diff --git a/.gitignore b/.gitignore
index 6b2a94eba..85c2ca4e5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -185,3 +185,4 @@ bash/
 cache/
 renders/
 package-lock.json
+camera_paths/
\ No newline at end of file
diff --git a/docs/guides/models/nerf.md b/docs/guides/models/nerf.md
index 1744763fd..59bf4d2ee 100644
--- a/docs/guides/models/nerf.md
+++ b/docs/guides/models/nerf.md
@@ -73,7 +73,7 @@ NeRFs are a volumetric representation encoded into a neural network. They are no
 The associated NeRF fields can be instantiated with the following nerfstudio code (encoding described in next section):
 
 ```python
-from nerfstudio.fields.nerf_field import NeRFField
+from nerfstudio.fields.vanilla_nerf_field import NeRFField
 
 field_coarse = NeRFField(position_encoding=pos_enc, direction_encoding=dir_enc)
 field_fine = NeRFField(position_encoding=pos_enc, direction_encoding=dir_enc)
@@ -84,7 +84,7 @@ field_fine = NeRFField(position_encoding=pos_enc, direction_encoding=dir_enc)
 An extra trick is necessary to make the neural network expressive enough to represent fine details in the scene. The input coordinates $(x,y,z,\theta,\phi)$ need to be encoded to a higher dimensional space prior to being input into the network. You can learn more about encodings [here](../model_components/visualize_encoders.ipynb).
 
 ```python
-from nerfstudio.field_components.encoding import NeRFEncoding
+from nerfstudio.field_components.encodings import NeRFEncoding
 
 pos_enc = NeRFEncoding(
     in_dim=3, num_frequencies=10, min_freq_exp=0.0, max_freq_exp=8.0, include_input=True
@@ -142,7 +142,7 @@ How we sample points along rays in space is an important design decision. Variou
 Associated code:
 
 ```python
-from nerfstudio.model_components.ray_sampler import PDFSampler, UniformSampler
+from nerfstudio.model_components.ray_samplers import PDFSampler, UniformSampler
 
 sampler_uniform = UniformSampler(num_samples=num_coarse_samples)
 ray_samples_uniform = sampler_uniform(ray_bundle)
diff --git a/docs/reference/api/field_components/encodings.rst b/docs/reference/api/field_components/encodings.rst
index a498fe66d..2fef31add 100644
--- a/docs/reference/api/field_components/encodings.rst
+++ b/docs/reference/api/field_components/encodings.rst
@@ -3,6 +3,6 @@
 Encodings
 ===================
 
-.. automodule:: nerfstudio.field_components.encoding
+.. automodule:: nerfstudio.field_components.encodings
    :members:
    :show-inheritance:
\ No newline at end of file
diff --git a/docs/reference/api/field_components/field_losses.rst b/docs/reference/api/field_components/field_losses.rst
deleted file mode 100644
index 07984cfdf..000000000
--- a/docs/reference/api/field_components/field_losses.rst
+++ /dev/null
@@ -1,8 +0,0 @@
-.. _field_losses:
-
-Field Losses
-===================
-
-.. automodule:: nerfstudio.field_components.field_losses
-   :members:
-   :show-inheritance:
\ No newline at end of file
diff --git a/docs/reference/api/field_components/index.rst b/docs/reference/api/field_components/index.rst
index 096805081..e5f207a9b 100644
--- a/docs/reference/api/field_components/index.rst
+++ b/docs/reference/api/field_components/index.rst
@@ -10,6 +10,5 @@ TODO: High level description of field modules and how they connect together.
    encodings
    embeddings
    field_heads
-   field_losses
    mlp
    spatial_distortions
\ No newline at end of file
diff --git a/docs/reference/api/fields.rst b/docs/reference/api/fields.rst
index febf65aac..4dea6f8e9 100644
--- a/docs/reference/api/fields.rst
+++ b/docs/reference/api/fields.rst
@@ -17,9 +17,9 @@ Instant NGP
    :members:
    :show-inheritance:
 
-NeRF
+Vanilla NeRF
 ----------------
 
-.. automodule:: nerfstudio.fields.nerf_field
+.. automodule:: nerfstudio.fields.vanilla_nerf_field
    :members:
    :show-inheritance:
diff --git a/docs/reference/api/model_components/index.rst b/docs/reference/api/model_components/index.rst
index 67c5d56a7..fffc29d3b 100644
--- a/docs/reference/api/model_components/index.rst
+++ b/docs/reference/api/model_components/index.rst
@@ -1,12 +1,10 @@
 .. _graph_modules:
 
-Graph Modules
+Model Components
 ===================
 
-TODO: High level description of graph modules and how they are used.
-
 .. toctree::
 
    ray_sampler
-   ray_losses
+   losses
    renderers
\ No newline at end of file
diff --git a/docs/reference/api/model_components/losses.rst b/docs/reference/api/model_components/losses.rst
new file mode 100644
index 000000000..8a6a15a6f
--- /dev/null
+++ b/docs/reference/api/model_components/losses.rst
@@ -0,0 +1,8 @@
+.. _losses:
+
+Losses
+===================
+
+.. automodule:: nerfstudio.model_components.losses
+   :members:
+   :show-inheritance:
\ No newline at end of file
diff --git a/docs/reference/api/model_components/ray_losses.rst b/docs/reference/api/model_components/ray_losses.rst
deleted file mode 100644
index 0c174b9c3..000000000
--- a/docs/reference/api/model_components/ray_losses.rst
+++ /dev/null
@@ -1,8 +0,0 @@
-.. _ray_losses:
-
-Ray Losses
-===================
-
-.. automodule:: nerfstudio.model_components.ray_losses
-   :members:
-   :show-inheritance:
\ No newline at end of file
diff --git a/docs/reference/api/model_components/ray_sampler.rst b/docs/reference/api/model_components/ray_sampler.rst
index f289ec1ee..821e85c5f 100644
--- a/docs/reference/api/model_components/ray_sampler.rst
+++ b/docs/reference/api/model_components/ray_sampler.rst
@@ -3,6 +3,6 @@
 Ray Sampler
 ===================
 
-.. automodule:: nerfstudio.model_components.ray_sampler
+.. automodule:: nerfstudio.model_components.ray_samplers
    :members:
    :show-inheritance:
\ No newline at end of file
diff --git a/docs/reference/api/models.rst b/docs/reference/api/models.rst
index 205185323..6428b8064 100644
--- a/docs/reference/api/models.rst
+++ b/docs/reference/api/models.rst
@@ -1,12 +1,12 @@
 .. _graphs:
 
-Graphs
+Models
 ============
 
 Base
 ----------------
 
-.. automodule:: nerfstudio.models.base
+.. automodule:: nerfstudio.models.base_model
    :members:
    :show-inheritance:
 
diff --git a/docs/reference/api/utils/colormaps.rst b/docs/reference/api/utils/colormaps.rst
new file mode 100644
index 000000000..cf25c2aaf
--- /dev/null
+++ b/docs/reference/api/utils/colormaps.rst
@@ -0,0 +1,8 @@
+.. _colormaps:
+
+Colormaps
+----------------
+
+.. automodule:: nerfstudio.utils.colormaps
+   :members:
+   :show-inheritance:
diff --git a/docs/reference/api/utils/index.rst b/docs/reference/api/utils/index.rst
index af803d7be..08c83d150 100644
--- a/docs/reference/api/utils/index.rst
+++ b/docs/reference/api/utils/index.rst
@@ -7,5 +7,5 @@ Utils
 
    colors
    math
-   visualization
+   colormaps
    tensor_dataclass
\ No newline at end of file
diff --git a/docs/reference/api/utils/visualization.rst b/docs/reference/api/utils/visualization.rst
deleted file mode 100644
index e046e2772..000000000
--- a/docs/reference/api/utils/visualization.rst
+++ /dev/null
@@ -1,8 +0,0 @@
-.. _visualization:
-
-Visualization
-----------------
-
