batch=1):
-        """
-        Extract and process image features using SAM2's image encoder for subsequent segmentation tasks.
+        """Extract and process image features using SAM2's image encoder for subsequent segmentation tasks.
 
         Args:
             im (torch.Tensor): The input image tensor.
@@ -1288,27 +1244,24 @@ class SAM2VideoPredictor(SAM2Predictor):
             vis_pos_embed (torch.Tensor): The positional embeddings for the visual features.
             feat_sizes (list[tuple]): A list containing the sizes of the extracted features.
 
-        Note:
+        Notes:
             - If `batch` is greater than 1, the features are expanded to fit the batch size.
             - The method leverages the model's `_prepare_backbone_features` method to prepare the backbone features.
         """
-        self.model.set_imgsz(self.imgsz)
-        backbone_out = self.model.forward_image(im)
-        if batch > 1:  # expand features if there's more than one prompt
-            for i, feat in enumerate(backbone_out["backbone_fpn"]):
-                backbone_out["backbone_fpn"][i] = feat.expand(batch, -1, -1, -1)
-            for i, pos in enumerate(backbone_out["vision_pos_enc"]):
-                pos = pos.expand(batch, -1, -1, -1)
-                backbone_out["vision_pos_enc"][i] = pos
-        _, vis_feats, vis_pos_embed, feat_sizes = self.model._prepare_backbone_features(backbone_out)
+        # check if there's precomputed backbone output
+        backbone_out = getattr(self, "backbone_out", None)
+        if backbone_out is None:
+            backbone_out = self.model.forward_image(im)
+        _, vis_feats, vis_pos_embed, feat_sizes = self.model._prepare_backbone_features(backbone_out, batch=batch)
         return vis_feats, vis_pos_embed, feat_sizes
 
-    def _obj_id_to_idx(self, obj_id):
-        """
-        Map client-side object id to model-side object index.
+    def _obj_id_to_idx(self, obj_id, inference_state: dict[str, Any] | None = None):
+        """Map client-side object id to model-side object index.
 
         Args:
             obj_id (int): The unique identifier of the object provided by the client side.
+            inference_state (dict[str, Any], optional): The current inference state. If None, uses the instance's
+                inference state.
 
         Returns:
             (int): The index of the object on the model side.
@@ -1316,34 +1269,35 @@ class SAM2VideoPredictor(SAM2Predictor):
         Raises:
             RuntimeError: If an attempt is made to add a new object after tracking has started.
 
-        Note:
+        Notes:
             - The method updates or retrieves mappings between object IDs and indices stored in
               `inference_state`.
             - It ensures that new objects can only be added before tracking commences.
             - It maintains two-way mappings between IDs and indices (`obj_id_to_idx` and `obj_idx_to_id`).
             - Additional data structures are initialized for the new object to store inputs and outputs.
         """
-        obj_idx = self.inference_state["obj_id_to_idx"].get(obj_id, None)
+        inference_state = inference_state or self.inference_state
+        obj_idx = inference_state["obj_id_to_idx"].get(obj_id, None)
         if obj_idx is not None:
             return obj_idx
 
         # This is a new object id not sent to the server before. We only allow adding
         # new objects *before* the tracking starts.
-        allow_new_object = not self.inference_state["tracking_has_started"]
+        allow_new_object = not inference_state["tracking_has_started"]
         if allow_new_object:
             # get the next object slot
-            obj_idx = len(self.inference_state["obj_id_to_idx"])
-            self.inference_state["obj_id_to_idx"][obj_id] = obj_idx
-            self.inference_state["obj_idx_to_id"][obj_idx] = obj_id
-            self.inference_state["obj_ids"] = list(self.inference_state["obj_id_to_idx"])
+            obj_idx = len(inference_state["obj_id_to_idx"])
+            inference_state["obj_id_to_idx"][obj_id] = obj_idx
+            inference_state["obj_idx_to_id"][obj_idx] = obj_id
+            inference_state["obj_ids"] = list(inference_state["obj_id_to_idx"])
             # set up input and output structures for this object
-            self.inference_state["point_inputs_per_obj"][obj_idx] = {}
-            self.inference_state["mask_inputs_per_obj"][obj_idx] = {}
-            self.inference_state["output_dict_per_obj"][obj_idx] = {
+            inference_state["point_inputs_per_obj"][obj_idx] = {}
+            inference_state["mask_inputs_per_obj"][obj_idx] = {}
+            inference_state["output_dict_per_obj"][obj_idx] = {
                 "cond_frame_outputs": {},  # dict containing {frame_idx: <out>}
                 "non_cond_frame_outputs": {},  # dict containing {frame_idx: <out>}
             }
-            self.inference_state["temp_output_dict_per_obj"][obj_idx] = {
+            inference_state["temp_output_dict_per_obj"][obj_idx] = {
                 "cond_frame_outputs": {},  # dict containing {frame_idx: <out>}
                 "non_cond_frame_outputs": {},  # dict containing {frame_idx: <out>}
             }
@@ -1351,7 +1305,7 @@ class SAM2VideoPredictor(SAM2Predictor):
         else:
             raise RuntimeError(
                 f"Cannot add new object id {obj_id} after tracking starts. "
-                f"All existing object ids: {self.inference_state['obj_ids']}. "
+                f"All existing object ids: {inference_state['obj_ids']}. "
                 f"Please call 'reset_state' to restart from scratch."
             )
 
@@ -1366,9 +1320,9 @@ class SAM2VideoPredictor(SAM2Predictor):
         reverse,
         run_mem_encoder,
         prev_sam_mask_logits=None,
+        inference_state: dict[str, Any] | None = None,
     ):
-        """
-        Run tracking on a single frame based on current inputs and previous memory.
+        """Run tracking on a single frame based on current inputs and previous memory.
 
         Args:
             output_dict (dict): The dictionary containing the output states of the tracking process.
@@ -1380,6 +1334,8 @@ class SAM2VideoPredictor(SAM2Predictor):
             reverse (bool): Indicates if the tracking should be performed in reverse order.
             run_mem_encoder (bool): Indicates if the memory encoder should be executed.
             prev_sam_mask_logits (torch.Tensor | None): Previous mask logits for the current object.
+            inference_state (dict[str, Any], optional): The current inference state. If None, uses the instance's
+                inference state.
 
         Returns:
             (dict): A dictionary containing the output of the tracking step, including updated features and predictions.
@@ -1387,15 +1343,16 @@ class SAM2VideoPredictor(SAM2Predictor):
         Raises:
             AssertionError: If both `point_inputs` and `mask_inputs` are provided, or neither is provided.
 
-        Note:
+        Notes:
             - The method assumes that `point_inputs` and `mask_inputs` are mutually exclusive.
             - The method retrieves image features using the `get_im_features` method.
             - The `maskmem_pos_enc` is assumed to be constant across frames, hence only one copy is stored.
             - The `fill_holes_in_mask_scores` function is commented out and currently unsupported due to CUDA extension requirements.
         """
+        inference_state = inference_state or self.inference_state
         # Retrieve correct image features
         current_vision_feats, current_vision_pos_embeds, feat_sizes = self.get_im_features(
-            self.inference_state["im"], batch_size
+            inference_state["im"], batch_size
         )
 
         # point and mask should not appear as input simultaneously on the same frame
@@ -1409,7 +1366,7 @@ class SAM2VideoPredictor(SAM2Predictor):
             point_inputs=point_inputs,
             mask_inputs=mask_inputs,
             output_dict=output_dict,
-            num_frames=self.inference_state["num_frames"],
+            num_frames=inference_state["num_frames"],
             track_in_reverse=reverse,
             run_mem_encoder=run_mem_encoder,
             prev_sam_mask_logits=prev_sam_mask_logits,
@@ -1418,43 +1375,44 @@ class SAM2VideoPredictor(SAM2Predictor):
         maskmem_features = current_out["maskmem_features"]
         if maskmem_features is not None:
             current_out["maskmem_features"] = maskmem_features.to(
-                dtype=torch.float16, device=self.device, non_blocking=True
+                dtype=torch.float16, device=self.device, non_blocking=self.device.type == "cuda"
             )
         # NOTE: Do not support the `fill_holes_in_mask_scores` function since it needs cuda extensions
         # potentially fill holes in the predicted masks
         # if self.fill_hole_area > 0:
-        #     pred_masks = current_out["pred_masks"].to(self.device, non_blocking=True)
+        #     pred_masks = current_out["pred_masks"].to(self.device, non_blocking=self.device.type == "cuda")
         #     pred_masks = fill_holes_in_mask_scores(pred_masks, self.fill_hole_area)
 
         # "maskmem_pos_enc" is the same across frames, so we only need to store one copy of it
-        current_out["maskmem_pos_enc"] = self._get_maskmem_pos_enc(current_out["maskmem_pos_enc"])
+        current_out["maskmem_pos_enc"] = self._get_maskmem_pos_enc(current_out["maskmem_pos_enc"], inference_state)
         return current_out
 
-    def _get_maskmem_pos_enc(self, out_maskmem_pos_enc):
-        """
-        Cache and manage the positional encoding for mask memory across frames and objects.
+    def _get_maskmem_pos_enc(self, out_maskmem_pos_enc, inference_state: dict[str, Any] | None = None):
+        """Cache and manage the positional encoding for mask memory across frames and objects.
 
-        This method optimizes storage by caching the positional encoding (`maskmem_pos_enc`) for
-        mask memory, which is constant across frames and objects, thus reducing the amount of
-        redundant information stored during an inference session. It checks if the positional
-        encoding has already been cached; if not, it caches a slice of the provided encoding.
-        If the batch size is greater than one, it expands the cached positional encoding to match
-        the current batch size.
+        This method optimizes storage by caching the positional encoding (`maskmem_pos_enc`) for mask memory, which is
+        constant across frames and objects, thus reducing the amount of redundant information stored during an inference
+        session. It checks if the positional encoding has already been cached; if not, it caches a slice of the provided
+        encoding. If the batch size is greater than one, it expands the cached positional encoding to match the current
+        batch size.
 
         Args:
-            out_maskmem_pos_enc (list[torch.Tensor] | None): The positional encoding for mask memory.
-                Should be a list of tensors or None.
+            out_maskmem_pos_enc (list[torch.Tensor] | None): The positional encoding for mask memory. Should be a list
+                of tensors or None.
+            inference_state (dict[str, Any], optional): The current inference state. If None, uses the instance's
+                inference state.
 
         Returns:
             (list[torch.Tensor]): The positional encoding for mask memory, either cached or expanded.
 
-        Note:
+        Notes:
             - The method assumes that `out_maskmem_pos_enc` is a list of tensors or None.
             - Only a single object's slice is cached since the encoding is the same across objects.
             - The method checks if the positional encoding has already been cached in the session's constants.
             - If the batch size is greater than one, the cached encoding is expanded to fit the batch size.
         """
-        model_constants = self.inference_state["constants"]
+        inference_state = inference_state or self.inference_state
+        model_constants = inference_state["constants"]
         # "out_maskmem_pos_enc" should be either a list of tensors or None
         if out_maskmem_pos_enc is not None:
             if "maskmem_pos_enc" not in model_constants:
@@ -1465,7 +1423,7 @@ class SAM2VideoPredictor(SAM2Predictor):
             else:
                 maskmem_pos_enc = model_constants["maskmem_pos_enc"]
             # expand the cached maskmem_pos_enc to the actual batch size
-            batch_size = out_maskmem_pos_enc[0].size(0)
+            batch_size = out_maskmem_pos_enc[0].shape[0]
             if batch_size > 1:
                 out_maskmem_pos_enc = [x.expand(batch_size, -1, -1, -1) for x in maskmem_pos_enc]
         return out_maskmem_pos_enc
@@ -1475,31 +1433,34 @@ class SAM2VideoPredictor(SAM2Predictor):
         frame_idx,
         is_cond=False,
         run_mem_encoder=False,
+        inference_state: dict[str, Any] | None = None,
     ):
-        """
-        Consolidate per-object temporary outputs into a single output for all objects.
+        """Consolidate per-object temporary outputs into a single output for all objects.
 
         This method combines the temporary outputs for each object on a given frame into a unified
         output. It fills in any missing objects either from the main output dictionary or leaves
-        placeholders if they do not exist in the main output. Optionally, it can re-run the memory
-        encoder after applying non-overlapping constraints to the object scores.
+        placeholders if they do not exist in the main output. Optionally, it can re-run the memory encoder after
+        applying non-overlapping constraints to the object scores.
 
         Args:
             frame_idx (int): The index of the frame for which to consolidate outputs.
             is_cond (bool, optional): Indicates if the frame is considered a conditioning frame.
-            run_mem_encoder (bool, optional): Specifies whether to run the memory encoder after
-                consolidating the outputs.
+            run_mem_encoder (bool, optional): Specifies whether to run the memory encoder after consolidating the
+                outputs.
+            inference_state (dict[str, Any], optional): The current inference state. If None, uses the instance's
+                inference state.
 
         Returns:
             (dict): A consolidated output dictionary containing the combined results for all objects.
 
-        Note:
+        Notes:
             - The method initializes the consolidated output with placeholder values for missing objects.
             - It searches for outputs in both the temporary and main output dictionaries.
             - If `run_mem_encoder` is True, it applies non-overlapping constraints and re-runs the memory encoder.
             - The `maskmem_features` and `maskmem_pos_enc` are only populated when `run_mem_encoder` is True.
         """
-        batch_size = len(self.inference_state["obj_idx_to_id"])
+        inference_state = inference_state or self.inference_state
+        batch_size = len(inference_state["obj_idx_to_id"])
         storage_key = "cond_frame_outputs" if is_cond else "non_cond_frame_outputs"
 
         # Initialize `consolidated_out`. Its "maskmem_features" and "maskmem_pos_enc"
@@ -1510,7 +1471,8 @@ class SAM2VideoPredictor(SAM2Predictor):
             "maskmem_features": None,
             "maskmem_pos_enc": None,
             "pred_masks": torch.full(
-                size=(batch_size, 1, self.imgsz[0] // 4, self.imgsz[1] // 4),
+                # size=(batch_size, 1, self.imgsz[0] // 4, self.imgsz[1] // 4),
+                size=(batch_size, 1, *self._bb_feat_sizes[0]),
                 fill_value=-1024.0,
                 dtype=self.torch_dtype,
                 device=self.device,
@@ -1531,8 +1493,8 @@ class SAM2VideoPredictor(SAM2Predictor):
             ),
         }
         for obj_idx in range(batch_size):
-            obj_temp_output_dict = self.inference_state["temp_output_dict_per_obj"][obj_idx]
-            obj_output_dict = self.inference_state["output_dict_per_obj"][obj_idx]
+            obj_temp_output_dict = inference_state["temp_output_dict_per_obj"][obj_idx]
+            obj_output_dict = inference_state["output_dict_per_obj"][obj_idx]
             out = (
                 obj_temp_output_dict[storage_key].get(frame_idx)
                 # If the object doesn't appear in "temp_output_dict_per_obj" on this frame,
@@ -1572,22 +1534,25 @@ class SAM2VideoPredictor(SAM2Predictor):
                 high_res_masks=high_res_masks,
                 is_mask_from_pts=True,  # these frames are what the user interacted with
                 object_score_logits=consolidated_out["object_score_logits"],
+                inference_state=inference_state,
             )
 
         return consolidated_out
 
-    def _get_empty_mask_ptr(self, frame_idx):
-        """
-        Get a dummy object pointer based on an empty mask on the current frame.
+    def _get_empty_mask_ptr(self, frame_idx, inference_state: dict[str, Any] | None = None):
+        """Get a dummy object pointer based on an empty mask on the current frame.
 
         Args:
             frame_idx (int): The index of the current frame for which to generate the dummy object pointer.
+            inference_state (dict[str, Any], optional): The current inference state. If None, uses the instance's
+                inference state.
 
         Returns:
             (torch.Tensor): A tensor representing the dummy object pointer generated from the empty mask.
         """
+        inference_state = inference_state or self.inference_state
         # Retrieve correct image features
-        current_vision_feats, current_vision_pos_embeds, feat_sizes = self.get_im_features(self.inference_state["im"])
+        current_vision_feats, current_vision_pos_embeds, feat_sizes = self.get_im_features(inference_state["im"])
 
         # Feed the empty mask and image feature above to get a dummy object pointer
         current_out = self.model.track_step(
@@ -1600,16 +1565,22 @@ class SAM2VideoPredictor(SAM2Predictor):
             # A dummy (empty) mask with a single object
             mask_inputs=torch.zeros((1, 1, *self.imgsz), dtype=self.torch_dtype, device=self.device),
             output_dict={},
-            num_frames=self.inference_state["num_frames"],
+            num_frames=inference_state["num_frames"],
             track_in_reverse=False,
             run_mem_encoder=False,
             prev_sam_mask_logits=None,
         )
         return current_out["obj_ptr"]
 
-    def _run_memory_encoder(self, batch_size, high_res_masks, object_score_logits, is_mask_from_pts):
-        """
-        Run the memory encoder on masks.
+    def _run_memory_encoder(
+        self,
+        batch_size,
+        high_res_masks,
+        object_score_logits,
+        is_mask_from_pts,
+        inference_state: dict[str, Any] | None = None,
+    ):
+        """Run the memory encoder on masks.
 
