diff --git a/mattport/nerf/field_modules/encoding.py b/mattport/nerf/field_modules/encoding.py
index e1cf1daf8..aa29a7945 100644
--- a/mattport/nerf/field_modules/encoding.py
+++ b/mattport/nerf/field_modules/encoding.py
@@ -241,6 +241,57 @@ class HashEncoding(Encoding):
         return torch.flatten(encoded_value, start_dim=-2, end_dim=-1)  # [..., num_levels * features_per_level]
 
 
+class TensorCPEncoding(Encoding):
+    """Learned CANDECOMP/PARFAC (CP) decomposition encoding used in TensoRF"""
+
+    def __init__(self, resolution: int = 256, num_components: int = 24, init_scale: float = 0.1) -> None:
+        """
+        Args:
+            resolution (int, optional): Resolution of grid. Defaults to 256.
+            num_components (int, optional): Number of components per dimension. Defaults to 24.
+            init_scale (float, optional): Initialization scale. Defaults to 0.1.
+        """
+        super().__init__(in_dim=3)
+
+        self.resolution = resolution
+        self.num_components = num_components
+
+        # TODO Learning rates should be different for these
+        self.line_coef = nn.Parameter(init_scale * torch.randn((3, num_components, resolution, 1)))
+
+    def get_out_dim(self) -> int:
+        return self.num_components
+
+    def encode(self, in_tensor: TensorType[..., "input_dim"]) -> TensorType[..., "output_dim"]:
+        in_tensor = in_tensor / 4.0 + 0.5
+        line_coord = torch.stack([in_tensor[..., 2], in_tensor[..., 1], in_tensor[..., 0]])  # [3, ...]
+        line_coord = torch.stack([torch.zeros_like(line_coord), line_coord], dim=-1)  # [3, ...., 2]
+
+        # Stop gradients from going to sampler
+        line_coord = line_coord.view(3, -1, 1, 2).detach()
+
+        line_features = F.grid_sample(self.line_coef, line_coord, align_corners=True)  # [3, Components, -1, 1]
+
+        features = torch.prod(line_features, dim=0)
+        features = torch.moveaxis(features.view(self.num_components, *in_tensor.shape[:-1]), 0, -1)
+
+        return features  # [..., Components]
+
+    @torch.no_grad()
+    def upsample_grid(self, resolution: int) -> None:
+        """Upsamples underyling feature grid
+
+        Args:
+            resolution (int): Target resolution.
+        """
+
+        self.line_coef.data = F.interpolate(
+            self.line_coef.data, size=(resolution, 1), mode="bilinear", align_corners=True
+        )
+
+        self.resolution = resolution
+
+
 class TensorVMEncoding(Encoding):
     """Learned vector-matrix encoding proposed by TensoRF"""
 
@@ -264,7 +315,7 @@ class TensorVMEncoding(Encoding):
         return self.num_components * 3
 
     def encode(self, in_tensor: TensorType[..., "input_dim"]) -> TensorType[..., "output_dim"]:
-
+        in_tensor = in_tensor / 4.0 + 0.5
         plane_coord = torch.stack([in_tensor[..., [0, 1]], in_tensor[..., [0, 2]], in_tensor[..., [1, 2]]])  # [3,...,2]
         line_coord = torch.stack([in_tensor[..., 2], in_tensor[..., 1], in_tensor[..., 0]])  # [3, ...]
         line_coord = torch.stack([torch.zeros_like(line_coord), line_coord], dim=-1)  # [3, ...., 2]
diff --git a/tests/nerf/field_modules/test_encodings.py b/tests/nerf/field_modules/test_encodings.py
index c36c7a8ac..572161f7f 100644
--- a/tests/nerf/field_modules/test_encodings.py
+++ b/tests/nerf/field_modules/test_encodings.py
@@ -75,7 +75,30 @@ def test_tensor_vm_encoder():
     out_dim = 3 * num_components
 
     encoder = encoding.TensorVMEncoding(num_components=num_components, resolution=resolution)
-    assert encoder.get_out_dim() == num_components * 3
+    assert encoder.get_out_dim() == out_dim
+
+    in_tensor = torch.ones((3, in_dim))
+    encoded = encoder.encode(in_tensor)
+    assert encoded.shape == (3, out_dim)
+
+    in_tensor = torch.ones((6, 3, in_dim))
+    encoded = encoder.encode(in_tensor)
+    assert encoded.shape == (6, 3, out_dim)
+
+    encoder.upsample_grid(resolution=64)
+
+
+def test_tensor_cp_encoder():
+    """Test TensorCP encoder"""
+
+    num_components = 24
+    resolution = 32
+
+    in_dim = 3
+    out_dim = num_components
+
+    encoder = encoding.TensorCPEncoding(num_components=num_components, resolution=resolution)
+    assert encoder.get_out_dim() == out_dim
 
     in_tensor = torch.ones((3, in_dim))
     encoded = encoder.encode(in_tensor)
@@ -93,3 +116,4 @@ if __name__ == "__main__":
     test_nerf_encoder()
     test_rff_encoder()
     test_tensor_vm_encoder()
+    test_tensor_cp_encoder()