-.. automodule:: nerfstudio.utils.visualization
-   :members:
-   :show-inheritance:
diff --git a/docs/tutorials/pipelines/creating_pipelines.ipynb b/docs/tutorials/pipelines/creating_pipelines.ipynb
index f6104aa6c..368e8785e 100644
--- a/docs/tutorials/pipelines/creating_pipelines.ipynb
+++ b/docs/tutorials/pipelines/creating_pipelines.ipynb
@@ -120,7 +120,7 @@
                 "from nerfstudio.data.base import DataManager\n",
                 "from nerfstudio.data.structs import DatasetInputs\n",
                 "from nerfstudio.models.base import Model\n",
-                "from nerfstudio.pipelines.base import Pipeline\n",
+                "from nerfstudio.pipelines.base_pipeline import Pipeline\n",
                 "from nerfstudio.models.instant_ngp import NGPModel\n",
                 "from nerfstudio.cameras.rays import RayBundle"
             ]
@@ -292,7 +292,7 @@
                 "pprint.pprint(pipeline_config)\n",
                 "print(\"----------------------------------------------------\")\n",
                 "\n",
-                "# from nerfstudio.pipelines.base import setup_pipeline\n",
+                "# from nerfstudio.pipelines.base_pipeline import setup_pipeline\n",
                 "# pipeline = setup_pipeline(pipeline_config, device=\"cuda\")\n",
                 "pipeline = pipeline_config.setup()"
             ]
diff --git a/nerfstudio/configs/base_config.py b/nerfstudio/configs/base_config.py
index 87ae5aabb..1787b2b10 100644
--- a/nerfstudio/configs/base_config.py
+++ b/nerfstudio/configs/base_config.py
@@ -176,7 +176,7 @@ class ViewerConfig(PrintableConfig):
 
 from nerfstudio.engine.optimizers import OptimizerConfig
 from nerfstudio.engine.schedulers import SchedulerConfig
-from nerfstudio.pipelines.base import VanillaPipelineConfig
+from nerfstudio.pipelines.base_pipeline import VanillaPipelineConfig
 
 
 @dataclass
diff --git a/nerfstudio/configs/model_configs.py b/nerfstudio/configs/model_configs.py
index b58761723..f613709a1 100644
--- a/nerfstudio/configs/model_configs.py
+++ b/nerfstudio/configs/model_configs.py
@@ -29,7 +29,7 @@ from nerfstudio.data.dataparsers.friends_dataparser import FriendsDataParserConf
 from nerfstudio.data.dataparsers.mipnerf_dataparser import MipNerf360DataParserConfig
 from nerfstudio.engine.optimizers import AdamOptimizerConfig, RAdamOptimizerConfig
 from nerfstudio.engine.schedulers import SchedulerConfig
-from nerfstudio.models.base import VanillaModelConfig
+from nerfstudio.models.base_model import VanillaModelConfig
 from nerfstudio.models.instant_ngp import InstantNGPModelConfig
 from nerfstudio.models.mipnerf import MipNerfModel
 from nerfstudio.models.mipnerf_360 import MipNerf360Model
@@ -38,7 +38,7 @@ from nerfstudio.models.nerfw import NerfWModelConfig
 from nerfstudio.models.semantic_nerf import SemanticNerfModel
 from nerfstudio.models.tensorf import TensoRFModelConfig
 from nerfstudio.models.vanilla_nerf import NeRFModel
-from nerfstudio.pipelines.base import VanillaPipelineConfig
+from nerfstudio.pipelines.base_pipeline import VanillaPipelineConfig
 from nerfstudio.pipelines.dynamic_batch import DynamicBatchPipelineConfig
 
 model_configs: Dict[str, Config] = {}
diff --git a/nerfstudio/data/datamanagers.py b/nerfstudio/data/datamanagers.py
index 3ecd96b04..6b4fdb453 100644
--- a/nerfstudio/data/datamanagers.py
+++ b/nerfstudio/data/datamanagers.py
@@ -45,8 +45,8 @@ from nerfstudio.data.utils.dataloaders import (
     RandIndicesEvalDataloader,
 )
 from nerfstudio.data.utils.datasets import InputDataset
-from nerfstudio.model_components.ray_generator import RayGenerator
-from nerfstudio.utils.callbacks import TrainingCallback, TrainingCallbackAttributes
+from nerfstudio.engine.callbacks import TrainingCallback, TrainingCallbackAttributes
+from nerfstudio.model_components.ray_generators import RayGenerator
 from nerfstudio.utils.misc import IterableWrapper
 
 AnnotatedDataParserUnion = dcargs.extras.subcommand_type_from_defaults(
diff --git a/nerfstudio/data/utils/datasets.py b/nerfstudio/data/utils/datasets.py
index d19366346..6e471272e 100644
--- a/nerfstudio/data/utils/datasets.py
+++ b/nerfstudio/data/utils/datasets.py
@@ -27,7 +27,6 @@ from torch.utils.data import Dataset
 from torchtyping import TensorType
 
 from nerfstudio.data.dataparsers.base_dataparser import DataparserOutputs
-from nerfstudio.utils.misc import is_not_none
 
 
 class InputDataset(Dataset):
@@ -80,7 +79,6 @@ class InputDataset(Dataset):
         """
         image = self.get_image(image_idx)
         data = {"image_idx": image_idx}
-        assert is_not_none(image)
         data["image"] = image
         for _, data_func_dict in self.dataset_inputs.additional_inputs.items():
             assert "func" in data_func_dict, "Missing function to process data: specify `func` in `additional_inputs`"
diff --git a/nerfstudio/utils/callbacks.py b/nerfstudio/engine/callbacks.py
similarity index 100%
rename from nerfstudio/utils/callbacks.py
rename to nerfstudio/engine/callbacks.py
diff --git a/nerfstudio/engine/trainer.py b/nerfstudio/engine/trainer.py
index 0c1992fdd..9bb986e8b 100644
--- a/nerfstudio/engine/trainer.py
+++ b/nerfstudio/engine/trainer.py
@@ -29,14 +29,14 @@ from rich import console
 from torch.cuda.amp.grad_scaler import GradScaler
 
 from nerfstudio.configs import base_config as cfg
-from nerfstudio.engine.optimizers import Optimizers, setup_optimizers
-from nerfstudio.pipelines.base import VanillaPipeline
-from nerfstudio.utils import profiler, writer
-from nerfstudio.utils.callbacks import (
+from nerfstudio.engine.callbacks import (
     TrainingCallback,
     TrainingCallbackAttributes,
     TrainingCallbackLocation,
 )
+from nerfstudio.engine.optimizers import Optimizers, setup_optimizers
+from nerfstudio.pipelines.base_pipeline import VanillaPipeline
+from nerfstudio.utils import profiler, writer
 from nerfstudio.utils.decorators import (
     check_eval_enabled,
     check_main_thread,
diff --git a/nerfstudio/field_components/__init__.py b/nerfstudio/field_components/__init__.py
index 9189165d1..3489de62f 100644
--- a/nerfstudio/field_components/__init__.py
+++ b/nerfstudio/field_components/__init__.py
@@ -13,6 +13,6 @@
 # limitations under the License.
 
 """init field modules"""
-from .base import FieldModule
-from .encoding import Encoding, ScalingAndOffset
+from .base_field_component import FieldComponent
+from .encodings import Encoding, ScalingAndOffset
 from .mlp import MLP
diff --git a/nerfstudio/field_components/base.py b/nerfstudio/field_components/base_field_component.py
similarity index 98%
rename from nerfstudio/field_components/base.py
rename to nerfstudio/field_components/base_field_component.py
index d9fc655bd..40af9d8c5 100644
--- a/nerfstudio/field_components/base.py
+++ b/nerfstudio/field_components/base_field_component.py
@@ -22,7 +22,7 @@ from torch import nn
 from torchtyping import TensorType
 
 
-class FieldModule(nn.Module):
+class FieldComponent(nn.Module):
     """Field modules that can be combined to store and compute the fields.