         This is usually after applying non-overlapping constraints to object scores. Since their scores changed, their
         memory also needs to be computed again with the memory encoder.
@@ -1619,13 +1590,16 @@ class SAM2VideoPredictor(SAM2Predictor):
             high_res_masks (torch.Tensor): High-resolution masks for which to compute the memory.
             object_score_logits (torch.Tensor): Logits representing the object scores.
             is_mask_from_pts (bool): Indicates if the mask is derived from point interactions.
+            inference_state (dict[str, Any], optional): The current inference state. If None, uses the instance's
+                inference state.
 
         Returns:
             maskmem_features (torch.Tensor): The encoded mask features.
             maskmem_pos_enc (torch.Tensor): The positional encoding.
         """
+        inference_state = inference_state or self.inference_state
         # Retrieve correct image features
-        current_vision_feats, _, feat_sizes = self.get_im_features(self.inference_state["im"], batch_size)
+        current_vision_feats, _, feat_sizes = self.get_im_features(inference_state["im"], batch_size)
         maskmem_features, maskmem_pos_enc = self.model._encode_new_memory(
             current_vision_feats=current_vision_feats,
             feat_sizes=feat_sizes,
@@ -1635,12 +1609,15 @@ class SAM2VideoPredictor(SAM2Predictor):
         )
 
         # "maskmem_pos_enc" is the same across frames, so we only need to store one copy of it
-        maskmem_pos_enc = self._get_maskmem_pos_enc(maskmem_pos_enc)
-        return maskmem_features.to(dtype=torch.float16, device=self.device, non_blocking=True), maskmem_pos_enc
+        maskmem_pos_enc = self._get_maskmem_pos_enc(maskmem_pos_enc, inference_state)
+        return maskmem_features.to(
+            dtype=torch.float16, device=self.device, non_blocking=self.device.type == "cuda"
+        ), maskmem_pos_enc
 
-    def _add_output_per_object(self, frame_idx, current_out, storage_key):
-        """
-        Split a multi-object output into per-object output slices and add them into Output_Dict_Per_Obj.
+    def _add_output_per_object(
+        self, frame_idx, current_out, storage_key, inference_state: dict[str, Any] | None = None
+    ):
+        """Split a multi-object output into per-object output slices and add them into Output_Dict_Per_Obj.
 
         The resulting slices share the same tensor storage.
 
@@ -1648,14 +1625,17 @@ class SAM2VideoPredictor(SAM2Predictor):
             frame_idx (int): The index of the current frame.
             current_out (dict): The current output dictionary containing multi-object outputs.
             storage_key (str): The key used to store the output in the per-object output dictionary.
+            inference_state (dict[str, Any], optional): The current inference state. If None, uses the instance's
+                inference state.
         """
+        inference_state = inference_state or self.inference_state
         maskmem_features = current_out["maskmem_features"]
         assert maskmem_features is None or isinstance(maskmem_features, torch.Tensor)
 
         maskmem_pos_enc = current_out["maskmem_pos_enc"]
         assert maskmem_pos_enc is None or isinstance(maskmem_pos_enc, list)
 
-        for obj_idx, obj_output_dict in self.inference_state["output_dict_per_obj"].items():
+        for obj_idx, obj_output_dict in inference_state["output_dict_per_obj"].items():
             obj_slice = slice(obj_idx, obj_idx + 1)
             obj_out = {
                 "maskmem_features": None,
@@ -1669,29 +1649,212 @@ class SAM2VideoPredictor(SAM2Predictor):
                 obj_out["maskmem_pos_enc"] = [x[obj_slice] for x in maskmem_pos_enc]
             obj_output_dict[storage_key][frame_idx] = obj_out
 
-    def _clear_non_cond_mem_around_input(self, frame_idx):
-        """
-        Remove the non-conditioning memory around the input frame.
+    def _clear_non_cond_mem_around_input(self, frame_idx, inference_state: dict[str, Any] | None = None):
+        """Remove the non-conditioning memory around the input frame.
 
-        When users provide correction clicks, the surrounding frames' non-conditioning memories can still contain outdated
-        object appearance information and could confuse the model. This method clears those non-conditioning memories
-        surrounding the interacted frame to avoid giving the model both old and new information about the object.
+        When users provide correction clicks, the surrounding frames' non-conditioning memories can still contain
+        outdated object appearance information and could confuse the model. This method clears those non-conditioning
+        memories surrounding the interacted frame to avoid giving the model both old and new information about the
+        object.
 
         Args:
             frame_idx (int): The index of the current frame where user interaction occurred.
+            inference_state (dict[str, Any], optional): The current inference state. If None, uses the instance's
+                inference state.
         """
+        inference_state = inference_state or self.inference_state
         r = self.model.memory_temporal_stride_for_eval
         frame_idx_begin = frame_idx - r * self.model.num_maskmem
         frame_idx_end = frame_idx + r * self.model.num_maskmem
         for t in range(frame_idx_begin, frame_idx_end + 1):
-            self.inference_state["output_dict"]["non_cond_frame_outputs"].pop(t, None)
-            for obj_output_dict in self.inference_state["output_dict_per_obj"].values():
+            inference_state["output_dict"]["non_cond_frame_outputs"].pop(t, None)
+            for obj_output_dict in inference_state["output_dict_per_obj"].values():
                 obj_output_dict["non_cond_frame_outputs"].pop(t, None)
 
+    @smart_inference_mode()
+    def remove_object(self, inference_state, obj_id, strict=False):
+        """Remove an object id from the tracking state. If strict is True, we check whether the object id actually
+        exists and raise an error if it doesn't exist.
+        """
+        old_obj_idx_to_rm = inference_state["obj_id_to_idx"].get(obj_id, None)
+        # Check whether this object_id to remove actually exists and possibly raise an error.
+        if old_obj_idx_to_rm is None:
+            if not strict:
+                return inference_state["obj_ids"]
+            raise RuntimeError(
+                f"Cannot remove object id {obj_id} as it doesn't exist. "
+                f"All existing object ids: {inference_state['obj_ids']}."
+            )
+
+        # If this is the only remaining object id, we simply reset the state.
+        if len(inference_state["obj_id_to_idx"]) == 1:
+            self.clear_all_points_in_video(inference_state)
+            return inference_state["obj_ids"]
+
+        # There are still remaining objects after removing this object id. In this case,
+        # we need to delete the object storage from inference state tensors.
+        # Step 0: clear the input on those frames where this object id has point or mask input
+        # (note that this step is required as it might downgrade conditioning frames to
+        # non-conditioning ones)
+        obj_input_frames_inds = set()
+        obj_input_frames_inds.update(inference_state["point_inputs_per_obj"][old_obj_idx_to_rm])
+        obj_input_frames_inds.update(inference_state["mask_inputs_per_obj"][old_obj_idx_to_rm])
+        for frame_idx in obj_input_frames_inds:
+            self.clear_all_points_in_frame(inference_state, frame_idx, obj_id)
+
+        # Step 1: Update the object id mapping (note that it must be done after Step 0,
+        # since Step 0 still requires the old object id mappings in inference_state)
+        old_obj_ids = inference_state["obj_ids"]
+        old_obj_inds = list(range(len(old_obj_ids)))
+        remain_old_obj_inds = old_obj_inds.copy()
+        remain_old_obj_inds.remove(old_obj_idx_to_rm)
+        new_obj_ids = [old_obj_ids[old_idx] for old_idx in remain_old_obj_inds]
+        new_obj_inds = list(range(len(new_obj_ids)))
+        # build new mappings
+        old_idx_to_new_idx = dict(zip(remain_old_obj_inds, new_obj_inds))
+        inference_state["obj_id_to_idx"] = dict(zip(new_obj_ids, new_obj_inds))
+        inference_state["obj_idx_to_id"] = dict(zip(new_obj_inds, new_obj_ids))
+        inference_state["obj_ids"] = new_obj_ids
+
+        # Step 2: For per-object tensor storage, we shift their obj_idx in the dict keys.
+        # (note that "consolidated_frame_inds" doesn't need to be updated in this step as
+        # it's already handled in Step 0)
+        def _map_keys(container):
+            new_kvs = []
+            for k in old_obj_inds:
+                v = container.pop(k)
+                if k in old_idx_to_new_idx:
+                    new_kvs.append((old_idx_to_new_idx[k], v))
+            container.update(new_kvs)
+
+        _map_keys(inference_state["point_inputs_per_obj"])
+        _map_keys(inference_state["mask_inputs_per_obj"])
+        _map_keys(inference_state["output_dict_per_obj"])
+        _map_keys(inference_state["temp_output_dict_per_obj"])
+
+        # Step 3: For packed tensor storage, we index the remaining ids and rebuild the per-object slices.
+        def _slice_state(output_dict, storage_key):
+            for frame_idx, out in output_dict[storage_key].items():
+                out["maskmem_features"] = out["maskmem_features"][remain_old_obj_inds]
+                out["maskmem_pos_enc"] = [x[remain_old_obj_inds] for x in out["maskmem_pos_enc"]]
+                # "maskmem_pos_enc" is the same across frames, so we only need to store one copy of it
+                out["maskmem_pos_enc"] = self._get_maskmem_pos_enc(out["maskmem_pos_enc"], inference_state)
+                out["pred_masks"] = out["pred_masks"][remain_old_obj_inds]
+                out["obj_ptr"] = out["obj_ptr"][remain_old_obj_inds]
+                out["object_score_logits"] = out["object_score_logits"][remain_old_obj_inds]
+                # also update the per-object slices
+                self._add_output_per_object(frame_idx, out, storage_key, inference_state=inference_state)
+
+        _slice_state(inference_state["output_dict"], "cond_frame_outputs")
+        _slice_state(inference_state["output_dict"], "non_cond_frame_outputs")
+
+        return inference_state["obj_ids"]
+
+    @smart_inference_mode()
+    def clear_all_points_in_frame(self, inference_state, frame_idx, obj_id):
+        """Remove all input points or mask in a specific frame for a given object."""
+        obj_idx = self._obj_id_to_idx(obj_id, inference_state)
+
+        # Clear the conditioning information on the given frame
+        inference_state["point_inputs_per_obj"][obj_idx].pop(frame_idx, None)
+        inference_state["mask_inputs_per_obj"][obj_idx].pop(frame_idx, None)
+
+        temp_output_dict_per_obj = inference_state["temp_output_dict_per_obj"]
+        temp_output_dict_per_obj[obj_idx]["cond_frame_outputs"].pop(frame_idx, None)
+        temp_output_dict_per_obj[obj_idx]["non_cond_frame_outputs"].pop(frame_idx, None)
+
+        # Check and see if there are still any inputs left on this frame
+        batch_size = len(inference_state["obj_idx_to_id"])
+        frame_has_input = False
+        for obj_idx2 in range(batch_size):
+            if frame_idx in inference_state["point_inputs_per_obj"][obj_idx2]:
+                frame_has_input = True
+                break
+            if frame_idx in inference_state["mask_inputs_per_obj"][obj_idx2]:
+                frame_has_input = True
+                break
+
+        # If this frame has no remaining inputs for any objects, we further clear its
+        # conditioning frame status
+        if not frame_has_input:
+            output_dict = inference_state["output_dict"]
+            consolidated_frame_inds = inference_state["consolidated_frame_inds"]
+            consolidated_frame_inds["cond_frame_outputs"].discard(frame_idx)
+            consolidated_frame_inds["non_cond_frame_outputs"].discard(frame_idx)
+            # Remove the frame's conditioning output (possibly downgrading it to non-conditioning)
+            out = output_dict["cond_frame_outputs"].pop(frame_idx, None)
+            if out is not None:
+                # The frame is not a conditioning frame anymore since it's not receiving inputs,
+                # so we "downgrade" its output (if exists) to a non-conditioning frame output.
+                output_dict["non_cond_frame_outputs"][frame_idx] = out
+                inference_state["frames_already_tracked"].pop(frame_idx, None)
+            # Similarly, do it for the sliced output on each object.
+            for obj_idx2 in range(batch_size):
+                obj_output_dict = inference_state["output_dict_per_obj"][obj_idx2]
+                obj_out = obj_output_dict["cond_frame_outputs"].pop(frame_idx, None)
+                if obj_out is not None:
+                    obj_output_dict["non_cond_frame_outputs"][frame_idx] = obj_out
+
+            # If all the conditioning frames have been removed, we also clear the tracking outputs
+            if len(output_dict["cond_frame_outputs"]) == 0:
+                self._reset_tracking_results(inference_state)
+
+    @smart_inference_mode()
+    def clear_all_points_in_video(self, inference_state):
+        """Remove all input points or mask in all frames throughout the video."""
+        self._reset_tracking_results(inference_state)
+        # Remove all object ids
+        inference_state["obj_id_to_idx"].clear()
+        inference_state["obj_idx_to_id"].clear()
+        inference_state["obj_ids"].clear()
+        inference_state["point_inputs_per_obj"].clear()
+        inference_state["mask_inputs_per_obj"].clear()
+        inference_state["output_dict_per_obj"].clear()
+        inference_state["temp_output_dict_per_obj"].clear()
+
+    @staticmethod
+    def _reset_tracking_results(inference_state):
+        """Reset all tracking inputs and results across the videos."""
+        for v in inference_state["point_inputs_per_obj"].values():
+            v.clear()
+        for v in inference_state["mask_inputs_per_obj"].values():
+            v.clear()
+        for v in inference_state["output_dict_per_obj"].values():
+            v["cond_frame_outputs"].clear()
+            v["non_cond_frame_outputs"].clear()
+        for v in inference_state["temp_output_dict_per_obj"].values():
+            v["cond_frame_outputs"].clear()
+            v["non_cond_frame_outputs"].clear()
+        inference_state["output_dict"]["cond_frame_outputs"].clear()
+        inference_state["output_dict"]["non_cond_frame_outputs"].clear()
+        inference_state["consolidated_frame_inds"]["cond_frame_outputs"].clear()
+        inference_state["consolidated_frame_inds"]["non_cond_frame_outputs"].clear()
+        inference_state["tracking_has_started"] = False
+        inference_state["frames_already_tracked"].clear()
+        inference_state["first_ann_frame_idx"] = None
+
+    def _prune_non_cond_memory(self, frame_idx, inference_state=None):
+        """Prune old non-conditioning frames to bound memory usage."""
+        if not self.clear_non_cond_mem:
+            return
+        inference_state = inference_state or self.inference_state
+
+        # Determine window size
+        min_frame = frame_idx - self.model.num_maskmem * self.model.memory_temporal_stride_for_eval
+        output_dict = inference_state["output_dict"]
+
+        # Prune global non_cond_frame_outputs
+        for f in [k for k in output_dict["non_cond_frame_outputs"] if k < min_frame]:
+            output_dict["non_cond_frame_outputs"].pop(f, None)
+
+        # Prune per-object non_cond_frame_outputs
+        for obj_output_dict in inference_state.get("output_dict_per_obj", {}).values():
+            for f in [k for k in obj_output_dict["non_cond_frame_outputs"] if k < min_frame]:
+                obj_output_dict["non_cond_frame_outputs"].pop(f, None)
+
 
 class SAM2DynamicInteractivePredictor(SAM2Predictor):
-    """
-    SAM2DynamicInteractivePredictor extends SAM2Predictor to support dynamic interactions with video frames or a
+    """SAM2DynamicInteractivePredictor extends SAM2Predictor to support dynamic interactions with video frames or a
     sequence of images.
 
     Attributes:
@@ -1723,8 +1886,7 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
         max_obj_num: int = 3,
         _callbacks: dict[str, Any] | None = None,
     ) -> None:
-        """
-        Initialize the predictor with configuration and optional overrides.
+        """Initialize the predictor with configuration and optional overrides.
 