 
     Args:
diff --git a/nerfstudio/field_components/embedding.py b/nerfstudio/field_components/embedding.py
index 8280a4ddf..6c2227ba3 100644
--- a/nerfstudio/field_components/embedding.py
+++ b/nerfstudio/field_components/embedding.py
@@ -20,10 +20,10 @@ Code for embeddings.
 import torch
 from torchtyping import TensorType
 
-from nerfstudio.field_components.base import FieldModule
+from nerfstudio.field_components.base_field_component import FieldComponent
 
 
-class Embedding(FieldModule):
+class Embedding(FieldComponent):
     """Index into embeddings.
     # TODO: add different types of initializations
 
diff --git a/nerfstudio/field_components/encoding.py b/nerfstudio/field_components/encodings.py
similarity index 99%
rename from nerfstudio/field_components/encoding.py
rename to nerfstudio/field_components/encodings.py
index 3e33cae30..e37a25db5 100644
--- a/nerfstudio/field_components/encoding.py
+++ b/nerfstudio/field_components/encodings.py
@@ -25,9 +25,9 @@ import torch.nn.functional as F
 from torch import nn
 from torchtyping import TensorType
 
-from nerfstudio.field_components.base import FieldModule
-from nerfstudio.utils.comments import print_tcnn_speed_warning
+from nerfstudio.field_components.base_field_component import FieldComponent
 from nerfstudio.utils.math import components_from_spherical_harmonics, expected_sin
+from nerfstudio.utils.printing import print_tcnn_speed_warning
 
 try:
     import tinycudann as tcnn
@@ -37,7 +37,7 @@ except ImportError:
     TCNN_EXISTS = False
 
 
-class Encoding(FieldModule):
+class Encoding(FieldComponent):
     """Encode an input tensor. Intended to be subclassed
 
     Args:
diff --git a/nerfstudio/field_components/field_heads.py b/nerfstudio/field_components/field_heads.py
index 51aa3d255..b8e356f99 100644
--- a/nerfstudio/field_components/field_heads.py
+++ b/nerfstudio/field_components/field_heads.py
@@ -21,7 +21,7 @@ from typing import Callable, Optional, Union
 from torch import nn
 from torchtyping import TensorType
 
-from nerfstudio.field_components.base import FieldModule
+from nerfstudio.field_components.base_field_component import FieldComponent
 
 
 class FieldHeadNames(Enum):
@@ -36,7 +36,7 @@ class FieldHeadNames(Enum):
     SEMANTICS = "semantics"
 
 
-class FieldHead(FieldModule):
+class FieldHead(FieldComponent):
     """Base field output
 
     Args:
diff --git a/nerfstudio/field_components/field_losses.py b/nerfstudio/field_components/field_losses.py
deleted file mode 100644
index 02655775e..000000000
--- a/nerfstudio/field_components/field_losses.py
+++ /dev/null
@@ -1,13 +0,0 @@
-# Copyright 2022 The Plenoptix Team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
diff --git a/nerfstudio/field_components/mlp.py b/nerfstudio/field_components/mlp.py
index 1d9ad9159..c5d89e16c 100644
--- a/nerfstudio/field_components/mlp.py
+++ b/nerfstudio/field_components/mlp.py
@@ -21,10 +21,10 @@ import torch
 from torch import nn
 from torchtyping import TensorType
 
-from nerfstudio.field_components.base import FieldModule
+from nerfstudio.field_components.base_field_component import FieldComponent
 
 
-class MLP(FieldModule):
+class MLP(FieldComponent):
     """Multilayer perceptron
 
     Args:
diff --git a/nerfstudio/fields/nerfacto_field.py b/nerfstudio/fields/nerfacto_field.py
index b3c0f6cc4..8536d398d 100644
--- a/nerfstudio/fields/nerfacto_field.py
+++ b/nerfstudio/fields/nerfacto_field.py
@@ -29,7 +29,7 @@ from nerfstudio.cameras.rays import RaySamples
 from nerfstudio.data.scene_box import SceneBox
 from nerfstudio.field_components.activations import trunc_exp
 from nerfstudio.field_components.embedding import Embedding
-from nerfstudio.field_components.encoding import Encoding, HashEncoding, SHEncoding
+from nerfstudio.field_components.encodings import Encoding, HashEncoding, SHEncoding
 from nerfstudio.field_components.field_heads import (
     DensityFieldHead,
     FieldHead,
diff --git a/nerfstudio/fields/nerfw_field.py b/nerfstudio/fields/nerfw_field.py
index 99df63a02..1b189bed6 100644
--- a/nerfstudio/fields/nerfw_field.py
+++ b/nerfstudio/fields/nerfw_field.py
@@ -22,7 +22,7 @@ from torchtyping import TensorType
 
 from nerfstudio.cameras.rays import RaySamples
 from nerfstudio.field_components.embedding import Embedding
-from nerfstudio.field_components.encoding import Encoding, Identity
+from nerfstudio.field_components.encodings import Encoding, Identity
 from nerfstudio.field_components.field_heads import (
     DensityFieldHead,
     FieldHeadNames,
diff --git a/nerfstudio/fields/semantic_nerf_field.py b/nerfstudio/fields/semantic_nerf_field.py
index b37b4f182..f897e29a3 100644
--- a/nerfstudio/fields/semantic_nerf_field.py
+++ b/nerfstudio/fields/semantic_nerf_field.py
@@ -22,7 +22,7 @@ from torch import nn
 from torchtyping import TensorType
 
 from nerfstudio.cameras.rays import RaySamples
-from nerfstudio.field_components.encoding import Encoding, Identity
+from nerfstudio.field_components.encodings import Encoding, Identity
 from nerfstudio.field_components.field_heads import (
     DensityFieldHead,
     FieldHeadNames,
diff --git a/nerfstudio/fields/nerf_field.py b/nerfstudio/fields/vanilla_nerf_field.py
similarity index 98%
rename from nerfstudio/fields/nerf_field.py
rename to nerfstudio/fields/vanilla_nerf_field.py
index 62dbf9492..228589857 100644
--- a/nerfstudio/fields/nerf_field.py
+++ b/nerfstudio/fields/vanilla_nerf_field.py
@@ -22,7 +22,7 @@ from torch import nn
 from torchtyping import TensorType
 
 from nerfstudio.cameras.rays import RaySamples
-from nerfstudio.field_components.encoding import Encoding, Identity
+from nerfstudio.field_components.encodings import Encoding, Identity
 from nerfstudio.field_components.field_heads import (
     DensityFieldHead,
     FieldHead,
diff --git a/nerfstudio/model_components/loss.py b/nerfstudio/model_components/losses.py
similarity index 73%
rename from nerfstudio/model_components/loss.py
rename to nerfstudio/model_components/losses.py
index a25c53abb..e5b28c38e 100644
--- a/nerfstudio/model_components/loss.py
+++ b/nerfstudio/model_components/losses.py
@@ -20,6 +20,8 @@ import torch
 from torch import nn
 from torchtyping import TensorType
 
+from nerfstudio.cameras.rays import RaySamples
+
 L1Loss = nn.L1Loss
 MSELoss = nn.MSELoss
 
@@ -137,3 +139,45 @@ def distortion_loss(weights_list, ray_samples_list):
     w = weights_list[-1][..., 0]
     loss = torch.mean(lossfun_distortion(c, w))
     return loss
+
+
+def nerfstudio_distortion_loss(
+    ray_samples: RaySamples,
+    densities: TensorType["bs":..., "num_samples", 1] = None,
+    weights: TensorType["bs":..., "num_samples", 1] = None,
+) -> TensorType["bs":..., 1]:
+    """Ray based distortion loss proposed in MipNeRF-360. Returns distortion Loss.