         This constructor initializes the SAM2DynamicInteractivePredictor with a given configuration, applies any
         specified overrides
@@ -1732,15 +1894,9 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
         Args:
             cfg (dict[str, Any]): Configuration dictionary containing default settings.
             overrides (dict[str, Any] | None): Dictionary of values to override default configuration.
-            max_obj_num (int): Maximum number of objects to track. Default is 3. this is set to keep fix feature size for the model.
+            max_obj_num (int): Maximum number of objects to track. Default is 3. this is set to keep fix feature size
+                for the model.
             _callbacks (dict[str, Any] | None): Dictionary of callback functions to customize behavior.
-
-        Examples:
-            >>> predictor = SAM2DynamicInteractivePredictor(cfg=DEFAULT_CFG)
-            >>> predictor_example_with_imgsz = SAM2DynamicInteractivePredictor(overrides={"imgsz": 640})
-            >>> predictor_example_with_callback = SAM2DynamicInteractivePredictor(
-            ...     _callbacks={"on_predict_start": custom_callback}
-            ... )
         """
         super().__init__(cfg, overrides, _callbacks)
         self.non_overlap_masks = True
@@ -1751,12 +1907,8 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
 
         # Initialize the object index set and mappings
         self.obj_idx_set = set()
-        self.obj_id_to_idx = OrderedDict()
-        self.obj_idx_to_id = OrderedDict()
+        self.obj_id_to_idx = self.obj_idx_to_id = OrderedDict(enumerate(range(max_obj_num)))
         self._max_obj_num = max_obj_num
-        for i in range(self._max_obj_num):
-            self.obj_id_to_idx[i + 1] = i
-            self.obj_idx_to_id[i] = i + 1
 
     @smart_inference_mode()
     def inference(
@@ -1769,19 +1921,19 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
         obj_ids: list[int] | None = None,
         update_memory: bool = False,
     ) -> tuple[torch.Tensor, torch.Tensor]:
-        """
-        Perform inference on a single image with optional bounding boxes, masks, points and object IDs.
-        It has two modes: one is to run inference on a single image without updating the memory,
-        and the other is to update the memory with the provided prompts and object IDs.
-        When update_memory is True, it will update the memory with the provided prompts and obj_ids.
-        When update_memory is False, it will only run inference on the provided image without updating the memory.
+        """Perform inference on a single image with optional bounding boxes, masks, points and object IDs. It has two
+        modes: one is to run inference on a single image without updating the memory, and the other is to update
+        the memory with the provided prompts and object IDs. When update_memory is True, it will update the
+        memory with the provided prompts and obj_ids. When update_memory is False, it will only run inference on
+        the provided image without updating the memory.
 
         Args:
             im (torch.Tensor | np.ndarray): The input image tensor or numpy array.
             bboxes (list[list[float]] | None): Optional list of bounding boxes to update the memory.
             masks (list[torch.Tensor | np.ndarray] | None): Optional masks to update the memory.
             points (list[list[float]] | None): Optional list of points to update the memory, each point is [x, y].
-            labels (list[int] | None): Optional list of object IDs corresponding to the points (>0 for positive, 0 for negative).
+            labels (list[int] | None): Optional list of object IDs corresponding to the points (>0 for positive, 0 for
+                negative).
             obj_ids (list[int] | None): Optional list of object IDs corresponding to the prompts.
             update_memory (bool): Flag to indicate whether to update the memory with new objects.
 
@@ -1827,8 +1979,7 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
         return pred_masks.flatten(0, 1), pred_scores.flatten(0, 1)
 
     def get_im_features(self, img: torch.Tensor | np.ndarray) -> None:
-        """
-        Initialize the image state by processing the input image and extracting features.
+        """Initialize the image state by processing the input image and extracting features.
 
         Args:
             img (torch.Tensor | np.ndarray): The input image tensor or numpy array.
@@ -1846,13 +1997,12 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
     @smart_inference_mode()
     def update_memory(
         self,
-        obj_ids: list[int] = None,
+        obj_ids: list[int] | None = None,
         points: torch.Tensor | None = None,
         labels: torch.Tensor | None = None,
         masks: torch.Tensor | None = None,
     ) -> None:
-        """
-        Append the imgState to the memory_bank and update the memory for the model.
+        """Append the imgState to the memory_bank and update the memory for the model.
 
         Args:
             obj_ids (list[int]): List of object IDs corresponding to the prompts.
@@ -1906,7 +2056,7 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
                     consolidated_out["object_score_logits"][obj_idx : obj_idx + 1] = out["object_score_logits"]
 
         high_res_masks = F.interpolate(
-            consolidated_out["pred_masks"].to(self.device, non_blocking=True),
+            consolidated_out["pred_masks"].to(self.device, non_blocking=self.device.type == "cuda"),
             size=self.imgsz,
             mode="bilinear",
             align_corners=False,
@@ -1926,12 +2076,12 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
         self.memory_bank.append(consolidated_out)
 
     def _prepare_memory_conditioned_features(self, obj_idx: int | None) -> torch.Tensor:
-        """
-        Prepare the memory-conditioned features for the current image state. If obj_idx is provided, it supposes to
-        prepare features for a specific prompted object in the image. If obj_idx is None, it prepares features for all
-        objects in the image. If there is no memory, it will directly add a no-memory embedding to the current vision
-        features. If there is memory, it will use the memory features from previous frames to condition the current
-        vision features using a transformer attention mechanism.
+        """Prepare memory-conditioned features for the current image state.
+
+        If ``obj_idx`` is provided, features are prepared for a specific prompted object in the image. If ``obj_idx`` is
+        None, features are prepared for all objects. If no memory is available, a no-memory embedding is added to the
+        current vision features. Otherwise, memory from previous frames is used to condition the current vision features
+        via a transformer attention mechanism.
 
         Args:
             obj_idx (int | None): The index of the object for which to prepare the features.
@@ -1940,8 +2090,8 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
             pix_feat_with_mem (torch.Tensor): The memory-conditioned pixel features.
         """
         if len(self.memory_bank) == 0 or isinstance(obj_idx, int):
-            # for initial conditioning frames with, encode them without using any previous memory
-            # directly add no-mem embedding (instead of using the transformer encoder)
+            # For initial conditioning frames, encode without using any previous memory.
+            # Directly add the no-memory embedding (instead of using the transformer encoder).
             pix_feat_with_mem = self.vision_feats[-1] + self.model.no_mem_embed
         else:
             # for inference frames, use the memory features from previous frames
@@ -1953,7 +2103,7 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
                 memory_pos=memory_pos_embed,
                 num_obj_ptr_tokens=0,  # num_obj_ptr_tokens
             )
-        # reshape the output (HW)BC => BCHW
+        # Reshape output (HW)BC => BCHW
         return pix_feat_with_mem.permute(1, 2, 0).view(
             self._max_obj_num,
             self.model.memory_attention.d_model,
@@ -1961,9 +2111,7 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
         )
 
     def get_maskmem_enc(self) -> tuple[torch.Tensor, torch.Tensor]:
-        """Get the memory and positional encoding from the memory, which is used to condition the current image
-        features.
-        """
+        """Get memory and positional encoding from memory, which is used to condition the current image features."""
         to_cat_memory, to_cat_memory_pos_embed = [], []
         for consolidated_out in self.memory_bank:
             to_cat_memory.append(consolidated_out["maskmem_features"].flatten(2).permute(2, 0, 1))  # (H*W, B, C)
@@ -1976,8 +2124,7 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
         return memory, memory_pos_embed
 
     def _obj_id_to_idx(self, obj_id: int) -> int | None:
-        """
-        Map client-side object id to model-side object index.
+        """Map client-side object id to model-side object index.
 
         Args:
             obj_id (int): The client-side object ID.
@@ -1994,23 +2141,24 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
         label: torch.Tensor | None = None,
         mask: torch.Tensor | None = None,
     ) -> dict[str, Any]:
-        """
-        Tracking step for the current image state to predict masks.
+        """Tracking step for the current image state to predict masks.
 
         This method processes the image features and runs the SAM heads to predict masks. If obj_idx is provided, it
         processes the features for a specific prompted object in the image. If obj_idx is None, it processes the
-        features for all objects in the image. The method supports both mask-based output without SAM and full
-        SAM processing with memory-conditioned features.
+        features for all objects in the image. The method supports both mask-based output without SAM and full SAM
+        processing with memory-conditioned features.
 
         Args:
             obj_idx (int | None): The index of the object for which to predict masks. If None, it processes all objects.
             point (torch.Tensor | None): The coordinates of the points of interest with shape (N, 2).
-            label (torch.Tensor | None): The labels corresponding to the points where 1 means positive clicks, 0 means negative clicks.
+            label (torch.Tensor | None): The labels corresponding to the points where 1 means positive clicks, 0 means
+                negative clicks.
             mask (torch.Tensor | None): The mask input for the object with shape (H, W).
 
         Returns:
-            current_out (dict[str, Any]): A dictionary containing the current output with mask predictions and object pointers.
-                Keys include 'point_inputs', 'mask_inputs', 'pred_masks', 'pred_masks_high_res', 'obj_ptr', 'object_score_logits'.
+            current_out (dict[str, Any]): A dictionary containing the current output with mask predictions and object
+                pointers. Keys include 'point_inputs', 'mask_inputs', 'pred_masks', 'pred_masks_high_res',
+                'obj_ptr', 'object_score_logits'.
         """
         if mask is not None and self.model.use_mask_input_as_output_without_sam:
             # When use_mask_input_as_output_without_sam=True, we directly output the mask input
@@ -2019,16 +2167,16 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
             pix_feat = pix_feat.view(-1, self.model.memory_attention.d_model, *self.feat_sizes[-1])
             _, _, _, low_res_masks, high_res_masks, obj_ptr, object_score_logits = self.model._use_mask_as_output(mask)
         else:
-            # fused the visual feature with previous memory features in the memory bank
+            # Fuse visual features with previous memory features in the memory bank.
             pix_feat_with_mem = self._prepare_memory_conditioned_features(obj_idx)
-            # calculate the first feature if adding obj_idx exists(means adding prompts)
+            # If ``obj_idx`` is provided (i.e., prompts are being added), keep only the first feature map.
             pix_feat_with_mem = pix_feat_with_mem[:1] if obj_idx is not None else pix_feat_with_mem
             _, _, _, low_res_masks, high_res_masks, obj_ptr, object_score_logits = self.model._forward_sam_heads(
                 backbone_features=pix_feat_with_mem,
                 point_inputs={"point_coords": point, "point_labels": label} if obj_idx is not None else None,
                 mask_inputs=mask,
                 multimask_output=False,
-                high_res_features=[feat[: pix_feat_with_mem.size(0)] for feat in self.high_res_features],
+                high_res_features=[feat[: pix_feat_with_mem.shape[0]] for feat in self.high_res_features],
             )
         return {
             "pred_masks": low_res_masks,
@@ -2036,3 +2184,1757 @@ class SAM2DynamicInteractivePredictor(SAM2Predictor):
             "obj_ptr": obj_ptr,
             "object_score_logits": object_score_logits,
         }
+
+
+class SAM3Predictor(SAM2Predictor):
+    """Segment Anything Model 3 (SAM3) Interactive Predictor for image segmentation tasks."""
+
+    _bb_feat_sizes = [
+        (288, 288),
+        (144, 144),
+        (72, 72),
+    ]
+    stride = 14
+
+    def setup_model(self, model=None, verbose=True):
+        """Setup the SAM3 model with appropriate mean and standard deviation for preprocessing."""
+        super().setup_model(model, verbose)
+        # update mean and std
+        self.mean = torch.tensor([127.5, 127.5, 127.5]).view(-1, 1, 1).to(self.device)
+        self.std = torch.tensor([127.5, 127.5, 127.5]).view(-1, 1, 1).to(self.device)
+
+    def get_model(self):
+        """Retrieve and initialize the Segment Anything Model 3 (SAM3) for image segmentation tasks."""
+        from .build_sam3 import build_interactive_sam3  # slow import
+
+        return build_interactive_sam3(self.args.model, compile=self.args.compile)
+
+
+class SAM3SemanticPredictor(SAM3Predictor):
+    """Segment Anything Model 3 (SAM3) Predictor for image segmentation tasks."""
+
+    def get_model(self):
+        """Retrieve and initialize the Segment Anything Model 3 (SAM3) for image segmentation tasks."""
+        from .build_sam3 import build_sam3_image_model  # slow import
+
+        return build_sam3_image_model(self.args.model, compile=self.args.compile)
+
+    @smart_inference_mode()
+    def get_im_features(self, im):
+        """Extract image features using the model's backbone."""
+        return self.model.backbone.forward_image(im)
+
+    def pre_transform(self, im):
+        """Perform initial transformations on the input image for preprocessing.
+
+        This method applies transformations such as resizing to prepare the image for further preprocessing. Currently,
+        batched inference is not supported; hence the list length should be 1.
+
+        Args:
+            im (list[np.ndarray]): List containing a single image in HWC numpy array format.
+
+        Returns:
+            (list[np.ndarray]): List containing the transformed image.
+
+        Raises:
+            AssertionError: If the input list contains more than one image.
+
+        Examples:
+            >>> predictor = Predictor()
+            >>> image = np.random.rand(480, 640, 3)  # Single HWC image
+            >>> transformed = predictor.pre_transform([image])
+            >>> print(len(transformed))
+            1
+        """
+        assert len(im) == 1, "SAM model does not currently support batched inference"
+        letterbox = LetterBox(self.imgsz, auto=False, center=False, scale_fill=True)  # hardcode here for sam3
+        return [letterbox(image=x) for x in im]
+
+    def _prepare_geometric_prompts(self, src_shape, bboxes=None, labels=None):
+        """Prepare prompts by normalizing bounding boxes and points to the destination shape."""
+        if bboxes is not None:
+            bboxes = torch.as_tensor(bboxes, dtype=self.torch_dtype, device=self.device)
+            bboxes = bboxes[None] if bboxes.ndim == 1 else bboxes
+            # needs xywh as input
+            bboxes = ops.xyxy2xywh(bboxes)
+            bboxes[:, 0::2] /= src_shape[1]
+            bboxes[:, 1::2] /= src_shape[0]
+            # Assuming labels are all positive if users don't pass labels.
+            if labels is None:
+                labels = np.ones(bboxes.shape[:-1])
+            labels = torch.as_tensor(labels, dtype=torch.int32, device=self.device)
+            assert bboxes.shape[-2] == labels.shape[-1], (
+                f"Number of points {bboxes.shape[-2]} should match number of labels {labels.shape[-1]}."
+            )
+            bboxes = bboxes.view(-1, 1, 4)  # (N, 1, 4)
+            labels = labels.view(-1, 1)  # (N, 1)
+        return bboxes, labels
+
+    def _inference_features(self, features, bboxes=None, labels=None, text: list[str] | None = None):
+        """Run inference on the extracted features with optional bounding boxes and labels."""
+        # NOTE: priority: bboxes > text > pre-set classes
+        nc = 1 if bboxes is not None else len(text) if text is not None else len(self.model.names)
+        geometric_prompt = self._get_dummy_prompt(nc)
+        if bboxes is not None:
+            for i in range(len(bboxes)):
+                geometric_prompt.append_boxes(bboxes[[i]], labels[[i]])
+            if text is None:
+                text = ["visual"]  # bboxes needs this `visual` text prompt if no text passed
+        if text is not None and self.model.names != text:
+            self.model.set_classes(text=text)
+        outputs = self.model.forward_grounding(
+            backbone_out=features,
+            text_ids=torch.arange(nc, device=self.device, dtype=torch.long),
+            geometric_prompt=geometric_prompt,
+        )
+        return outputs
+
+    def postprocess(self, preds, img, orig_imgs):
+        """Post-process the predictions to apply non-overlapping constraints if required."""
+        pred_boxes = preds["pred_boxes"]  # (nc, num_query, 4)
+        pred_logits = preds["pred_logits"]
+        pred_masks = preds["pred_masks"]
+        pred_scores = pred_logits.sigmoid()
+        presence_score = preds["presence_logit_dec"].sigmoid().unsqueeze(1)
+        pred_scores = (pred_scores * presence_score).squeeze(-1)
+        pred_cls = torch.tensor(
+            list(range(pred_scores.shape[0])),
+            dtype=pred_scores.dtype,
+            device=pred_scores.device,
+        )[:, None].expand_as(pred_scores)
+        pred_boxes = torch.cat([pred_boxes, pred_scores[..., None], pred_cls[..., None]], dim=-1)
+
+        keep = pred_scores > self.args.conf
+        pred_masks = pred_masks[keep]
+        pred_boxes = pred_boxes[keep]
+        pred_boxes[:, :4] = ops.xywh2xyxy(pred_boxes[:, :4])
+
+        names = getattr(self.model, "names", [str(i) for i in range(pred_scores.shape[0])])
+        if not isinstance(orig_imgs, list):  # input images are a torch.Tensor, not a list
+            orig_imgs = ops.convert_torch2numpy_batch(orig_imgs)
+        results = []
+        for masks, boxes, orig_img, img_path in zip([pred_masks], [pred_boxes], orig_imgs, self.batch[0]):
+            if masks.shape[0] == 0:
+                masks, boxes = None, torch.zeros((0, 6), device=pred_masks.device)
+            else:
+                masks = F.interpolate(masks.float()[None], orig_img.shape[:2], mode="bilinear")[0] > 0.5
+                boxes[..., [0, 2]] *= orig_img.shape[1]
+                boxes[..., [1, 3]] *= orig_img.shape[0]
+            results.append(Results(orig_img, path=img_path, names=names, masks=masks, boxes=boxes))
+        return results
+
+    def inference(self, im, bboxes=None, labels=None, text: list[str] | None = None, *args, **kwargs):
+        """Perform inference on a single image with optional prompts."""
+        bboxes = self.prompts.pop("bboxes", bboxes)
+        labels = self.prompts.pop("labels", labels)
+        text = self.prompts.pop("text", text)
+        features = self.get_im_features(im) if self.features is None else self.features
+        prompts = self._prepare_geometric_prompts(self.batch[1][0].shape[:2], bboxes, labels)
+        return self._inference_features(features, *prompts, text=text)
+
+    @smart_inference_mode()
+    def inference_features(
+        self,
+        features,
+        src_shape,
+        bboxes=None,
+        labels=None,
+        text: list[str] | None = None,
+    ):
+        """Perform prompts preprocessing and inference on provided image features using the SAM model.
+
+        Args:
+            features (dict[str, Any]): Extracted image features from the SAM3 model image encoder.
+            src_shape (tuple[int, int]): The source shape (height, width) of the input image.
+            bboxes (np.ndarray | list[list[float]] | None): Bounding boxes in xyxy format with shape (N, 4). pixels.
+            labels (np.ndarray | list[int] | None): Point prompt labels with shape (N, ).
+            text (list[str] | None): List of text prompts corresponding to the classes.
+
+        Returns:
+            pred_masks (torch.Tensor): The output masks in shape (C, H, W), where C is the number of generated masks.
+            pred_bboxes (torch.Tensor): Bounding boxes for each mask with shape (N, 6), where N is the number of boxes.
+                Each box is in xyxy format with additional columns for score and class.
+
+        Notes:
+            - The input features is a torch.Tensor of shape (B, C, H, W) if performing on SAM, or a dict[str, Any] if performing on SAM2.
+        """
+        prompts = self._prepare_geometric_prompts(src_shape[:2], bboxes, labels)
+        preds = self._inference_features(features, *prompts, text=text)
+        pred_boxes = preds["pred_boxes"]  # (nc, num_query, 4)
+        pred_logits = preds["pred_logits"]
+        pred_masks = preds["pred_masks"]
+        pred_scores = pred_logits.sigmoid()
+        presence_score = preds["presence_logit_dec"].sigmoid().unsqueeze(1)
+        pred_scores = (pred_scores * presence_score).squeeze(-1)
+        pred_cls = torch.tensor(
+            list(range(pred_scores.shape[0])),
+            dtype=pred_scores.dtype,
+            device=pred_scores.device,
+        )[:, None].expand_as(pred_scores)
+        pred_boxes = torch.cat([pred_boxes, pred_scores[..., None], pred_cls[..., None]], dim=-1)
+
+        keep = pred_scores > self.args.conf
+        pred_masks = pred_masks[keep]
+        pred_boxes = pred_boxes[keep]
+        pred_boxes[:, :4] = ops.xywh2xyxy(pred_boxes[:, :4])
+
+        if pred_masks.shape[0] == 0:
+            pred_masks, pred_boxes = None, torch.zeros((0, 6), device=pred_masks.device)
+        else:
+            pred_masks = F.interpolate(pred_masks.float()[None], src_shape[:2], mode="bilinear")[0] > 0.5
+            pred_boxes[..., 0] *= src_shape[1]
+            pred_boxes[..., 1] *= src_shape[0]
+            pred_boxes[..., 2] *= src_shape[1]
+            pred_boxes[..., 3] *= src_shape[0]
+        return pred_masks, pred_boxes
+
+    def reset_prompts(self):
+        """Reset the prompts for the predictor."""
+        self.prompts = {}
+        self.model.text_embeddings = {}
+
+    def _get_dummy_prompt(self, num_prompts=1):
+        """Get a dummy geometric prompt with zero boxes."""
+        geometric_prompt = Prompt(
+            box_embeddings=torch.zeros(0, num_prompts, 4, device=self.device),
+            box_mask=torch.zeros(num_prompts, 0, device=self.device, dtype=torch.bool),
+        )
+        return geometric_prompt
+
+
+class SAM3VideoPredictor(SAM2VideoPredictor, SAM3Predictor):
+    """Segment Anything Model 3 (SAM3) Video Predictor for video segmentation tasks."""
+
+    def propagate_in_video(self, inference_state, frame_idx):
+        """Perform image segmentation inference based on the given input cues, using the currently loaded image. This
+        method leverages SAM's (Segment Anything Model) architecture consisting of image encoder, prompt
+        encoder, and mask decoder for real-time and promptable segmentation tasks.
+
+        Args:
+            inference_state (dict): The current state of inference, including input cues and previous outputs.
+            frame_idx (int): The index of the current frame in the video sequence.
+        """
+        frame = frame_idx
+        output_dict = inference_state["output_dict"]
+        obj_ids = inference_state["obj_ids"]
+        consolidated_frame_inds = inference_state["consolidated_frame_inds"]
+        batch_size = len(inference_state["obj_idx_to_id"])
+        if len(output_dict["cond_frame_outputs"]) == 0:
+            raise RuntimeError("No points are provided; please add points first")
+
+        if frame in consolidated_frame_inds["cond_frame_outputs"]:
+            storage_key = "cond_frame_outputs"
+            current_out = output_dict[storage_key][frame]
+            if self.clear_non_cond_mem_around_input and (self.clear_non_cond_mem_for_multi_obj or batch_size <= 1):
+                # clear non-conditioning memory of the surrounding frames
+                self._clear_non_cond_mem_around_input(frame)
+        elif frame in consolidated_frame_inds["non_cond_frame_outputs"]:
+            storage_key = "non_cond_frame_outputs"
+            current_out = output_dict[storage_key][frame]
+        else:
+            storage_key = "non_cond_frame_outputs"
+            current_out = self._run_single_frame_inference(
+                output_dict=output_dict,
+                frame_idx=frame,
+                batch_size=batch_size,
+                is_init_cond_frame=False,
+                point_inputs=None,
+                mask_inputs=None,
+                reverse=False,
+                run_mem_encoder=True,
+                inference_state=inference_state,
+            )
+            output_dict[storage_key][frame] = current_out
+            self._prune_non_cond_memory(frame, inference_state=inference_state)
+        # Create slices of per-object outputs for subsequent interaction with each
+        # individual object after tracking.
+        self._add_output_per_object(frame, current_out, storage_key, inference_state=inference_state)
+        inference_state["frames_already_tracked"].append(frame)
+        pred_masks = current_out["pred_masks"].flatten(0, 1)
+        obj_scores = current_out["object_score_logits"]
+
+        return obj_ids, pred_masks, obj_scores
+
+
+class SAM3VideoSemanticPredictor(SAM3SemanticPredictor):
+    """Segment Anything Model 3 (SAM3) Video Semantic Predictor."""
+
+    HIGH_CONF_THRESH = 0.8
+    HIGH_IOU_THRESH = 0.8
+    NO_OBJ_LOGIT = -10.0
+    NEVER_OCCLUDED = -1
+    ALWAYS_OCCLUDED = 100000
+
+    UNCONFIRMED = 1  # newly added masklet, not confirmed by any detection yet
+    CONFIRMED = 2  # confirmed by at least one detection
+    _bb_feat_sizes = [
+        (288, 288),
+        (144, 144),
+        (72, 72),
+    ]
+    stride = 14
+
+    def __init__(
+        self,
+        cfg=DEFAULT_CFG,
+        overrides=None,
+        _callbacks=None,
+        # prob threshold for detection outputs -- only keep detections above this threshold
+        # enters NMS and det-to-track matching
+        score_threshold_detection=0.5,
+        # IoU threshold for detection NMS
+        det_nms_thresh=0.0,
+        # IoU threshold for det-to-track matching -- a detection is considered "matched" to a tracklet it
+        # overlaps with a tracklet above this threshold -- it is often a loose threshold like 0.1
+        assoc_iou_thresh=0.5,
+        # IoU threshold for det-to-track matching, which is used to determine whether a masklet is "unmatched"
+        # by any detections -- it is often a stricter threshold like 0.5
+        trk_assoc_iou_thresh=0.5,
+        # prob threshold for a detection to be added as a new object
+        new_det_thresh=0.0,
+        # hotstart parameters: we hold off the outputs for `hotstart_delay` frames and
+        # 1) remove those tracklets unmatched by any detections based on `hotstart_unmatch_thresh`
+        # 2) remove those tracklets overlapping with one another based on `hotstart_dup_thresh`
+        hotstart_delay=0,
+        hotstart_unmatch_thresh=3,
+        hotstart_dup_thresh=3,
+        init_trk_keep_alive=30,
+        max_trk_keep_alive=30,
+        min_trk_keep_alive=-4,
+        # Threshold for suppressing overlapping objects based on recent occlusion
+        suppress_overlapping_based_on_recent_occlusion_threshold=0.0,
+        decrease_trk_keep_alive_for_empty_masklets=True,
+        o2o_matching_masklets_enable=False,  # Enable hungarian matching to match existing masklets
+        suppress_det_close_to_boundary=False,
+        fill_hole_area=16,
+        # The maximum number of objects (masklets) to track across all GPUs (for no limit, set it to -1)
+        max_num_objects=-1,
+        recondition_every_nth_frame=-1,
+        # masket confirmation status (to suppress unconfirmed masklets)
+        masklet_confirmation_enable=False,