+
+    .. math::
+
+        \\mathcal{L}(\\mathbf{s}, \\mathbf{w}) =\\iint\\limits_{-\\infty}^{\\,\\,\\,\\infty}
+        \\mathbf{w}_\\mathbf{s}(u)\\mathbf{w}_\\mathbf{s}(v)|u - v|\\,d_{u}\\,d_{v}
+
+    where :math:`\\mathbf{w}_\\mathbf{s}(u)=\\sum_i w_i \\mathbb{1}_{[\\mathbf{s}_i, \\mathbf{s}_{i+1})}(u)`
+    is the weight at location :math:`u` between bin locations :math:`s_i` and :math:`s_{i+1}`.
+
+    Args:
+        ray_samples: Ray samples to compute loss over
+        densities: Predicted sample densities
+        weights: Predicted weights from densities and sample locations
+    """
+    if torch.is_tensor(densities):
+        assert not torch.is_tensor(weights), "Cannot use both densities and weights"
+        # Compute the weight at each sample location
+        weights = ray_samples.get_weights(densities)
+    if torch.is_tensor(weights):
+        assert not torch.is_tensor(densities), "Cannot use both densities and weights"
+
+    starts = ray_samples.spacing_starts
+    ends = ray_samples.spacing_ends
+
+    assert starts is not None and ends is not None, "Ray samples must have spacing starts and ends"
+    midpoints = (starts + ends) / 2.0  # (..., num_samples, 1)
+
+    loss = (
+        weights * weights[..., None, :, 0] * torch.abs(midpoints - midpoints[..., None, :, 0])
+    )  # (..., num_samples, num_samples)
+    loss = torch.sum(loss, dim=(-1, -2))[..., None]  # (..., num_samples)
+    loss = loss + 1 / 3.0 * torch.sum(weights**2 * (ends - starts), dim=-2)
+
+    return loss
diff --git a/nerfstudio/model_components/ray_generator.py b/nerfstudio/model_components/ray_generators.py
similarity index 100%
rename from nerfstudio/model_components/ray_generator.py
rename to nerfstudio/model_components/ray_generators.py
diff --git a/nerfstudio/model_components/ray_losses.py b/nerfstudio/model_components/ray_losses.py
deleted file mode 100644
index 0a7068185..000000000
--- a/nerfstudio/model_components/ray_losses.py
+++ /dev/null
@@ -1,62 +0,0 @@
-# Copyright 2022 The Plenoptix Team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Collection of Ray Losses"""
-
-import torch
-from torchtyping import TensorType
-
-from nerfstudio.cameras.rays import RaySamples
-
-
-def distortion_loss(
-    ray_samples: RaySamples,
-    densities: TensorType["bs":..., "num_samples", 1] = None,
-    weights: TensorType["bs":..., "num_samples", 1] = None,
-) -> TensorType["bs":..., 1]:
-    """Ray based distortion loss proposed in MipNeRF-360. Returns distortion Loss.
-
-    .. math::
-
-        \\mathcal{L}(\\mathbf{s}, \\mathbf{w}) =\\iint\\limits_{-\\infty}^{\\,\\,\\,\\infty}
-        \\mathbf{w}_\\mathbf{s}(u)\\mathbf{w}_\\mathbf{s}(v)|u - v|\\,d_{u}\\,d_{v}
-
-    where :math:`\\mathbf{w}_\\mathbf{s}(u)=\\sum_i w_i \\mathbb{1}_{[\\mathbf{s}_i, \\mathbf{s}_{i+1})}(u)`
-    is the weight at location :math:`u` between bin locations :math:`s_i` and :math:`s_{i+1}`.
-
-    Args:
-        ray_samples: Ray samples to compute loss over
-        densities: Predicted sample densities
-        weights: Predicted weights from densities and sample locations
-    """
-    if torch.is_tensor(densities):
-        assert not torch.is_tensor(weights), "Cannot use both densities and weights"
-        # Compute the weight at each sample location
-        weights = ray_samples.get_weights(densities)
-    if torch.is_tensor(weights):
-        assert not torch.is_tensor(densities), "Cannot use both densities and weights"
-
-    starts = ray_samples.spacing_starts
-    ends = ray_samples.spacing_ends
-
-    assert starts is not None and ends is not None, "Ray samples must have spacing starts and ends"
-    midpoints = (starts + ends) / 2.0  # (..., num_samples, 1)
-
-    loss = (
-        weights * weights[..., None, :, 0] * torch.abs(midpoints - midpoints[..., None, :, 0])
-    )  # (..., num_samples, num_samples)
-    loss = torch.sum(loss, dim=(-1, -2))[..., None]  # (..., num_samples)
-    loss = loss + 1 / 3.0 * torch.sum(weights**2 * (ends - starts), dim=-2)
-
-    return loss
diff --git a/nerfstudio/model_components/ray_sampler.py b/nerfstudio/model_components/ray_samplers.py
similarity index 100%
rename from nerfstudio/model_components/ray_sampler.py
rename to nerfstudio/model_components/ray_samplers.py
diff --git a/nerfstudio/models/base.py b/nerfstudio/models/base_model.py
similarity index 99%
rename from nerfstudio/models/base.py
rename to nerfstudio/models/base_model.py
index b8341206b..5652edfa0 100644
--- a/nerfstudio/models/base.py
+++ b/nerfstudio/models/base_model.py
@@ -31,8 +31,8 @@ from nerfstudio.cameras.rays import RayBundle
 from nerfstudio.configs.base_config import InstantiateConfig
 from nerfstudio.configs.config_utils import to_immutable_dict
 from nerfstudio.data.scene_box import SceneBox
+from nerfstudio.engine.callbacks import TrainingCallback, TrainingCallbackAttributes
 from nerfstudio.model_components.scene_colliders import NearFarCollider
-from nerfstudio.utils.callbacks import TrainingCallback, TrainingCallbackAttributes
 
 
 # Model related configs
diff --git a/nerfstudio/models/instant_ngp.py b/nerfstudio/models/instant_ngp.py
index 9e31ffaad..6889f1a23 100644
--- a/nerfstudio/models/instant_ngp.py
+++ b/nerfstudio/models/instant_ngp.py
@@ -30,22 +30,22 @@ from torchmetrics.functional import structural_similarity_index_measure
 from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity
 
 from nerfstudio.cameras.rays import RayBundle
+from nerfstudio.engine.callbacks import (
+    TrainingCallback,
+    TrainingCallbackAttributes,
+    TrainingCallbackLocation,
+)
 from nerfstudio.field_components.field_heads import FieldHeadNames
 from nerfstudio.fields.instant_ngp_field import TCNNInstantNGPField
-from nerfstudio.model_components.loss import MSELoss
-from nerfstudio.model_components.ray_sampler import VolumetricSampler
+from nerfstudio.model_components.losses import MSELoss
+from nerfstudio.model_components.ray_samplers import VolumetricSampler
 from nerfstudio.model_components.renderers import (
     AccumulationRenderer,
     DepthRenderer,
     RGBRenderer,
 )
-from nerfstudio.models.base import Model, ModelConfig
-from nerfstudio.utils import colors, visualization
-from nerfstudio.utils.callbacks import (
-    TrainingCallback,
-    TrainingCallbackAttributes,
-    TrainingCallbackLocation,
-)
+from nerfstudio.models.base_model import Model, ModelConfig
+from nerfstudio.utils import colormaps, colors
 
 
 @dataclass
@@ -223,12 +223,12 @@ class NGPModel(Model):
 
         image = batch["image"].to(self.device)
         rgb = outputs["rgb"]
-        acc = visualization.apply_colormap(outputs["accumulation"])
-        depth = visualization.apply_depth_colormap(
+        acc = colormaps.apply_colormap(outputs["accumulation"])
+        depth = colormaps.apply_depth_colormap(
             outputs["depth"],