+        # a masklet is confirmed after being consecutively detected and matched for
+        # `masklet_confirmation_consecutive_det_thresh`
+        masklet_confirmation_consecutive_det_thresh=3,
+        # bbox heuristic parameters
+        reconstruction_bbox_iou_thresh=0.0,
+        reconstruction_bbox_det_score=0.0,
+    ):
+        """Initialize the SAM3VideoSemanticPredictor with configuration and optional overrides."""
+        super().__init__(cfg, overrides, _callbacks)
+        self.score_threshold_detection = score_threshold_detection
+        self.det_nms_thresh = det_nms_thresh
+        self.assoc_iou_thresh = assoc_iou_thresh
+        self.trk_assoc_iou_thresh = trk_assoc_iou_thresh
+        self.new_det_thresh = new_det_thresh
+
+        # hotstart parameters
+        if hotstart_delay > 0:
+            assert hotstart_unmatch_thresh <= hotstart_delay
+            assert hotstart_dup_thresh <= hotstart_delay
+        self.hotstart_delay = hotstart_delay
+        self.hotstart_unmatch_thresh = hotstart_unmatch_thresh
+        self.hotstart_dup_thresh = hotstart_dup_thresh
+        self.init_trk_keep_alive = init_trk_keep_alive
+        self.max_trk_keep_alive = max_trk_keep_alive
+        self.min_trk_keep_alive = min_trk_keep_alive
+        self.suppress_overlapping_based_on_recent_occlusion_threshold = (
+            suppress_overlapping_based_on_recent_occlusion_threshold
+        )
+        self.suppress_det_close_to_boundary = suppress_det_close_to_boundary
+        self.decrease_trk_keep_alive_for_empty_masklets = decrease_trk_keep_alive_for_empty_masklets
+        self.o2o_matching_masklets_enable = o2o_matching_masklets_enable
+        self.fill_hole_area = fill_hole_area
+        self._dist_pg_cpu = None  # CPU process group (lazy-initialized on first use)
+
+        max_num_objects = 10000  # no limit
+        num_obj_for_compile = 16
+        self.max_num_objects = max_num_objects
+        self.num_obj_for_compile = num_obj_for_compile
+        self.recondition_every_nth_frame = recondition_every_nth_frame
+        self.masklet_confirmation_enable = masklet_confirmation_enable
+        self.masklet_confirmation_consecutive_det_thresh = masklet_confirmation_consecutive_det_thresh
+        self.reconstruction_bbox_iou_thresh = reconstruction_bbox_iou_thresh
+        self.reconstruction_bbox_det_score = reconstruction_bbox_det_score
+
+        # build SAM3 tracker
+        self.tracker = SAM3VideoPredictor(overrides=overrides)
+
+        self.inference_state = {}
+        self.callbacks["on_predict_start"].append(self.init_state)
+
+    def setup_model(self, model=None, verbose=True):
+        """Setup the SAM3VideoSemanticPredictor model."""
+        super().setup_model(model, verbose)
+        from .build_sam3 import build_interactive_sam3
+
+        # Initialize the SAM3 tracker model without backbone (backbone is handled in the detector)
+        model = build_interactive_sam3(self.args.model, with_backbone=False)
+        self.tracker.setup_model(model=model, verbose=False)
+
+    def setup_source(self, source):
+        """Setup the source for the SAM3VideoSemanticPredictor model."""
+        super().setup_source(source)
+        self.tracker.imgsz = self.imgsz
+        self.tracker.model.set_imgsz(self.imgsz)
+        self.tracker._bb_feat_sizes = [[int(x / (self.stride * i)) for x in self.imgsz] for i in [1 / 4, 1 / 2, 1]]
+        self.interpol_size = self.tracker.model.memory_encoder.mask_downsampler.interpol_size
+
+    @staticmethod
+    def init_state(predictor):
+        """Initialize an inference state for the predictor.
+
+        This function sets up the initial state required for performing inference on video data. It includes
+        initializing various dictionaries and ordered dictionaries that will store inputs, outputs, and other metadata
+        relevant to the tracking process.
+
+        Args:
+            predictor (SAM3VideoSemanticPredictor): The predictor object for which to initialize the state.
+        """
+        if len(predictor.inference_state) > 0:  # means initialized
+            return
+        assert predictor.dataset is not None
+        assert predictor.dataset.mode == "video"
+        num_frames = predictor.dataset.frames
+        inference_state = {
+            "num_frames": num_frames,
+            "tracker_inference_states": [],
+            "tracker_metadata": {},
+            "text_prompt": None,
+            "per_frame_geometric_prompt": [None] * num_frames,
+        }
+        predictor.inference_state = inference_state
+
+    def inference(self, im, bboxes=None, labels=None, text: list[str] | None = None, *args, **kwargs):
+        """Perform inference on a video sequence with optional prompts."""
+        frame = self.dataset.frame - 1  # align frame index to be 0-based
+        self.inference_state["im"] = im  # only pass image for subsequent frames
+        if "text_ids" not in self.inference_state:  # first frame processing
+            self.add_prompt(frame_idx=frame, text=text, bboxes=bboxes, labels=labels)
+        return self._run_single_frame_inference(frame, reverse=False)
+
+    def postprocess(self, preds, img, orig_imgs):
+        """Post-process the predictions to apply non-overlapping constraints if required."""
+        obj_id_to_mask = preds["obj_id_to_mask"]  # low res masks
+        curr_obj_ids = sorted(obj_id_to_mask.keys())
+        if not isinstance(orig_imgs, list):  # input images are a torch.Tensor, not a list
+            orig_imgs = ops.convert_torch2numpy_batch(orig_imgs)
+
+        if len(curr_obj_ids) == 0:
+            pred_masks, pred_boxes = None, torch.zeros((0, 7), device=self.device)
+        else:
+            pred_masks = torch.cat([obj_id_to_mask[obj_id] for obj_id in curr_obj_ids], dim=0)
+            pred_masks = F.interpolate(pred_masks.float()[None], orig_imgs[0].shape[:2], mode="bilinear")[0] > 0.5
+            pred_ids = torch.tensor(curr_obj_ids, dtype=torch.int32, device=pred_masks.device)
+            pred_scores = torch.tensor(
+                [preds["obj_id_to_score"][obj_id] for obj_id in curr_obj_ids], device=pred_masks.device
+            )
+            pred_cls = torch.tensor(
+                [preds["obj_id_to_cls"][obj_id] for obj_id in curr_obj_ids], device=pred_masks.device
+            )
+            keep = (pred_scores > self.args.conf) & pred_masks.any(dim=(1, 2))
+            pred_masks = pred_masks[keep]
+            pred_boxes = batched_mask_to_box(pred_masks)
+            pred_boxes = torch.cat(
+                [pred_boxes, pred_ids[keep][:, None], pred_scores[keep][..., None], pred_cls[keep][..., None]], dim=-1
+            )
+            if pred_masks.shape[0] > 1:
+                tracker_scores = torch.tensor(
+                    [
+                        (
+                            preds["obj_id_to_tracker_score"][obj_id]
+                            if obj_id in preds["obj_id_to_tracker_score"]
+                            else 0.0
+                        )
+                        for obj_id in curr_obj_ids
+                    ],
+                    device=pred_masks.device,
+                )[keep]
+                pred_masks = (
+                    self._apply_object_wise_non_overlapping_constraints(
+                        pred_masks.unsqueeze(1),
+                        tracker_scores.unsqueeze(1),
+                        background_value=0,
+                    ).squeeze(1)
+                ) > 0
+
+        # names = getattr(self.model, "names", [str(i) for i in range(pred_scores.shape[0])])
+        names = dict(enumerate(str(i) for i in range(pred_boxes.shape[0])))
+        results = []
+        for masks, boxes, orig_img, img_path in zip([pred_masks], [pred_boxes], orig_imgs, self.batch[0]):
+            results.append(Results(orig_img, path=img_path, names=names, masks=masks, boxes=boxes))
+        return results
+
+    def _run_single_frame_inference(self, frame_idx, reverse=False, inference_state=None):
+        """Perform inference on a single frame and get its inference results."""
+        inference_state = inference_state or self.inference_state
+        # prepare inputs
+        tracker_states_local = inference_state["tracker_inference_states"]
+        has_text_prompt = inference_state["text_prompt"] is not None
+        has_geometric_prompt = inference_state["per_frame_geometric_prompt"][frame_idx] is not None
+        # run inference for the current frame
+        (
+            obj_id_to_mask,
+            obj_id_to_score,
+            obj_id_to_cls,
+            tracker_states_local_new,
+            tracker_metadata_new,
+            frame_stats,
+            _,
+        ) = self._det_track_one_frame(
+            frame_idx=frame_idx,
+            num_frames=inference_state["num_frames"],
+            reverse=reverse,
+            im=inference_state["im"],
+            text_ids=inference_state["text_ids"],
+            geometric_prompt=(
+                self._get_dummy_prompt(num_prompts=len(inference_state["text_ids"]))
+                if not has_geometric_prompt
+                else inference_state["per_frame_geometric_prompt"][frame_idx]
+            ),
+            tracker_states_local=tracker_states_local,
+            tracker_metadata_prev=inference_state["tracker_metadata"],
+            allow_new_detections=has_text_prompt or has_geometric_prompt,
+        )
+        # update inference state
+        inference_state["tracker_inference_states"] = tracker_states_local_new
+        inference_state["tracker_metadata"] = tracker_metadata_new
+
+        out = {
+            "obj_id_to_mask": obj_id_to_mask,
+            "obj_id_to_score": obj_id_to_score,  # first frame detection score
+            "obj_id_to_cls": obj_id_to_cls,  # first frame detection score
+            "obj_id_to_tracker_score": tracker_metadata_new["obj_id_to_tracker_score_frame_wise"][frame_idx],
+        }
+        # removed_obj_ids is only needed on rank 0 to handle hotstart delay buffer
+        metadata = tracker_metadata_new["metadata"]
+        removed_obj_ids = metadata["removed_obj_ids"]
+        out["removed_obj_ids"] = removed_obj_ids
+        out["frame_stats"] = frame_stats
+        if self.masklet_confirmation_enable:
+            status = metadata["masklet_confirmation"]["status"]
+            is_unconfirmed = status == self.UNCONFIRMED
+            out["unconfirmed_obj_ids"] = tracker_metadata_new["obj_ids_all_gpu"][is_unconfirmed].tolist()
+        else:
+            out["unconfirmed_obj_ids"] = []
+        return out
+
+    @smart_inference_mode()
+    def add_prompt(
+        self,
+        frame_idx,
+        text=None,
+        bboxes=None,
+        labels=None,
+        inference_state=None,
+    ):
+        """Add text, point or box prompts on a single frame. This method returns the inference outputs only on the
+        prompted frame.
+
+        Note that text prompts are NOT associated with a particular frame (i.e. they apply
+        to all frames). However, we only run inference on the frame specified in `frame_idx`.
+        """
+        inference_state = inference_state or self.inference_state
+        assert text is not None or bboxes is not None, "at least one type of prompt (text, boxes) must be provided"
+
+        # 1) handle text prompt
+        use_text = text is not None
+        text = text if use_text else "visual"
+        text_batch = [text] if isinstance(text, str) else text
+        inference_state["text_prompt"] = text if use_text else None
+        n = len(text_batch)
+        text_ids = torch.arange(n, device=self.device, dtype=torch.long)
+        inference_state["text_ids"] = text_ids
+        if text is not None and self.model.names != text:
+            self.model.set_classes(text=text)
+
+        # 2) handle box prompt
+        bboxes, labels = self._prepare_geometric_prompts(self.batch[1][0].shape[:2], bboxes, labels)
+        assert (bboxes is not None) == (labels is not None)
+        geometric_prompt = self._get_dummy_prompt(num_prompts=n)
+        if bboxes is not None:
+            for i in range(len(bboxes)):
+                geometric_prompt.append_boxes(bboxes[[i]], labels[[i]])
+        inference_state["per_frame_geometric_prompt"][frame_idx] = geometric_prompt
+        out = self._run_single_frame_inference(frame_idx, reverse=False, inference_state=inference_state)
+        return frame_idx, out
+
+    def _apply_object_wise_non_overlapping_constraints(self, pred_masks, obj_scores, background_value=-10.0):
+        """Applies non-overlapping constraints object wise (i.e. only one object can claim the overlapping region)."""
+        # Replace pixel scores with object scores
+        pred_masks_single_score = torch.where(pred_masks > 0, obj_scores[..., None, None], background_value)
+        # Apply pixel-wise non-overlapping constraint based on mask scores
+        pixel_level_non_overlapping_masks = self.tracker.model._apply_non_overlapping_constraints(
+            pred_masks_single_score
+        )
+        # Replace object scores with pixel scores. Note, that now only one object can claim the overlapping region
+        pred_masks = torch.where(
+            pixel_level_non_overlapping_masks > 0,
+            pred_masks,
+            torch.clamp(pred_masks, max=background_value),
+        )
+        return pred_masks
+
+    def _det_track_one_frame(
+        self,
+        im: torch.Tensor,
+        text_ids: torch.Tensor,
+        frame_idx: int,
+        num_frames: int,
+        reverse: bool,
+        geometric_prompt: Prompt,
+        tracker_states_local: list[Any],
+        tracker_metadata_prev: dict[str, Any],
+        allow_new_detections: bool = True,
+    ):
+        """This function handles one-step inference for the DenseTracking model in an SPMD manner. At a high-level, all
+        GPUs execute the same function calls as if it's done on a single GPU, while under the hood, some
+        function calls involve distributed computation based on sharded SAM2 states.
+
+        - `input_batch` contains image and other inputs on the entire video; it should be identical across GPUs
+        - `tracker_states_local` holds the local masklet information in this GPU shard
+        - `tracker_metadata_prev` manages the metadata for SAM2 objects, such as which masklet is hold on which GPUs
+          it contains both global and local masklet information
+        """
+        # Step 1: run backbone and detector in a distributed manner -- this is done via Sam3ImageOnVideoMultiGPU,
+        # a MultiGPU model (assigned to `self.detector`) that shards frames in a round-robin manner.
+        det_out = self.run_backbone_and_detection(
+            im=im,
+            text_ids=text_ids,
+            geometric_prompt=geometric_prompt,
+            allow_new_detections=allow_new_detections,
+        )
+
+        # Step 2: each GPU propagates its local SAM2 states to get the SAM2 prediction masks.
+        # the returned `tracker_low_res_masks_global` contains the concatenated masklet predictions
+        # gathered from all GPUs (as if they are propagated on a single GPU). Note that this step only
+        # runs the SAM2 propagation step, but doesn't encode new memory for the predicted masks;
+        # we defer memory encoding to `run_tracker_update_execution_phase` after resolving all heuristics.
+        if tracker_metadata_prev == {}:
+            # initialize masklet metadata if it's uninitialized (empty dict)
+            tracker_metadata_prev.update(self._initialize_metadata())
+        tracker_low_res_masks_global, tracker_obj_scores_global = self.run_tracker_propagation(
+            frame_idx=frame_idx,
+            tracker_states_local=tracker_states_local,
+            tracker_metadata_prev=tracker_metadata_prev,
+        )
+
+        # Step 3: based on detection outputs and the propagated SAM2 prediction masks, we make plans
+        # for SAM2 masklet updates (i.e. which objects to add and remove, how to load-balance them, etc).
+        # We also run SAM2 memory encoder globally in this step to resolve non-overlapping constraints.
+        # **This step should involve all the heuristics needed for any updates.** Most of the update
+        # planning will be done on the master rank (GPU 0) and the resulting plan `tracker_update_plan` is
+        # broadcasted to other GPUs (to be executed in a distributed manner). This step also generates the
+        # new masklet metadata `tracker_metadata_new` (based on its previous version `tracker_metadata_prev`).
+        tracker_update_plan, tracker_metadata_new = self.run_tracker_update_planning_phase(
+            frame_idx=frame_idx,
+            reverse=reverse,
+            det_out=det_out,
+            tracker_low_res_masks_global=tracker_low_res_masks_global,
+            tracker_obj_scores_global=tracker_obj_scores_global,
+            tracker_metadata_prev=tracker_metadata_prev,
+            tracker_states_local=tracker_states_local,
+        )
+
+        # Get reconditioning info from the update plan
+        reconditioned_obj_ids = tracker_update_plan.get("reconditioned_obj_ids", set())
+
+        # Step 4: based on `tracker_update_plan`, each GPU executes the update w.r.t. its local SAM2 inference states
+        tracker_states_local_new = self.run_tracker_update_execution_phase(
+            frame_idx=frame_idx,
+            num_frames=num_frames,
+            det_out=det_out,
+            tracker_states_local=tracker_states_local,
+            tracker_update_plan=tracker_update_plan,
+        )
+
+        # Step 5: finally, build the outputs for this frame (it only needs to be done on GPU 0 since
+        # only GPU 0 will send outputs to the server).
+        obj_id_to_mask = self.build_outputs(
+            det_out=det_out,
+            tracker_low_res_masks_global=tracker_low_res_masks_global,
+            tracker_metadata_prev=tracker_metadata_prev,
+            tracker_update_plan=tracker_update_plan,
+            reconditioned_obj_ids=reconditioned_obj_ids,
+        )
+        obj_id_to_score = tracker_metadata_new["obj_id_to_score"]
+        obj_id_to_cls = tracker_metadata_new["obj_id_to_cls"]
+        # a few statistics for the current frame as a part of the output
+        frame_stats = {
+            "num_obj_tracked": np.sum(tracker_metadata_new["num_obj"]),
+            "num_obj_dropped": tracker_update_plan["num_obj_dropped_due_to_limit"],
+        }
+        # add tracker scores to metadata, it should be fired for frames except the first frame