             accumulation=outputs["accumulation"],
         )
-        alive_ray_mask = visualization.apply_colormap(outputs["alive_ray_mask"])
+        alive_ray_mask = colormaps.apply_colormap(outputs["alive_ray_mask"])
 
         combined_rgb = torch.cat([image, rgb], dim=1)
         combined_acc = torch.cat([acc], dim=1)
diff --git a/nerfstudio/models/mipnerf.py b/nerfstudio/models/mipnerf.py
index 9180af324..80659cc73 100644
--- a/nerfstudio/models/mipnerf.py
+++ b/nerfstudio/models/mipnerf.py
@@ -26,18 +26,18 @@ from torchmetrics.functional import structural_similarity_index_measure
 from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity
 
 from nerfstudio.cameras.rays import RayBundle
-from nerfstudio.field_components.encoding import NeRFEncoding
+from nerfstudio.field_components.encodings import NeRFEncoding
 from nerfstudio.field_components.field_heads import FieldHeadNames
-from nerfstudio.fields.nerf_field import NeRFField
-from nerfstudio.model_components.loss import MSELoss
-from nerfstudio.model_components.ray_sampler import PDFSampler, UniformSampler
+from nerfstudio.fields.vanilla_nerf_field import NeRFField
+from nerfstudio.model_components.losses import MSELoss
+from nerfstudio.model_components.ray_samplers import PDFSampler, UniformSampler
 from nerfstudio.model_components.renderers import (
     AccumulationRenderer,
     DepthRenderer,
     RGBRenderer,
 )
-from nerfstudio.models.base import Model, ModelConfig
-from nerfstudio.utils import colors, misc, visualization
+from nerfstudio.models.base_model import Model, ModelConfig
+from nerfstudio.utils import colormaps, colors, misc
 
 
 class MipNerfModel(Model):
@@ -150,15 +150,15 @@ class MipNerfModel(Model):
         image = batch["image"].to(outputs["rgb_coarse"].device)
         rgb_coarse = outputs["rgb_coarse"]
         rgb_fine = outputs["rgb_fine"]
-        acc_coarse = visualization.apply_colormap(outputs["accumulation_coarse"])
-        acc_fine = visualization.apply_colormap(outputs["accumulation_fine"])
-        depth_coarse = visualization.apply_depth_colormap(
+        acc_coarse = colormaps.apply_colormap(outputs["accumulation_coarse"])
+        acc_fine = colormaps.apply_colormap(outputs["accumulation_fine"])
+        depth_coarse = colormaps.apply_depth_colormap(
             outputs["depth_coarse"],
             accumulation=outputs["accumulation_coarse"],
             near_plane=self.config.collider_params["near_plane"],
             far_plane=self.config.collider_params["far_plane"],
         )
-        depth_fine = visualization.apply_depth_colormap(
+        depth_fine = colormaps.apply_depth_colormap(
             outputs["depth_fine"],
             accumulation=outputs["accumulation_fine"],
             near_plane=self.config.collider_params["near_plane"],
diff --git a/nerfstudio/models/mipnerf_360.py b/nerfstudio/models/mipnerf_360.py
index 8455ad1ee..6b99ed1eb 100644
--- a/nerfstudio/models/mipnerf_360.py
+++ b/nerfstudio/models/mipnerf_360.py
@@ -27,20 +27,19 @@ from torchmetrics.functional import structural_similarity_index_measure
 from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity
 
 from nerfstudio.cameras.rays import RayBundle
-from nerfstudio.field_components.encoding import NeRFEncoding
+from nerfstudio.field_components.encodings import NeRFEncoding
 from nerfstudio.field_components.field_heads import FieldHeadNames
 from nerfstudio.field_components.spatial_distortions import SceneContraction
-from nerfstudio.fields.nerf_field import NeRFField
-from nerfstudio.model_components.loss import MSELoss
-from nerfstudio.model_components.ray_losses import distortion_loss
-from nerfstudio.model_components.ray_sampler import PDFSampler, UniformSampler
+from nerfstudio.fields.vanilla_nerf_field import NeRFField
+from nerfstudio.model_components.losses import MSELoss, distortion_loss
+from nerfstudio.model_components.ray_samplers import PDFSampler, UniformSampler
 from nerfstudio.model_components.renderers import (
     AccumulationRenderer,
     DepthRenderer,
     RGBRenderer,
 )
-from nerfstudio.models.base import Model, ModelConfig
-from nerfstudio.utils import colors, misc, visualization
+from nerfstudio.models.base_model import Model, ModelConfig
+from nerfstudio.utils import colormaps, colors, misc
 
 
 class MipNerf360Model(Model):
@@ -165,15 +164,15 @@ class MipNerf360Model(Model):
         image = batch["image"].to(outputs["rgb_coarse"].device)
         rgb_coarse = outputs["rgb_coarse"]
         rgb_fine = outputs["rgb_fine"]
-        acc_coarse = visualization.apply_colormap(outputs["accumulation_coarse"])
-        acc_fine = visualization.apply_colormap(outputs["accumulation_fine"])
-        depth_coarse = visualization.apply_depth_colormap(
+        acc_coarse = colormaps.apply_colormap(outputs["accumulation_coarse"])
+        acc_fine = colormaps.apply_colormap(outputs["accumulation_fine"])
+        depth_coarse = colormaps.apply_depth_colormap(
             outputs["depth_coarse"],
             accumulation=outputs["accumulation_coarse"],
             near_plane=self.config.collider_params["near_plane"],
             far_plane=self.config.collider_params["far_plane"],
         )
-        depth_fine = visualization.apply_depth_colormap(
+        depth_fine = colormaps.apply_depth_colormap(
             outputs["depth_fine"],
             accumulation=outputs["accumulation_fine"],
             near_plane=self.config.collider_params["near_plane"],
diff --git a/nerfstudio/models/nerfacto.py b/nerfstudio/models/nerfacto.py
index 43bde0238..b9cce1fba 100644
--- a/nerfstudio/models/nerfacto.py
+++ b/nerfstudio/models/nerfacto.py
@@ -29,25 +29,25 @@ from torchmetrics.functional import structural_similarity_index_measure
 from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity
 
 from nerfstudio.cameras.rays import RayBundle
+from nerfstudio.engine.callbacks import (
+    TrainingCallback,
+    TrainingCallbackAttributes,
+    TrainingCallbackLocation,
+)
 from nerfstudio.field_components.field_heads import FieldHeadNames
 from nerfstudio.field_components.spatial_distortions import SceneContraction
 from nerfstudio.fields.density_fields import HashMLPDensityField
 from nerfstudio.fields.nerfacto_field import TCNNNerfactoField
-from nerfstudio.model_components.loss import MSELoss, distortion_loss, interlevel_loss
-from nerfstudio.model_components.ray_sampler import ProposalNetworkSampler
+from nerfstudio.model_components.losses import MSELoss, distortion_loss, interlevel_loss
+from nerfstudio.model_components.ray_samplers import ProposalNetworkSampler
 from nerfstudio.model_components.renderers import (
     AccumulationRenderer,
     DepthRenderer,
     RGBRenderer,
 )
 from nerfstudio.model_components.scene_colliders import NearFarCollider
-from nerfstudio.models.base import Model, ModelConfig
-from nerfstudio.utils import colors, visualization
-from nerfstudio.utils.callbacks import (
-    TrainingCallback,
-    TrainingCallbackAttributes,
-    TrainingCallbackLocation,
-)
+from nerfstudio.models.base_model import Model, ModelConfig
+from nerfstudio.utils import colormaps, colors
 
 
 @dataclass
@@ -224,8 +224,8 @@ class NerfactoModel(Model):
 
         image = batch["image"].to(self.device)
         rgb = outputs["rgb"]
-        acc = visualization.apply_colormap(outputs["accumulation"])
-        depth = visualization.apply_depth_colormap(
+        acc = colormaps.apply_colormap(outputs["accumulation"])
+        depth = colormaps.apply_depth_colormap(
             outputs["depth"],
             accumulation=outputs["accumulation"],
         )
@@ -250,7 +250,7 @@ class NerfactoModel(Model):
 
         for i in range(self.config.num_proposal_network_iterations):
             key = f"prop_depth_{i}"
-            prop_depth_i = visualization.apply_depth_colormap(
+            prop_depth_i = colormaps.apply_depth_colormap(
                 outputs[key],
                 accumulation=outputs["accumulation"],
             )
diff --git a/nerfstudio/models/nerfw.py b/nerfstudio/models/nerfw.py
index caa60c91b..196301af3 100644
--- a/nerfstudio/models/nerfw.py
+++ b/nerfstudio/models/nerfw.py
@@ -28,12 +28,12 @@ from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity
 
 from nerfstudio.cameras.rays import RayBundle
 from nerfstudio.configs.config_utils import to_immutable_dict
-from nerfstudio.field_components.encoding import NeRFEncoding
+from nerfstudio.field_components.encodings import NeRFEncoding
 from nerfstudio.field_components.field_heads import FieldHeadNames
-from nerfstudio.fields.nerf_field import NeRFField
 from nerfstudio.fields.nerfw_field import VanillaNerfWField
-from nerfstudio.model_components.loss import MSELoss
-from nerfstudio.model_components.ray_sampler import PDFSampler, UniformSampler
+from nerfstudio.fields.vanilla_nerf_field import NeRFField
+from nerfstudio.model_components.losses import MSELoss
+from nerfstudio.model_components.ray_samplers import PDFSampler, UniformSampler
 from nerfstudio.model_components.renderers import (
     AccumulationRenderer,
     DepthRenderer,
@@ -41,8 +41,8 @@ from nerfstudio.model_components.renderers import (
     UncertaintyRenderer,
 )
 from nerfstudio.model_components.scene_colliders import AABBBoxCollider
-from nerfstudio.models.base import Model, VanillaModelConfig
-from nerfstudio.utils import colors, misc, visualization
+from nerfstudio.models.base_model import Model, VanillaModelConfig
+from nerfstudio.utils import colormaps, colors, misc
 
 
 @dataclass
@@ -255,10 +255,10 @@ class NerfWModel(Model):
         depth_fine_static = outputs["depth_fine_static"]
         uncertainty = outputs["uncertainty"]
 
-        depth_coarse = visualization.apply_depth_colormap(depth_coarse)
-        depth_fine = visualization.apply_depth_colormap(depth_fine)
-        depth_fine_static = visualization.apply_depth_colormap(depth_fine_static)
-        uncertainty = visualization.apply_depth_colormap(uncertainty)
+        depth_coarse = colormaps.apply_depth_colormap(depth_coarse)
+        depth_fine = colormaps.apply_depth_colormap(depth_fine)
+        depth_fine_static = colormaps.apply_depth_colormap(depth_fine_static)
+        uncertainty = colormaps.apply_depth_colormap(uncertainty)
 
         row0 = torch.cat([image, uncertainty, torch.ones_like(rgb_fine)], dim=-2)
         row1 = torch.cat([rgb_fine, rgb_fine_static, rgb_coarse], dim=-2)
diff --git a/nerfstudio/models/semantic_nerf.py b/nerfstudio/models/semantic_nerf.py
index d8c145b42..ffa8c22fc 100644
--- a/nerfstudio/models/semantic_nerf.py
+++ b/nerfstudio/models/semantic_nerf.py
@@ -24,13 +24,13 @@ from torch import nn
 
 from nerfstudio.cameras.rays import RayBundle
 from nerfstudio.data.dataparsers.base_dataparser import Semantics
-from nerfstudio.field_components.encoding import NeRFEncoding
+from nerfstudio.field_components.encodings import NeRFEncoding
 from nerfstudio.field_components.field_heads import FieldHeadNames
-from nerfstudio.fields.nerf_field import NeRFField
 from nerfstudio.fields.semantic_nerf_field import SemanticNerfField
+from nerfstudio.fields.vanilla_nerf_field import NeRFField
 from nerfstudio.model_components.renderers import SemanticRenderer
 from nerfstudio.model_components.scene_colliders import AABBBoxCollider
-from nerfstudio.models.base import ModelConfig
+from nerfstudio.models.base_model import ModelConfig
 from nerfstudio.models.vanilla_nerf import NeRFModel
 from nerfstudio.utils import misc
 
diff --git a/nerfstudio/models/tensorf.py b/nerfstudio/models/tensorf.py
index 56a994a7f..7c0999a6a 100644
--- a/nerfstudio/models/tensorf.py
+++ b/nerfstudio/models/tensorf.py
@@ -30,24 +30,24 @@ from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity
 
 from nerfstudio.cameras.rays import RayBundle
 from nerfstudio.configs.config_utils import to_immutable_dict
+from nerfstudio.engine.callbacks import (
+    TrainingCallback,
+    TrainingCallbackAttributes,
+    TrainingCallbackLocation,
+)
 from nerfstudio.engine.optimizers import Optimizers
-from nerfstudio.field_components.encoding import TensorVMEncoding
+from nerfstudio.field_components.encodings import TensorVMEncoding
 from nerfstudio.field_components.field_heads import FieldHeadNames
-from nerfstudio.fields.nerf_field import NeRFField
-from nerfstudio.model_components.loss import L1Loss, MSELoss
-from nerfstudio.model_components.ray_sampler import PDFSampler, UniformSampler
+from nerfstudio.fields.vanilla_nerf_field import NeRFField
+from nerfstudio.model_components.losses import L1Loss, MSELoss
+from nerfstudio.model_components.ray_samplers import PDFSampler, UniformSampler
 from nerfstudio.model_components.renderers import (
     AccumulationRenderer,
     DepthRenderer,
     RGBRenderer,
 )
-from nerfstudio.models.base import Model, VanillaModelConfig
-from nerfstudio.utils import colors, misc, visualization
-from nerfstudio.utils.callbacks import (
-    TrainingCallback,
-    TrainingCallbackAttributes,
-    TrainingCallbackLocation,
-)
+from nerfstudio.models.base_model import Model, VanillaModelConfig
+from nerfstudio.utils import colormaps, colors, misc
 
 
 @dataclass
@@ -215,8 +215,8 @@ class TensoRFModel(Model):
     ) -> Tuple[Dict[str, float], Dict[str, torch.Tensor]]:
         image = batch["image"].to(outputs["rgb"].device)
         rgb = outputs["rgb"]
-        acc = visualization.apply_colormap(outputs["accumulation"])
-        depth = visualization.apply_depth_colormap(
+        acc = colormaps.apply_colormap(outputs["accumulation"])
+        depth = colormaps.apply_depth_colormap(
             outputs["depth"],
             accumulation=outputs["accumulation"],
             near_plane=self.config.collider_params["near_plane"],