+        if tracker_obj_scores_global.shape[0] > 0:
+            # Convert tracker_obj_scores_global to sigmoid scores before updating
+            tracker_obj_scores_global = tracker_obj_scores_global.sigmoid().tolist()
+            tracker_obj_ids = tracker_metadata_prev["obj_ids"]
+            tracker_metadata_new["obj_id_to_tracker_score_frame_wise"][frame_idx].update(
+                dict(zip(tracker_obj_ids, tracker_obj_scores_global))
+            )
+        return (
+            obj_id_to_mask,  # a dict: obj_id --> output mask
+            obj_id_to_score,  # a dict: obj_id --> output score (prob)
+            obj_id_to_cls,  # a dict: obj_id --> output cls (int)
+            tracker_states_local_new,
+            tracker_metadata_new,
+            frame_stats,
+            tracker_obj_scores_global,  # a dict: obj_id --> tracker frame-level scores
+        )
+
+    @staticmethod
+    def _suppress_detections_close_to_boundary(boxes, margin=0.025):
+        """Suppress detections too close to image edges (for normalized boxes).
+
+        boxes: (N, 4) in xyxy format, normalized [0,1]
+        margin: fraction of image
+        """
+        x_min, y_min, x_max, y_max = boxes.unbind(-1)
+        x_c = (x_min + x_max) / 2
+        y_c = (y_min + y_max) / 2
+        keep = (x_c > margin) & (x_c < 1.0 - margin) & (y_c > margin) & (y_c < 1.0 - margin)
+
+        return keep
+
+    def run_backbone_and_detection(
+        self, im: torch.Tensor, text_ids: torch.Tensor, geometric_prompt: Prompt, allow_new_detections: bool
+    ):
+        """Run backbone and detection for a single frame."""
+        features = self.get_im_features(im)
+        sam3_image_out = self.model.forward_grounding(
+            backbone_out=features, text_ids=text_ids, geometric_prompt=geometric_prompt
+        )
+        det_out = self._extract_detection_outputs(sam3_image_out, allow_new_detections)
+        self._cache_backbone_features(sam3_image_out)
+        return det_out
+
+    def _extract_detection_outputs(self, sam3_image_out, allow_new_detections):
+        """Extract and filter detection outputs."""
+        pred_probs = sam3_image_out["pred_logits"].squeeze(-1).sigmoid()
+        if not allow_new_detections:
+            pred_probs = pred_probs - 1e8
+
+        pred_cls = torch.tensor(
+            list(range(pred_probs.shape[0])),
+            dtype=pred_probs.dtype,
+            device=pred_probs.device,
+        )[:, None].expand_as(pred_probs)
+
+        pred_boxes_xyxy = sam3_image_out["pred_boxes_xyxy"]
+        pred_masks = sam3_image_out["pred_masks"]
+
+        keep = pred_probs > self.score_threshold_detection
+        return {
+            "bbox": pred_boxes_xyxy[keep],
+            "mask": pred_masks[keep],
+            "scores": pred_probs[keep],
+            "cls": pred_cls[keep],
+        }
+
+    def _cache_backbone_features(self, sam3_image_out):
+        """Build and cache SAM2 backbone features."""
+        sam_mask_decoder = self.tracker.model.sam_mask_decoder
+        feats = sam3_image_out["backbone_out"]["sam2_backbone_out"]
+        tracker_backbone_fpn = [
+            sam_mask_decoder.conv_s0(feats["backbone_fpn"][0]),
+            sam_mask_decoder.conv_s1(feats["backbone_fpn"][1]),
+            feats["backbone_fpn"][2],
+        ]
+        tracker_backbone_out = {
+            "vision_features": tracker_backbone_fpn[-1],
+            "vision_pos_enc": feats["vision_pos_enc"],
+            "backbone_fpn": tracker_backbone_fpn,
+        }
+        # cache the SAM2 backbone features for `frame_idx` in the tracker
+        self.tracker.backbone_out = tracker_backbone_out
+
+    def run_tracker_propagation(
+        self, frame_idx: int, tracker_states_local: list[Any], tracker_metadata_prev: dict[str, np.ndarray]
+    ):
+        """Run the tracker propagation phase for a single frame in an SPMD manner."""
+        # Step 1: propagate the local SAM2 states to get the current frame's prediction
+        # `low_res_masks_local` of the existing masklets on this GPU
+        # - obj_ids_local: list[int] -- list of object IDs
+        # - low_res_masks_local: Tensor -- (num_local_obj, H_mask, W_mask)
+        obj_ids_local, low_res_masks_local, obj_scores_local = self._propogate_tracker_one_frame_local_gpu(
+            tracker_states_local, frame_idx=frame_idx
+        )
+
+        assert np.all(obj_ids_local == tracker_metadata_prev["obj_ids"]), "{} != {}".format(
+            obj_ids_local, tracker_metadata_prev["obj_ids"]
+        )
+
+        # Step 2: all-gather `low_res_masks_local` into `low_res_masks_global`
+        # - low_res_masks_global: Tensor -- (num_global_obj, H_mask, W_mask)
+        low_res_masks_global = low_res_masks_local
+        obj_scores_global = obj_scores_local
+        return low_res_masks_global, obj_scores_global
+
+    def _recondition_masklets(
+        self,
+        frame_idx,
+        det_out: dict[str, torch.Tensor],
+        trk_id_to_max_iou_high_conf_det: list[int],
+        tracker_states_local: list[Any],
+        tracker_metadata: dict[str, np.ndarray],
+        tracker_obj_scores_global: torch.Tensor,
+    ):
+        """Recondition masklets based on new high-confidence detections."""
+        # Recondition the masklets based on the new detections
+        for trk_obj_id, det_idx in trk_id_to_max_iou_high_conf_det.items():
+            new_mask = det_out["mask"][det_idx : det_idx + 1]
+            new_mask_binary = (
+                F.interpolate(new_mask.unsqueeze(1), size=self.interpol_size, mode="bilinear", align_corners=False) > 0
+            )
+            HIGH_CONF_THRESH = 0.8
+            reconditioned_states_idx = set()
+            obj_idx = np.where(tracker_metadata["obj_ids"] == trk_obj_id)[0].item()
+            obj_score = tracker_obj_scores_global[obj_idx]
+            for state_idx, inference_state in enumerate(tracker_states_local):
+                if (
+                    trk_obj_id in inference_state["obj_ids"]
+                    # NOTE: Goal of this condition is to avoid reconditioning masks that are occluded/low qualiy.
+                    # Unfortunately, these can get reconditioned anyway due to batching. We should consider removing these heuristics.
+                    and obj_score > HIGH_CONF_THRESH
+                ):
+                    LOGGER.debug(
+                        f"Adding new mask for track {trk_obj_id} at frame {frame_idx}. Objects {inference_state['obj_ids']} are all reconditioned."
+                    )
+                    self.tracker.add_new_prompts(
+                        inference_state=inference_state,
+                        frame_idx=frame_idx,
+                        obj_id=trk_obj_id,
+                        masks=new_mask_binary,
+                    )
+                    reconditioned_states_idx.add(state_idx)
+
+            for idx in reconditioned_states_idx:
+                self.tracker.propagate_in_video_preflight(tracker_states_local[idx])
+        return tracker_states_local
+
+    def run_tracker_update_planning_phase(
+        self,
+        frame_idx: int,
+        reverse: bool,
+        det_out: dict[str, torch.Tensor],
+        tracker_low_res_masks_global: torch.Tensor,
+        tracker_obj_scores_global: torch.Tensor,
+        tracker_metadata_prev: dict[str, np.ndarray],
+        tracker_states_local: list[Any],
+    ):
+        """Run the tracker update planning phase for a single frame in an SPMD manner."""
+        # initialize new metadata from previous metadata (its values will be updated later)
+        tracker_metadata_new = {
+            "obj_ids": deepcopy(tracker_metadata_prev["obj_ids"]),
+            "num_obj": deepcopy(tracker_metadata_prev["num_obj"]),
+            "obj_id_to_score": deepcopy(tracker_metadata_prev["obj_id_to_score"]),
+            "obj_id_to_cls": deepcopy(tracker_metadata_prev["obj_id_to_cls"]),
+            "obj_id_to_tracker_score_frame_wise": deepcopy(tracker_metadata_prev["obj_id_to_tracker_score_frame_wise"]),
+            "obj_id_to_last_occluded": {},  # will be filled later
+            "max_obj_id": deepcopy(tracker_metadata_prev["max_obj_id"]),
+        }
+
+        # Initialize reconditioned_obj_ids early to avoid UnboundLocalError
+        reconditioned_obj_ids = set()
+
+        # Step 1: make the update plan and resolve heuristics on GPU 0
+        det_mask_preds: torch.Tensor = det_out["mask"]  # low-res mask logits
+        det_scores_np: np.ndarray = det_out["scores"].float().cpu().numpy()
+        det_cls_np: np.ndarray = det_out["cls"].float().cpu().numpy()
+        det_bbox_xyxy: torch.Tensor = det_out["bbox"]
+        # a) match detector and tracker masks and find new objects
+        (
+            new_det_fa_inds,
+            unmatched_trk_obj_ids,
+            det_to_matched_trk_obj_ids,
+            trk_id_to_max_iou_high_conf_det,
+            empty_trk_obj_ids,
+        ) = self._associate_det_trk(
+            det_masks=det_mask_preds,
+            det_scores_np=det_scores_np,
+            trk_masks=tracker_low_res_masks_global,
+            trk_obj_ids=tracker_metadata_prev["obj_ids"],
+        )
+        if self.suppress_det_close_to_boundary:
+            keep = self._suppress_detections_close_to_boundary(det_bbox_xyxy[new_det_fa_inds])
+            new_det_fa_inds = new_det_fa_inds[keep.cpu().numpy()]
+
+        # check whether we've hit the maximum number of objects we can track (and if so, drop some detections)
+        prev_obj_num = np.sum(tracker_metadata_prev["num_obj"])
+        new_det_num = len(new_det_fa_inds)
+        num_obj_dropped_due_to_limit = 0
+        if prev_obj_num + new_det_num > self.max_num_objects:
+            LOGGER.warning(f"hitting {self.max_num_objects=} with {new_det_num=} and {prev_obj_num=}")
+            new_det_num_to_keep = self.max_num_objects - prev_obj_num
+            num_obj_dropped_due_to_limit = new_det_num - new_det_num_to_keep
+            new_det_fa_inds = self._drop_new_det_with_obj_limit(new_det_fa_inds, det_scores_np, new_det_num_to_keep)
+            assert len(new_det_fa_inds) == new_det_num_to_keep
+            new_det_num = len(new_det_fa_inds)
+
+        # assign object IDs to new detections and decide which GPU to place them
+        new_det_obj_ids = tracker_metadata_prev["max_obj_id"] + 1 + np.arange(new_det_num)
+
+        # b) handle hotstart heuristics to remove objects
+        # here `metadata` contains metadata stored on (and only accessible to) GPU 0;
+        # we avoid broadcasting them to other GPUs to save communication cost, assuming
+        # that `metadata` is not needed by other GPUs
+        metadata_new = deepcopy(tracker_metadata_prev["metadata"])
+        if not hasattr(self, "_warm_up_complete") or self._warm_up_complete:
+            obj_ids_newly_removed, metadata_new = self._process_hotstart(
+                frame_idx=frame_idx,
+                reverse=reverse,
+                det_to_matched_trk_obj_ids=det_to_matched_trk_obj_ids,
+                new_det_obj_ids=new_det_obj_ids,
+                empty_trk_obj_ids=empty_trk_obj_ids,
+                unmatched_trk_obj_ids=unmatched_trk_obj_ids,
+                metadata=metadata_new,
+            )
+        else:
+            # if warm-up is not complete, we don't remove any objects
+            obj_ids_newly_removed = set()
+        tracker_metadata_new["metadata"] = metadata_new
+
+        # `tracker_update_plan` should be identical on all GPUs after broadcasting
+        tracker_update_plan = {
+            "new_det_fa_inds": new_det_fa_inds,  # np.ndarray
+            "new_det_obj_ids": new_det_obj_ids,  # np.ndarray
+            # "new_det_gpu_ids": new_det_gpu_ids,  # np.ndarray
+            "unmatched_trk_obj_ids": unmatched_trk_obj_ids,  # np.ndarray
+            "det_to_matched_trk_obj_ids": det_to_matched_trk_obj_ids,  # dict
+            "obj_ids_newly_removed": obj_ids_newly_removed,  # set
+            "num_obj_dropped_due_to_limit": num_obj_dropped_due_to_limit,  # int
+            "trk_id_to_max_iou_high_conf_det": trk_id_to_max_iou_high_conf_det,  # dict
+            "reconditioned_obj_ids": reconditioned_obj_ids,  # set
+        }
+
+        # Step 3 (optional): recondition masklets based on high-confidence detections before memory encoding
+        # NOTE: Running this in execution phase (after memory encoding) can lead to suboptimal results
+        should_recondition_iou = False
+
+        # Evaluate tracklets for reconditioning based on bbox IoU mismatch with detections
+        if self.reconstruction_bbox_iou_thresh > 0 and len(trk_id_to_max_iou_high_conf_det) > 0:
+            for trk_obj_id, det_idx in trk_id_to_max_iou_high_conf_det.items():
+                det_box = det_out["bbox"][det_idx]
+                det_score = det_out["scores"][det_idx]
+
+                try:
+                    trk_idx = list(tracker_metadata_prev["obj_ids"]).index(trk_obj_id)
+                except ValueError:
+                    continue  # Skip if tracklet not found
+
+                tracker_mask = tracker_low_res_masks_global[trk_idx]
+                mask_binary = tracker_mask > 0
+                mask_area = mask_binary.sum().item()
+
+                if mask_area == 0:
+                    continue  # Skip tracklets with zero mask area
+
+                # Get bounding box from SAM2 mask and convert to normalized coordinates
+                tracker_box_pixels = batched_mask_to_box(mask_binary.unsqueeze(0)).squeeze(0)
+                mask_height, mask_width = tracker_mask.shape[-2:]
+                tracker_box_normalized = torch.tensor(
+                    [
+                        tracker_box_pixels[0] / mask_width,
+                        tracker_box_pixels[1] / mask_height,
+                        tracker_box_pixels[2] / mask_width,
+                        tracker_box_pixels[3] / mask_height,
+                    ],
+                    device=tracker_box_pixels.device,
+                )
+
+                # Compute IoU between detection and SAM2 tracklet bounding boxes
+                det_box_batch = det_box.unsqueeze(0)
+                tracker_box_batch = tracker_box_normalized.unsqueeze(0)
+                iou = box_iou(det_box_batch, tracker_box_batch)[0]
+
+                if iou < self.reconstruction_bbox_iou_thresh and det_score >= self.reconstruction_bbox_det_score:
+                    should_recondition_iou = True
+                    reconditioned_obj_ids.add(trk_obj_id)
+
+        should_recondition_periodic = (
+            self.recondition_every_nth_frame > 0
+            and frame_idx % self.recondition_every_nth_frame == 0
+            and len(trk_id_to_max_iou_high_conf_det) > 0
+        )
+
+        # Recondition if periodic or IoU condition met
+        if should_recondition_periodic or should_recondition_iou:
+            self._recondition_masklets(
+                frame_idx,
+                det_out,
+                trk_id_to_max_iou_high_conf_det,
+                tracker_states_local,
+                tracker_metadata_prev,
+                tracker_obj_scores_global,
+            )
+
+        # Step 4: Run SAM2 memory encoder on the current frame's prediction masks
+        # This is done on all GPUs
+        batch_size = tracker_low_res_masks_global.size(0)
+        if batch_size > 0:
+            if not hasattr(self, "_warm_up_complete") or self._warm_up_complete:
+                if self.suppress_overlapping_based_on_recent_occlusion_threshold > 0.0:
+                    # NOTE: tracker_low_res_masks_global is updated in-place then returned
+                    tracker_low_res_masks_global = self._suppress_overlapping_based_on_recent_occlusion(
+                        frame_idx,
+                        tracker_low_res_masks_global,
+                        tracker_metadata_prev,
+                        tracker_metadata_new,
+                        obj_ids_newly_removed,
+                        reverse,
+                    )
+
+            self._tracker_update_memories(tracker_states_local, frame_idx, low_res_masks=tracker_low_res_masks_global)
+
+        # Step 4: update the SAM2 metadata based on the update plan
+        updated_obj_ids_this_gpu = tracker_metadata_new["obj_ids"]
+        if len(new_det_obj_ids) > 0:
+            updated_obj_ids_this_gpu = np.concatenate([updated_obj_ids_this_gpu, new_det_obj_ids])
+        if len(obj_ids_newly_removed) > 0:
+            is_removed = np.isin(updated_obj_ids_this_gpu, list(obj_ids_newly_removed))
+            updated_obj_ids_this_gpu = updated_obj_ids_this_gpu[~is_removed]
+        tracker_metadata_new["obj_ids"] = updated_obj_ids_this_gpu
+        tracker_metadata_new["num_obj"] = len(updated_obj_ids_this_gpu)
+        # update object scores and the maximum object ID assigned so far
+        if len(new_det_obj_ids) > 0:
+            tracker_metadata_new["obj_id_to_score"].update(zip(new_det_obj_ids, det_scores_np[new_det_fa_inds]))
+            tracker_metadata_new["obj_id_to_cls"].update(zip(new_det_obj_ids, det_cls_np[new_det_fa_inds]))
+            # tracker scores are not available for new objects, use det score instead.
+            tracker_metadata_new["obj_id_to_tracker_score_frame_wise"][frame_idx].update(
+                zip(new_det_obj_ids, det_scores_np[new_det_fa_inds])
+            )
+            tracker_metadata_new["max_obj_id"] = max(tracker_metadata_new["max_obj_id"], np.max(new_det_obj_ids))
+        # for removed objects, we set their scores to a very low value (-1e4) but still
+        # keep them in "obj_id_to_score" (it's easier to handle outputs this way)
+        for obj_id in obj_ids_newly_removed:
+            tracker_metadata_new["obj_id_to_score"][obj_id] = -1e4
+            tracker_metadata_new["obj_id_to_tracker_score_frame_wise"][frame_idx][obj_id] = -1e4
+            tracker_metadata_new["obj_id_to_last_occluded"].pop(obj_id, None)
+        # check that "metadata" is in tracker_metadata_new if and only if it's GPU 0
+        assert "metadata" in tracker_metadata_new
+        if self.masklet_confirmation_enable:
+            metadata = self.update_masklet_confirmation_status(
+                metadata=tracker_metadata_new["metadata"],
+                obj_ids_all_gpu_prev=tracker_metadata_prev["obj_ids"],
+                obj_ids_all_gpu_updated=tracker_metadata_new["obj_ids"],
+                det_to_matched_trk_obj_ids=det_to_matched_trk_obj_ids,