diff --git a/nerfstudio/models/vanilla_nerf.py b/nerfstudio/models/vanilla_nerf.py
index 1b02e3e2d..6e4aab15b 100644
--- a/nerfstudio/models/vanilla_nerf.py
+++ b/nerfstudio/models/vanilla_nerf.py
@@ -27,18 +27,18 @@ from torchmetrics.functional import structural_similarity_index_measure
 from torchmetrics.image.lpip import LearnedPerceptualImagePatchSimilarity
 
 from nerfstudio.cameras.rays import RayBundle
-from nerfstudio.field_components.encoding import NeRFEncoding
+from nerfstudio.field_components.encodings import NeRFEncoding
 from nerfstudio.field_components.field_heads import FieldHeadNames
-from nerfstudio.fields.nerf_field import NeRFField
-from nerfstudio.model_components.loss import MSELoss
-from nerfstudio.model_components.ray_sampler import PDFSampler, UniformSampler
+from nerfstudio.fields.vanilla_nerf_field import NeRFField
+from nerfstudio.model_components.losses import MSELoss
+from nerfstudio.model_components.ray_samplers import PDFSampler, UniformSampler
 from nerfstudio.model_components.renderers import (
     AccumulationRenderer,
     DepthRenderer,
     RGBRenderer,
 )
-from nerfstudio.models.base import Model, ModelConfig
-from nerfstudio.utils import colors, misc, visualization
+from nerfstudio.models.base_model import Model, ModelConfig
+from nerfstudio.utils import colormaps, colors, misc
 
 
 class NeRFModel(Model):
@@ -159,15 +159,15 @@ class NeRFModel(Model):
         image = batch["image"].to(outputs["rgb_coarse"].device)
         rgb_coarse = outputs["rgb_coarse"]
         rgb_fine = outputs["rgb_fine"]
-        acc_coarse = visualization.apply_colormap(outputs["accumulation_coarse"])
-        acc_fine = visualization.apply_colormap(outputs["accumulation_fine"])
-        depth_coarse = visualization.apply_depth_colormap(
+        acc_coarse = colormaps.apply_colormap(outputs["accumulation_coarse"])
+        acc_fine = colormaps.apply_colormap(outputs["accumulation_fine"])
+        depth_coarse = colormaps.apply_depth_colormap(
             outputs["depth_coarse"],
             accumulation=outputs["accumulation_coarse"],
             near_plane=self.config.collider_params["near_plane"],
             far_plane=self.config.collider_params["far_plane"],
         )
-        depth_fine = visualization.apply_depth_colormap(
+        depth_fine = colormaps.apply_depth_colormap(
             outputs["depth_fine"],
             accumulation=outputs["accumulation_fine"],
             near_plane=self.config.collider_params["near_plane"],
diff --git a/nerfstudio/pipelines/base.py b/nerfstudio/pipelines/base_pipeline.py
similarity index 99%
rename from nerfstudio/pipelines/base.py
rename to nerfstudio/pipelines/base_pipeline.py
index d962f3f08..0992a866d 100644
--- a/nerfstudio/pipelines/base.py
+++ b/nerfstudio/pipelines/base_pipeline.py
@@ -42,9 +42,9 @@ from nerfstudio.data.datamanagers import (
     VanillaDataManager,
     VanillaDataManagerConfig,
 )
-from nerfstudio.models.base import Model, ModelConfig
+from nerfstudio.engine.callbacks import TrainingCallback, TrainingCallbackAttributes
+from nerfstudio.models.base_model import Model, ModelConfig
 from nerfstudio.utils import profiler
-from nerfstudio.utils.callbacks import TrainingCallback, TrainingCallbackAttributes
 from nerfstudio.utils.misc import get_masked_dict
 
 
diff --git a/nerfstudio/pipelines/dynamic_batch.py b/nerfstudio/pipelines/dynamic_batch.py
index c76e6b7d0..3396412dd 100644
--- a/nerfstudio/pipelines/dynamic_batch.py
+++ b/nerfstudio/pipelines/dynamic_batch.py
@@ -22,7 +22,7 @@ from typing import Type
 import torch
 
 from nerfstudio.data.datamanagers import VanillaDataManager
-from nerfstudio.pipelines.base import VanillaPipeline, VanillaPipelineConfig
+from nerfstudio.pipelines.base_pipeline import VanillaPipeline, VanillaPipelineConfig
 
 
 @dataclass
diff --git a/nerfstudio/pipelines/pixel_nerf.py b/nerfstudio/pipelines/pixel_nerf.py
deleted file mode 100644
index 774e9a5ad..000000000
--- a/nerfstudio/pipelines/pixel_nerf.py
+++ /dev/null
@@ -1,17 +0,0 @@
-# Copyright 2022 The Plenoptix Team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""
-Pipeline for pixel nerf.
-"""
diff --git a/nerfstudio/utils/visualization.py b/nerfstudio/utils/colormaps.py
similarity index 100%
rename from nerfstudio/utils/visualization.py
rename to nerfstudio/utils/colormaps.py
diff --git a/nerfstudio/utils/io.py b/nerfstudio/utils/io.py
index 0cf93579d..e46abeaad 100644
--- a/nerfstudio/utils/io.py
+++ b/nerfstudio/utils/io.py
@@ -15,10 +15,9 @@
 """
 Input/output utils.
 """
+
 import json
-import pickle
 from pathlib import Path
-from typing import Any
 
 
 def load_from_json(filename: Path):
@@ -42,26 +41,3 @@ def write_to_json(filename: Path, content: dict):
     assert filename.suffix == ".json"
     with open(filename, "w", encoding="UTF-8") as file:
         json.dump(content, file)
-
-
-def load_from_pkl(filename: Path):
-    """Load from a pickle file.
-
-    Args:
-        filename: The filename to load from.
-    """
-    assert filename.suffix == ".pkl"
-    with open(filename, "rb") as f:
-        return pickle.load(f)
-
-
-def write_to_pkl(filename: Path, content: Any):
-    """Write to a pickle file.
-
-    Args:
-        filename (str): The filename to write to.
-        content (Any): The data to write.
-    """
-    assert filename.suffix == ".pkl"
-    with open(filename, "wb") as f:
-        pickle.dump(content, f)
diff --git a/nerfstudio/utils/misc.py b/nerfstudio/utils/misc.py
index 5abd850cd..6209e4783 100644
--- a/nerfstudio/utils/misc.py
+++ b/nerfstudio/utils/misc.py
@@ -16,9 +16,6 @@
 Miscellaneous helper code.
 """
 
-import hashlib
-import json
-from math import floor, log
 from typing import Any, Callable, Dict, List, Optional, Union
 
 import torch
@@ -59,11 +56,6 @@ def get_dict_to_cpu(stuff: Any):
     return stuff
 
 
-def is_not_none(var: Any) -> bool:
-    """Return True if the variable var is None."""
-    return not isinstance(var, type(None))
-
-
 def get_masked_dict(d, mask):
     """Return a masked dictionary.
     TODO(ethan): add more asserts/checks so this doesn't have unpredictable behavior.
@@ -78,19 +70,6 @@ def get_masked_dict(d, mask):
     return masked_dict
 
 
-def get_hash_str_from_dict(dictionary: Dict[str, Any]) -> str:
-    """MD5 hash of a dictionary. Based on
-    https://www.doc.ic.ac.uk/~nuric/coding/how-to-hash-a-dictionary-in-python.html
-
-    Args:
-        dictionary: dict to process
-    """
-    dhash = hashlib.md5()
-    encoded = json.dumps(dictionary, sort_keys=True).encode()
-    dhash.update(encoded)
-    return dhash.hexdigest()
-
-
 class IterableWrapper:  # pylint: disable=too-few-public-methods
     """A helper that will allow an instance of a class to return multiple kinds of iterables bound
     to different functions of that class.