+                new_det_obj_ids=new_det_obj_ids,
+            )
+            tracker_metadata_new["metadata"] = metadata
+
+        return tracker_update_plan, tracker_metadata_new
+
+    def _suppress_overlapping_based_on_recent_occlusion(
+        self,
+        frame_idx: int,
+        tracker_low_res_masks_global: torch.Tensor,
+        tracker_metadata_prev: dict[str, Any],
+        tracker_metadata_new: dict[str, Any],
+        obj_ids_newly_removed: set[int],
+        reverse: bool = False,
+    ):
+        """Suppress overlapping masks based on the most recent occlusion information. If an object is removed by
+        hotstart, we always suppress it if it overlaps with any other object.
+
+        Args:
+            frame_idx (int): The current frame index.
+            tracker_low_res_masks_global (torch.Tensor): The low-resolution masks for the current frame.
+            tracker_metadata_prev (dict[str, Any]): The metadata from the previous frame.
+            tracker_metadata_new (dict[str, Any]): The metadata for the current frame.
+            obj_ids_newly_removed (set[int]): The object IDs that have been removed.
+            reverse (bool): Whether the tracking is in reverse order.
+
+        Returns:
+            (torch.Tensor): The updated low-resolution masks with some objects suppressed.
+        """
+        obj_ids_global = tracker_metadata_prev["obj_ids"]
+        binary_tracker_low_res_masks_global = tracker_low_res_masks_global > 0
+        batch_size = tracker_low_res_masks_global.size(0)
+        if batch_size > 0:
+            assert len(obj_ids_global) == batch_size, (
+                f"Mismatch in number of objects: {len(obj_ids_global)} vs {batch_size}"
+            )
+            last_occluded_prev = torch.cat(
+                [
+                    tracker_metadata_prev["obj_id_to_last_occluded"].get(
+                        obj_id,
+                        torch.full(
+                            (1,),
+                            fill_value=(
+                                self.NEVER_OCCLUDED if obj_id not in obj_ids_newly_removed else self.ALWAYS_OCCLUDED
+                            ),
+                            device=binary_tracker_low_res_masks_global.device,
+                            dtype=torch.long,
+                        ),
+                    )
+                    for obj_id in obj_ids_global
+                ],
+                dim=0,
+            )
+            to_suppress = self._get_objects_to_suppress_based_on_most_recently_occluded(
+                binary_tracker_low_res_masks_global,
+                last_occluded_prev,
+                obj_ids_global,
+                frame_idx,
+                reverse,
+            )
+
+            # Update metadata with occlusion information
+            is_obj_occluded = ~(binary_tracker_low_res_masks_global.any(dim=(-1, -2)))
+            is_obj_occluded_or_suppressed = is_obj_occluded | to_suppress
+            last_occluded_new = last_occluded_prev.clone()
+            last_occluded_new[is_obj_occluded_or_suppressed] = frame_idx
+            # Slice out the last occluded frame for each object
+            tracker_metadata_new["obj_id_to_last_occluded"] = {
+                obj_id: last_occluded_new[obj_idx : obj_idx + 1] for obj_idx, obj_id in enumerate(obj_ids_global)
+            }
+
+            # Zero out suppressed masks before memory encoding
+            tracker_low_res_masks_global[to_suppress] = self.NO_OBJ_LOGIT
+
+        return tracker_low_res_masks_global
+
+    def run_tracker_update_execution_phase(
+        self,
+        frame_idx: int,
+        num_frames: int,
+        det_out: dict[str, torch.Tensor],
+        tracker_states_local: list[Any],
+        tracker_update_plan: dict[str, np.ndarray],
+    ):
+        """Execute the tracker update plan for a single frame in an SPMD manner."""
+        # initialize tracking scores with detection scores
+        new_det_fa_inds: np.ndarray = tracker_update_plan["new_det_fa_inds"]
+        new_det_obj_ids: np.ndarray = tracker_update_plan["new_det_obj_ids"]
+        # new_det_gpu_ids: np.ndarray = tracker_update_plan["new_det_gpu_ids"]
+        new_det_obj_ids_local: np.ndarray = new_det_obj_ids
+        new_det_fa_inds_local: np.ndarray = new_det_fa_inds
+        obj_ids_newly_removed: set[int] = tracker_update_plan["obj_ids_newly_removed"]
+
+        # Step 1: add new objects from the detector to SAM2 inference states
+        if len(new_det_fa_inds_local) > 0:
+            new_det_fa_inds_local_t = torch.from_numpy(new_det_fa_inds_local)
+            new_det_masks: torch.Tensor = det_out["mask"][new_det_fa_inds_local_t]
+            # initialize SAM2 with new object masks
+            tracker_states_local = self._tracker_add_new_objects(
+                frame_idx=frame_idx,
+                num_frames=num_frames,
+                new_obj_ids=new_det_obj_ids_local,
+                new_obj_masks=new_det_masks,
+                tracker_states_local=tracker_states_local,
+            )
+
+        # Step 2: remove from SAM2 inference states those objects removed by heuristics
+        if len(obj_ids_newly_removed) > 0:
+            self._tracker_remove_objects(tracker_states_local, obj_ids_newly_removed)
+
+        return tracker_states_local
+
+    @staticmethod
+    def build_outputs(
+        det_out: dict[str, torch.Tensor],
+        tracker_low_res_masks_global: torch.Tensor,
+        tracker_metadata_prev: dict[str, np.ndarray],
+        tracker_update_plan: dict[str, np.ndarray],
+        reconditioned_obj_ids: set | None = None,
+    ):
+        """Build the output masks for the current frame."""
+        new_det_fa_inds: np.ndarray = tracker_update_plan["new_det_fa_inds"]
+        new_det_obj_ids: np.ndarray = tracker_update_plan["new_det_obj_ids"]
+        obj_id_to_mask = {}  # obj_id --> output mask tensor
+
+        # Part 1: masks from previous SAM2 propagation
+        existing_masklet_obj_ids = tracker_metadata_prev["obj_ids"]
+        existing_masklet_binary = tracker_low_res_masks_global.unsqueeze(1)
+        assert len(existing_masklet_obj_ids) == len(existing_masklet_binary)
+        for obj_id, mask in zip(existing_masklet_obj_ids, existing_masklet_binary):
+            obj_id_to_mask[obj_id] = mask  # (1, H_video, W_video)
+
+        # Part 2: masks from new detections
+        new_det_fa_inds_t = torch.from_numpy(new_det_fa_inds)
+        new_det_low_res_masks = det_out["mask"][new_det_fa_inds_t].unsqueeze(1)
+        assert len(new_det_obj_ids) == len(new_det_low_res_masks)
+        for obj_id, mask in zip(new_det_obj_ids, new_det_low_res_masks):
+            obj_id_to_mask[obj_id] = mask  # (1, H_video, W_video)
+
+        # Part 3: Override masks for reconditioned objects using detection masks
+        if reconditioned_obj_ids is not None and len(reconditioned_obj_ids) > 0:
+            trk_id_to_max_iou_high_conf_det = tracker_update_plan.get("trk_id_to_max_iou_high_conf_det", {})
+
+            for obj_id in reconditioned_obj_ids:
+                det_idx = trk_id_to_max_iou_high_conf_det.get(obj_id)
+
+                if det_idx is not None:
+                    obj_id_to_mask[obj_id] = det_out["mask"][det_idx].unsqueeze(0)
+
+        return obj_id_to_mask
+
+    def _get_objects_to_suppress_based_on_most_recently_occluded(
+        self,
+        binary_low_res_masks: torch.Tensor,
+        last_occluded: list[int],
+        obj_ids: list[int],
+        frame_idx: int | None = None,
+        reverse: bool = False,
+    ):
+        # Suppress overlapping masks for objects that were most recently occluded
+        assert binary_low_res_masks.dtype == torch.bool, f"Expected boolean tensor, got {binary_low_res_masks.dtype}"
+        to_suppress = torch.zeros(
+            binary_low_res_masks.size(0),
+            device=binary_low_res_masks.device,
+            dtype=torch.bool,
+        )
+        if len(obj_ids) <= 1:
+            return to_suppress
+
+        iou = mask_iou(binary_low_res_masks.flatten(1), binary_low_res_masks.flatten(1))  # [N,N]
+
+        # Create masks for upper triangular matrix (i < j) and IoU threshold
+        mask_iou_thresh = iou >= self.suppress_overlapping_based_on_recent_occlusion_threshold
+        overlapping_pairs = torch.triu(mask_iou_thresh, diagonal=1)  # [N,N]
+
+        last_occ_expanded_i = last_occluded.unsqueeze(1)  # (N, 1)
+        last_occ_expanded_j = last_occluded.unsqueeze(0)  # (1, N)
+        # Suppress most recently occluded
+        cmp_op = torch.gt if not reverse else torch.lt
+        suppress_i_mask = (
+            overlapping_pairs
+            & cmp_op(last_occ_expanded_i, last_occ_expanded_j)  # (last_occ_expanded_i > last_occ_expanded_j)
+            & (last_occ_expanded_j > -1)  # j can suppress i only if i was previously occluded
+        )
+        suppress_j_mask = (
+            overlapping_pairs
+            & cmp_op(last_occ_expanded_j, last_occ_expanded_i)
+            & (last_occ_expanded_i > -1)  # i can suppress j only if j was previously occluded
+        )
+        # Apply suppression
+        to_suppress = suppress_i_mask.any(dim=1) | suppress_j_mask.any(dim=0)
+
+        # Log for debugging
+        if LOGGER.isEnabledFor(10) and frame_idx is not None:
+            suppress_i_mask = suppress_i_mask.cpu().numpy()
+            suppress_j_mask = suppress_j_mask.cpu().numpy()
+            last_occluded = last_occluded.cpu().numpy()
+
+            # Find all suppression pairs without using torch.where
+            batch_size = suppress_i_mask.shape[0]
+
+            # Log i-suppression cases (where i gets suppressed in favor of j)
+            for i in range(batch_size):
+                for j in range(batch_size):
+                    if suppress_i_mask[i, j]:
+                        LOGGER.debug(
+                            f"{frame_idx=}: Suppressing obj {obj_ids[i]} last occluded {last_occluded[i]} in favor of {obj_ids[j]} last occluded {last_occluded[j]}"
+                        )
+
+            # Log j-suppression cases (where j gets suppressed in favor of i)
+            for i in range(batch_size):
+                for j in range(batch_size):
+                    if suppress_j_mask[i, j]:
+                        LOGGER.debug(
+                            f"{frame_idx=}: Suppressing obj {obj_ids[j]} last occluded {last_occluded[j]} in favor of {obj_ids[i]} last occluded {last_occluded[i]}"
+                        )
+
+        return to_suppress
+
+    def _propogate_tracker_one_frame_local_gpu(self, inference_states: list[Any], frame_idx: int):
+        """Inference_states: list of inference states, each state corresponds to a different set of objects."""
+        obj_ids_local = []
+        low_res_masks_list = []
+        obj_scores_list = []
+        for inference_state in inference_states:
+            if len(inference_state["obj_ids"]) == 0:
+                continue  # skip propagation on empty inference states
+
+            out_obj_ids, out_low_res_masks, out_obj_scores = self.tracker.propagate_in_video(
+                inference_state, frame_idx=frame_idx
+            )
+            assert isinstance(out_obj_ids, list)
+            obj_ids_local.extend(out_obj_ids)
+            low_res_masks_list.append(out_low_res_masks.squeeze(1))
+            obj_scores_list.append(out_obj_scores.squeeze(1))
+
+        # concatenate the output masklets from all local inference states
+        if len(low_res_masks_list) > 0:
+            low_res_masks_local = torch.cat(low_res_masks_list, dim=0)
+            obj_scores_local = torch.cat(obj_scores_list, dim=0)
+            low_res_masks_local = low_res_masks_local.squeeze(1)
+        else:
+            low_res_masks_local = torch.zeros(0, *self._bb_feat_sizes[0], device=self.device)
+            obj_scores_local = torch.zeros(0, device=self.device)
+
+        return obj_ids_local, low_res_masks_local, obj_scores_local
+
+    def _associate_det_trk(
+        self,
+        det_masks: torch.Tensor,
+        det_scores_np: np.ndarray,
+        trk_masks: torch.Tensor,
+        trk_obj_ids: np.ndarray,
+    ):
+        """Match detections on the current frame with the existing masklets.
+
+        Args:
+            det_masks: (N, H, W) tensor of predicted masks
+            det_scores_np: (N,) array of detection scores
+            trk_masks: (M, H, W) tensor of track masks
+            trk_obj_ids: (M,) array of object IDs corresponding to trk_masks
+
+        Returns:
+            new_det_fa_inds: array of new object indices.
+            unmatched_trk_obj_ids: array of existing masklet object IDs that are not matched to any detections on this
+                frame (for unmatched, we only count masklets with >0 area)
+            det_to_matched_trk_obj_ids: dict[int, np.ndarray]: mapping from detector's detection indices to the list of
+                matched tracklet object IDs
+            empty_trk_obj_ids: array of existing masklet object IDs with zero area in SAM2 prediction
+        """
+        iou_threshold = self.assoc_iou_thresh
+        iou_threshold_trk = self.trk_assoc_iou_thresh
+        new_det_thresh = self.new_det_thresh
+
+        assert det_masks.is_floating_point(), "float tensor expected (do not binarize)"
+        assert trk_masks.is_floating_point(), "float tensor expected (do not binarize)"
+        assert trk_masks.size(0) == len(trk_obj_ids), (
+            f"trk_masks and trk_obj_ids should have the same length, {trk_masks.size(0)} vs {len(trk_obj_ids)}"
+        )
+        if trk_masks.size(0) == 0:
+            # all detections are new
+            new_det_fa_inds = np.arange(det_masks.size(0))
+            unmatched_trk_obj_ids = np.array([], np.int64)
+            empty_trk_obj_ids = np.array([], np.int64)
+            det_to_matched_trk_obj_ids = {}
+            trk_id_to_max_iou_high_conf_det = {}
+            return (
+                new_det_fa_inds,
+                unmatched_trk_obj_ids,
+                det_to_matched_trk_obj_ids,
+                trk_id_to_max_iou_high_conf_det,
+                empty_trk_obj_ids,
+            )
+        elif det_masks.size(0) == 0:
+            # all previous tracklets are unmatched if they have a non-zero area
+            new_det_fa_inds = np.array([], np.int64)
+            trk_is_nonempty = (trk_masks > 0).any(dim=(1, 2)).cpu().numpy()
+            unmatched_trk_obj_ids = trk_obj_ids[trk_is_nonempty]
+            empty_trk_obj_ids = trk_obj_ids[~trk_is_nonempty]
+            det_to_matched_trk_obj_ids = {}
+            trk_id_to_max_iou_high_conf_det = {}
+            return (
+                new_det_fa_inds,
+                unmatched_trk_obj_ids,
+                det_to_matched_trk_obj_ids,
+                trk_id_to_max_iou_high_conf_det,
+                empty_trk_obj_ids,
+            )
+
+        if det_masks.shape[-2:] != trk_masks.shape[-2:]:
+            # resize to the smaller size to save GPU memory
+            if np.prod(det_masks.shape[-2:]) < np.prod(trk_masks.shape[-2:]):
+                trk_masks = F.interpolate(
+                    trk_masks.unsqueeze(1),
+                    size=det_masks.shape[-2:],
+                    mode="bilinear",
+                    align_corners=False,
+                ).squeeze(1)
+            else:
+                # resize detections to track size
+                det_masks = F.interpolate(
+                    det_masks.unsqueeze(1),
+                    size=trk_masks.shape[-2:],
+                    mode="bilinear",
+                    align_corners=False,
+                ).squeeze(1)
+
+        det_masks_binary = det_masks > 0
+        trk_masks_binary = trk_masks > 0
+        ious = mask_iou(det_masks_binary.flatten(1).float(), trk_masks_binary.flatten(1).float())  # (N, M)
+
+        ious_np = ious.cpu().numpy()
+        if self.o2o_matching_masklets_enable:
+            from scipy.optimize import linear_sum_assignment
+
+            # Hungarian matching for tracks (one-to-one: each track matches at most one detection)
+            cost_matrix = 1 - ious_np  # Hungarian solves for minimum cost
+            row_ind, col_ind = linear_sum_assignment(cost_matrix)
+            trk_is_matched = np.zeros(trk_masks.size(0), dtype=bool)
+            for d, t in zip(row_ind, col_ind):
+                if ious_np[d, t] >= iou_threshold_trk:
+                    trk_is_matched[t] = True
+        else:
+            trk_is_matched = (ious_np >= iou_threshold_trk).any(axis=0)
+        # Non-empty tracks not matched by Hungarian assignment above threshold are unmatched
+        trk_is_nonempty = trk_masks_binary.any(dim=(1, 2)).cpu().numpy()
+        trk_is_unmatched = np.logical_and(trk_is_nonempty, ~trk_is_matched)
+        unmatched_trk_obj_ids = trk_obj_ids[trk_is_unmatched]
+        # also record masklets that have zero area in SAM 2 prediction
+        empty_trk_obj_ids = trk_obj_ids[~trk_is_nonempty]
+
+        # For detections: allow many tracks to match to the same detection (many-to-one)
+        # So, a detection is 'new' if it does not match any track above threshold
+        is_new_det = np.logical_and(
+            det_scores_np >= new_det_thresh,
+            np.logical_not(np.any(ious_np >= iou_threshold, axis=1)),
+        )
+        new_det_fa_inds = np.nonzero(is_new_det)[0]
+
+        # for each detection, which tracks it matched to (above threshold)
+        det_to_matched_trk_obj_ids = {}
+        trk_id_to_max_iou_high_conf_det = {}  # trk id --> exactly one detection idx
+        det_to_max_iou_trk_idx = np.argmax(ious_np, axis=1)
+        det_is_high_conf = (det_scores_np >= self.HIGH_CONF_THRESH) & ~is_new_det
+        det_is_high_iou = np.max(ious_np, axis=1) >= self.HIGH_IOU_THRESH
+        det_is_high_conf_and_iou = set(np.nonzero(det_is_high_conf & det_is_high_iou)[0])
+        for d in range(det_masks.size(0)):
+            det_to_matched_trk_obj_ids[d] = trk_obj_ids[ious_np[d, :] >= iou_threshold]
+            if d in det_is_high_conf_and_iou:
+                trk_obj_id = trk_obj_ids[det_to_max_iou_trk_idx[d]].item()
+                trk_id_to_max_iou_high_conf_det[trk_obj_id] = d
+
+        return (
+            new_det_fa_inds,
+            unmatched_trk_obj_ids,
+            det_to_matched_trk_obj_ids,
+            trk_id_to_max_iou_high_conf_det,
+            empty_trk_obj_ids,
+        )
+
+    def _process_hotstart(
+        self,
+        frame_idx: int,
+        reverse: bool,
+        det_to_matched_trk_obj_ids: dict[int, np.ndarray],
+        new_det_obj_ids: np.ndarray,
+        empty_trk_obj_ids: np.ndarray,
+        unmatched_trk_obj_ids: np.ndarray,
+        metadata: dict[str, Any],
+    ):
+        """Handle hotstart heuristics to remove unmatched or duplicated objects."""
+        # obj_id --> first frame index where the object was detected
+        obj_first_frame_idx = metadata["obj_first_frame_idx"]
+        # obj_id --> [mismatched frame indices]
+        unmatched_frame_inds = metadata["unmatched_frame_inds"]
+        trk_keep_alive = metadata["trk_keep_alive"]
+        # (first_appear_obj_id, obj_id) --> [overlap frame indices]
+        overlap_pair_to_frame_inds = metadata["overlap_pair_to_frame_inds"]
+        # removed_obj_ids: object IDs that are suppressed via hot-start
+        removed_obj_ids = metadata["removed_obj_ids"]
+
+        obj_ids_newly_removed = set()  # object IDs to be newly removed on this frame
+        hotstart_diff = frame_idx - self.hotstart_delay if not reverse else frame_idx + self.hotstart_delay
+
+        # Step 1: log the frame index where each object ID first appears
+        for obj_id in new_det_obj_ids:
+            if obj_id not in obj_first_frame_idx:
+                obj_first_frame_idx[obj_id] = frame_idx
+            assert obj_id not in trk_keep_alive
+            trk_keep_alive[obj_id] = self.init_trk_keep_alive
+
+        matched_trks = set()
+        # We use the det-->tracks list to check for matched objects. Otherwise, we need to compute areas to decide whether they're occluded
+        for matched_trks_per_det in det_to_matched_trk_obj_ids.values():
+            matched_trks.update(matched_trks_per_det)
+        for obj_id in matched_trks:
+            # NOTE: To minimize number of configurable params, we use the hotstart_unmatch_thresh to set the max value of trk_keep_alive
+            trk_keep_alive[obj_id] = min(self.max_trk_keep_alive, trk_keep_alive[obj_id] + 1)
+        for obj_id in unmatched_trk_obj_ids:
+            unmatched_frame_inds[obj_id].append(frame_idx)
+            # NOTE: To minimize number of configurable params, we use the hotstart_unmatch_thresh to set the min value of trk_keep_alive
+            # The max keep alive is 2x the min, means the model prefers to keep the prediction rather than suppress it if it was matched long enough.
+            trk_keep_alive[obj_id] = max(self.min_trk_keep_alive, trk_keep_alive[obj_id] - 1)
+        if self.decrease_trk_keep_alive_for_empty_masklets:
+            for obj_id in empty_trk_obj_ids:
+                # NOTE: To minimize number of configurable params, we use the hotstart_unmatch_thresh to set the min value of trk_keep_alive
+                trk_keep_alive[obj_id] = max(self.min_trk_keep_alive, trk_keep_alive[obj_id] - 1)
+
+        # Step 2: removed tracks that has not matched with detections for `hotstart_unmatch_thresh` frames with hotstart period
+        # a) add unmatched frame indices for each existing object ID
+        # note that `unmatched_trk_obj_ids` contains those frames where the SAM2 output mask
+        # doesn't match any detection; it excludes those frames where SAM2 gives an empty mask
+        # b) remove a masklet if it first appears after `hotstart_diff` and is unmatched for more
+        # than `self.hotstart_unmatch_thresh` frames
+        for obj_id, frame_indices in unmatched_frame_inds.items():
+            if obj_id in removed_obj_ids or obj_id in obj_ids_newly_removed:
+                continue  # skip if the object is already removed
+            if len(frame_indices) >= self.hotstart_unmatch_thresh:
+                is_within_hotstart = (obj_first_frame_idx[obj_id] > hotstart_diff and not reverse) or (
+                    obj_first_frame_idx[obj_id] < hotstart_diff and reverse
+                )
+                if is_within_hotstart:
+                    obj_ids_newly_removed.add(obj_id)
+                    LOGGER.debug(
+                        f"Removing object {obj_id} at frame {frame_idx} "
+                        f"since it is unmatched for frames: {frame_indices}"
+                    )
+            if (
+                trk_keep_alive[obj_id] <= 0  # Object has not been matched for too long
+                and obj_id not in removed_obj_ids
+                and obj_id not in obj_ids_newly_removed
+            ):
+                LOGGER.debug(f"Removing object {obj_id} at frame {frame_idx}, due to being unmatched")
+                # directly removed the object instead of suppressing it
+                obj_ids_newly_removed.add(obj_id)
+
+        # Step 3: removed tracks that overlaps with another track for `hotstart_dup_thresh` frames
+        # a) find overlaps tracks -- we consider overlap if they match to the same detection
+        for _, matched_trk_obj_ids in det_to_matched_trk_obj_ids.items():
+            if len(matched_trk_obj_ids) < 2:
+                continue  # only count detections that are matched to multiple (>=2) masklets
+            # if there are multiple matched track ids, we need to find the one that appeared first;
+            # these later appearing ids may be removed since they may be considered as duplicates
+            first_appear_obj_id = (
+                min(matched_trk_obj_ids, key=lambda x: obj_first_frame_idx[x])
+                if not reverse
+                else max(matched_trk_obj_ids, key=lambda x: obj_first_frame_idx[x])
+            )
+            for obj_id in matched_trk_obj_ids:
+                if obj_id != first_appear_obj_id:
+                    key = (first_appear_obj_id, obj_id)
+                    overlap_pair_to_frame_inds[key].append(frame_idx)
+
+        # b) remove a masklet if it first appears after `hotstart_diff` and it overlaps with another
+        # masklet (that appears earlier) for more than `self.hotstart_dup_thresh` frames
+        for (first_obj_id, obj_id), frame_indices in overlap_pair_to_frame_inds.items():
+            if obj_id in removed_obj_ids or obj_id in obj_ids_newly_removed:
+                continue  # skip if the object is already removed
+            if (obj_first_frame_idx[obj_id] > hotstart_diff and not reverse) or (
+                obj_first_frame_idx[obj_id] < hotstart_diff and reverse
+            ):
+                if len(frame_indices) >= self.hotstart_dup_thresh:
+                    obj_ids_newly_removed.add(obj_id)
+                    LOGGER.debug(
+                        f"Removing object {obj_id} at frame {frame_idx} "
+                        f"since it overlaps with another track {first_obj_id} at frames: {frame_indices}"
+                    )
+
+        removed_obj_ids.update(obj_ids_newly_removed)
+        return obj_ids_newly_removed, metadata
+
+    def _tracker_update_memories(
+        self, tracker_inference_states: list[Any], frame_idx: int, low_res_masks: torch.Tensor
+    ):
+        """Run Sam2 memory encoder, enforcing non-overlapping constraints globally."""
+        if len(tracker_inference_states) == 0:
+            return
+        # NOTE: inspect this part if we observe OOMs in the demo
+        high_res_masks = F.interpolate(
+            low_res_masks.unsqueeze(1),
+            size=self.interpol_size,
+            mode="bilinear",
+            align_corners=False,
+        )
+        # We first apply non-overlapping constraints before memory encoding. This may include some suppression heuristics.
+        if not hasattr(self, "_warm_up_complete") or self._warm_up_complete:
+            high_res_masks = self.tracker.model._suppress_object_pw_area_shrinkage(high_res_masks)
+        # Instead of gathering the predicted object scores, we use mask areas as a proxy.
+        object_score_logits = torch.where((high_res_masks > 0).any(dim=(-1, -2)), 10.0, -10.0)
+
+        # Run the memory encoder on local slices for each GPU
+        start_idx_gpu = 0
+        start_idx_state = start_idx_gpu
+        for tracker_state in tracker_inference_states:
+            num_obj_per_state = len(tracker_state["obj_ids"])
+            if num_obj_per_state == 0:
+                continue
+            # Get the local high-res masks and object score logits for this inference state
+            end_idx_state = start_idx_state + num_obj_per_state
+            local_high_res_masks = high_res_masks[start_idx_state:end_idx_state]
+            local_object_score_logits = object_score_logits[start_idx_state:end_idx_state]
+            local_batch_size = local_high_res_masks.size(0)
+            # Run Sam2 memory encoder. Note that we do not re-enforce the non-overlapping constraint as it is turned off by default
+
+            encoded_mem = self.tracker._run_memory_encoder(
+                local_batch_size,
+                local_high_res_masks,
+                local_object_score_logits,
+                is_mask_from_pts=False,
+                inference_state=tracker_state,
+            )
+            local_maskmem_features, local_maskmem_pos_enc = encoded_mem
+            # Store encoded memories in the local inference state
+            output_dict = tracker_state["output_dict"]
+            for storage_key in ["cond_frame_outputs", "non_cond_frame_outputs"]:
+                if frame_idx not in output_dict[storage_key]:
+                    continue
+                output_dict[storage_key][frame_idx]["maskmem_features"] = local_maskmem_features
+                output_dict[storage_key][frame_idx]["maskmem_pos_enc"] = [pos for pos in local_maskmem_pos_enc]
+                # for batched inference state, we also need to add per-object
+                # memory slides to support instance interactivity
+                self.tracker._add_output_per_object(
+                    inference_state=tracker_state,
+                    frame_idx=frame_idx,
+                    current_out=output_dict[storage_key][frame_idx],
+                    storage_key=storage_key,
+                )
+            start_idx_state += num_obj_per_state
+
+    def _tracker_add_new_objects(
+        self,
+        frame_idx: int,
+        num_frames: int,
+        new_obj_ids: list[int],
+        new_obj_masks: torch.Tensor,
+        tracker_states_local: list[Any],
+    ):
+        """Add a new object to SAM2 inference states."""
+        prev_tracker_state = tracker_states_local[0] if len(tracker_states_local) > 0 else None
+
+        # prepare inference_state
+        # batch objects that first appear on the same frame together
+        # Clear inference state. Keep the cached image features if available.
+        new_tracker_state = self.tracker._init_state(num_frames=num_frames)
+        # NOTE: adding image placeholder
+        new_tracker_state["im"] = None
+        new_tracker_state["backbone_out"] = (
+            prev_tracker_state.get("backbone_out", None) if prev_tracker_state is not None else None
+        )
+
+        assert len(new_obj_ids) == new_obj_masks.size(0)
+        assert new_obj_masks.is_floating_point()
+        new_obj_masks = F.interpolate(
+            new_obj_masks.unsqueeze(0),
+            size=self.interpol_size,
+            mode="bilinear",
+            align_corners=False,
+        ).squeeze(0)
+        new_obj_masks = new_obj_masks > 0
+
+        # add object one by one
+        for new_obj_id, new_mask in zip(new_obj_ids, new_obj_masks):
+            self.tracker.add_new_prompts(
+                inference_state=new_tracker_state,
+                frame_idx=frame_idx,
+                obj_id=new_obj_id,
+                masks=new_mask[None, None],  # add bs, channel
+            )
+        # NOTE: we skip enforcing the non-overlapping constraint **globally** when adding new objects.
+        self.tracker.propagate_in_video_preflight(new_tracker_state)
+        tracker_states_local.append(new_tracker_state)
+        return tracker_states_local
+
+    def _tracker_remove_objects(self, tracker_states_local: list[Any], obj_ids: list[int]):
+        """Remove an object from SAM2 inference states. This would remove the object from all frames in the video."""
+        if not obj_ids:
+            return
+        # Filter out states that become empty after removal
+        active_states = []
+        for state in tracker_states_local:
+            for obj_id in obj_ids:
+                # we try to remove `obj_id` on every inference state with `strict=False`
+                # it will not do anything if an inference state doesn't contain `obj_id`
+                self.tracker.remove_object(state, obj_id, strict=False)
+
+            if len(state["obj_ids"]) > 0:
+                active_states.append(state)
+
+        # Update the list in-place
+        tracker_states_local[:] = active_states
+
+    def _initialize_metadata(self):
+        """Initialize metadata for the masklets."""
+        tracker_metadata = {
+            "obj_ids": np.array([], np.int32),
+            "num_obj": np.zeros(1, np.int32),
+            "max_obj_id": -1,
+            "obj_id_to_score": {},
+            "obj_id_to_cls": {},
+            "obj_id_to_tracker_score_frame_wise": defaultdict(dict),
+            "obj_id_to_last_occluded": {},
+        }
+        # "metadata" contains metadata that is only stored on (and accessible to) GPU 0
+        # - obj_first_frame_idx: obj_id --> first frame index where the object was detected
+        # - unmatched_frame_inds: obj_id --> [mismatched frame indices]
+        # - overlap_pair_to_frame_inds: (first_appear_obj_id, obj_id) --> [overlap frame indices]
+        # - removed_obj_ids: object IDs that are suppressed via hot-start
+        metadata = {
+            "obj_first_frame_idx": {},
+            "unmatched_frame_inds": defaultdict(list),
+            "trk_keep_alive": defaultdict(int),  # This is used only for object suppression not for removal
+            "overlap_pair_to_frame_inds": defaultdict(list),
+            "removed_obj_ids": set(),
+        }
+        if self.masklet_confirmation_enable:
+            # all the following are np.ndarray with the same shape as `obj_ids_all_gpu`
+            metadata["masklet_confirmation"] = {
+                # "status" is the confirmation status of each masklet
+                "status": np.array([], np.int64),
+                # "consecutive_det_num" is the number of consecutive frames where the masklet is
+                # detected by the detector (with a matched detection)
+                "consecutive_det_num": np.array([], np.int64),
+            }
+        tracker_metadata["metadata"] = metadata
+
+        return tracker_metadata
+
+    def update_masklet_confirmation_status(
+        self,
+        metadata: dict[str, Any],
+        obj_ids_all_gpu_prev: np.ndarray,
+        obj_ids_all_gpu_updated: np.ndarray,
+        det_to_matched_trk_obj_ids: dict[int, np.ndarray],
+        new_det_obj_ids: np.ndarray,
+    ):
+        """Update the confirmation status of masklets based on the current frame's detection results."""
+        confirmation_data = metadata["masklet_confirmation"]
+
+        # a) first, expand "confirmation_data" to include new masklets added in this frame
+        status_prev = confirmation_data["status"]
+        consecutive_det_num_prev = confirmation_data["consecutive_det_num"]
+        assert status_prev.shape == obj_ids_all_gpu_prev.shape, (
+            f"Got {status_prev.shape} vs {obj_ids_all_gpu_prev.shape}"
+        )
+
+        obj_id_to_updated_idx = {obj_id: idx for idx, obj_id in enumerate(obj_ids_all_gpu_updated)}
+        prev_elem_is_in_updated = np.isin(obj_ids_all_gpu_prev, obj_ids_all_gpu_updated)
+        prev_elem_obj_ids_in_updated = obj_ids_all_gpu_prev[prev_elem_is_in_updated]
+        prev_elem_inds_in_updated = np.array(
+            [obj_id_to_updated_idx[obj_id] for obj_id in prev_elem_obj_ids_in_updated],
+            dtype=np.int64,
+        )
+        # newly added masklets are initialized to "UNCONFIRMED" status
+        unconfirmed_val = self.UNCONFIRMED
+        status = np.full_like(obj_ids_all_gpu_updated, fill_value=unconfirmed_val)
+        status[prev_elem_inds_in_updated] = status_prev[prev_elem_is_in_updated]
+        consecutive_det_num = np.zeros_like(obj_ids_all_gpu_updated)
+        consecutive_det_num[prev_elem_inds_in_updated] = consecutive_det_num_prev[prev_elem_is_in_updated]
+
+        # b) update the confirmation status of all masklets based on the current frame
+        # b.1) update "consecutive_det_num"
+        # "is_matched": whether a masklet is matched to a detection on this frame
+        is_matched = np.isin(obj_ids_all_gpu_updated, new_det_obj_ids)
+        for matched_trk_obj_ids in det_to_matched_trk_obj_ids.values():
+            is_matched |= np.isin(obj_ids_all_gpu_updated, matched_trk_obj_ids)
+        consecutive_det_num = np.where(is_matched, consecutive_det_num + 1, 0)
+
+        # b.2) update "status"
+        change_to_confirmed = consecutive_det_num >= self.masklet_confirmation_consecutive_det_thresh
+        status[change_to_confirmed] = self.CONFIRMED
+
+        confirmation_data["status"] = status
+        confirmation_data["consecutive_det_num"] = consecutive_det_num
+        return metadata
+
+    def _load_checkpoint(self, ckpt_path: str, strict: bool = True):
+        sd = torch.load(ckpt_path, map_location="cpu", weights_only=True)["model"]
+        missing_keys, unexpected_keys = self.load_state_dict(sd, strict=strict)
+        if len(missing_keys) > 0 or len(unexpected_keys) > 0:
+            LOGGER.warning(f"Loaded ckpt with {missing_keys=}, {unexpected_keys=}")
+        else:
+            LOGGER.info("Loaded ckpt successfully without missing or unexpected keys")
+
+    def _encode_prompt(self, **kwargs):
+        return self.model._encode_prompt(**kwargs)
+
+    @staticmethod
+    def _drop_new_det_with_obj_limit(new_det_fa_inds, det_scores_np, num_to_keep):
+        """Drop a few new detections based on the maximum number of objects. We drop new objects based on their
+        detection scores, keeping the high-scoring ones and dropping the low-scoring ones.
+        """
+        assert 0 <= num_to_keep <= len(new_det_fa_inds)
+        if num_to_keep == 0:
+            return np.array([], np.int64)  # keep none
+        if num_to_keep == len(new_det_fa_inds):
+            return new_det_fa_inds  # keep all
+
+        # keep the top-scoring detections
+        score_order = np.argsort(det_scores_np[new_det_fa_inds])[::-1]
+        new_det_fa_inds = new_det_fa_inds[score_order[:num_to_keep]]
+        return new_det_fa_inds