@@ -133,18 +112,6 @@ class IterableWrapper:  # pylint: disable=too-few-public-methods
         return self
 
 
-def human_format(num):
-    """Format a number in a more human readable way
-
-    Args:
-        num: number to format
-    """
-    units = ["", "K", "M", "B", "T", "P"]
-    k = 1000.0
-    magnitude = int(floor(log(num, k)))
-    return f"{(num / k**magnitude):.2f} {units[magnitude]}"
-
-
 def scale_dict(dictionary: Dict[Any, Any], coefficients: Dict[str, float]) -> Dict[Any, Any]:
     """Scale a dictionary in-place given a coefficients dictionary.
 
@@ -168,7 +135,7 @@ def step_check(step, step_size, run_at_zero=False) -> bool:
     return (run_at_zero or step != 0) and step % step_size == 0
 
 
-def _update_avg(prev_avg: float, new_val: float, step: int) -> float:
+def update_avg(prev_avg: float, new_val: float, step: int) -> float:
     """helper to calculate the running average
 
     Args:
diff --git a/nerfstudio/utils/plotly.py b/nerfstudio/utils/plotly_utils.py
similarity index 100%
rename from nerfstudio/utils/plotly.py
rename to nerfstudio/utils/plotly_utils.py
diff --git a/nerfstudio/utils/comments.py b/nerfstudio/utils/printing.py
similarity index 80%
rename from nerfstudio/utils/comments.py
rename to nerfstudio/utils/printing.py
index 8291de25c..0b4e63848 100644
--- a/nerfstudio/utils/comments.py
+++ b/nerfstudio/utils/printing.py
@@ -14,6 +14,8 @@
 
 """A collection of common strings and print statements used throughout the codebase."""
 
+from math import floor, log
+
 from rich.console import Console
 
 console = Console(width=120)
@@ -29,3 +31,15 @@ def print_tcnn_speed_warning(method_name: str):
     )
     console.print("[yellow]pip install git+https://github.com/NVlabs/tiny-cuda-nn/#subdirectory=bindings/torch")
     console.line()
+
+
+def human_format(num):
+    """Format a number in a more human readable way
+
+    Args:
+        num: number to format
+    """
+    units = ["", "K", "M", "B", "T", "P"]
+    k = 1000.0
+    magnitude = int(floor(log(num, k)))
+    return f"{(num / k**magnitude):.2f} {units[magnitude]}"
diff --git a/nerfstudio/utils/writer.py b/nerfstudio/utils/writer.py
index d0cf71713..d781263bf 100644
--- a/nerfstudio/utils/writer.py
+++ b/nerfstudio/utils/writer.py
@@ -32,7 +32,7 @@ from torchtyping import TensorType
 
 from nerfstudio.configs import base_config as cfg
 from nerfstudio.utils.decorators import check_main_thread, decorate_all
-from nerfstudio.utils.misc import human_format
+from nerfstudio.utils.printing import human_format
 
 CONSOLE = console.Console()
 
diff --git a/nerfstudio/viewer/app/src/modules/LandingModal/LandingModal.jsx b/nerfstudio/viewer/app/src/modules/LandingModal/LandingModal.jsx
index 1372f6bd7..ce4001125 100644
--- a/nerfstudio/viewer/app/src/modules/LandingModal/LandingModal.jsx
+++ b/nerfstudio/viewer/app/src/modules/LandingModal/LandingModal.jsx
@@ -57,7 +57,7 @@ export default function LandingModel(props: LandingModalProps) {
   const handleOpen = () => setOpen(true);
   const handleClose = () => setOpen(false);
 
-  const text_intro = `At the top right is the Status Panel where you can connect to a WebSocket and see the train/eval status of your NeRF model. The WebSocket Port takes the form <domain-or-ip_address>:<port>.`;
+  const text_intro = `To use our viewer, you need to connect to the WebSocket server where your training job is running.`;
 
   const websocket_port = useSelector(
     (state) => state.websocketState.websocket_port,
diff --git a/nerfstudio/viewer/server/subprocess.py b/nerfstudio/viewer/server/subprocess.py
index 64e0134de..6d902ba28 100644
--- a/nerfstudio/viewer/server/subprocess.py
+++ b/nerfstudio/viewer/server/subprocess.py
@@ -84,7 +84,7 @@ def run_viewer_bridge_server_as_subprocess(
             "You likely have to modify --viewer.zmq-port and/or --viewer.websocket-port in the "
             "config to avoid conflicting ports.\n"
         )
-        string += "Try modifying --viewer.zmq-port 6000 --viewer.websocket-port 7007\n"
+        string += "Try modifying --viewer.websocket-port 7007\n"
         CONSOLE.print(f"[bold red]{string}")
         cleanup(process)
         # This exists the entire program. sys.exit() will only kill the thread that this runs in.
diff --git a/nerfstudio/viewer/server/viewer_utils.py b/nerfstudio/viewer/server/viewer_utils.py
index 9c3c24ecc..6a6446f04 100644
--- a/nerfstudio/viewer/server/viewer_utils.py
+++ b/nerfstudio/viewer/server/viewer_utils.py
@@ -32,8 +32,8 @@ from nerfstudio.cameras.cameras import Cameras
 from nerfstudio.cameras.rays import RayBundle
 from nerfstudio.configs import base_config as cfg
 from nerfstudio.data.utils.datasets import InputDataset
-from nerfstudio.models.base import Model
-from nerfstudio.utils import profiler, visualization, writer
+from nerfstudio.models.base_model import Model
+from nerfstudio.utils import colormaps, profiler, writer
 from nerfstudio.utils.decorators import check_main_thread, decorate_all
 from nerfstudio.utils.io import load_from_json, write_to_json
 from nerfstudio.utils.misc import get_dict_to_torch
@@ -407,15 +407,13 @@ class ViewerState:
                 if OutputTypes.ACCUMULATION in self.output_list
                 else OutputTypes.ACCUMULATION_FINE
             )
-            return visualization.apply_depth_colormap(
-                outputs[reformatted_output], accumulation=outputs[accumulation_str]
-            )
+            return colormaps.apply_depth_colormap(outputs[reformatted_output], accumulation=outputs[accumulation_str])
 
         # rendering accumulation outputs
         if self.prev_colormap_type == ColormapTypes.TURBO or (
             self.prev_colormap_type == ColormapTypes.DEFAULT and outputs[reformatted_output].dtype == torch.float
         ):
-            return visualization.apply_colormap(outputs[reformatted_output])
+            return colormaps.apply_colormap(outputs[reformatted_output])
 
         # rendering semantic outputs
         if self.prev_colormap_type == ColormapTypes.SEMANTIC or (
@@ -430,7 +428,7 @@ class ViewerState:
         if self.prev_colormap_type == ColormapTypes.BOOLEAN or (
             self.prev_colormap_type == ColormapTypes.DEFAULT and outputs[reformatted_output].dtype == torch.bool
         ):
-            return visualization.apply_boolean_colormap(outputs[reformatted_output])
+            return colormaps.apply_boolean_colormap(outputs[reformatted_output])
 
         raise NotImplementedError
 
diff --git a/scripts/eval.py b/scripts/eval.py
index 098740556..bceffdb0b 100755
--- a/scripts/eval.py
+++ b/scripts/eval.py
@@ -29,7 +29,7 @@ from typing_extensions import assert_never
 from nerfstudio.cameras.camera_paths import get_path_from_json, get_spiral_path
 from nerfstudio.cameras.cameras import Cameras
 from nerfstudio.configs import base_config as cfg
-from nerfstudio.pipelines.base import Pipeline
+from nerfstudio.pipelines.base_pipeline import Pipeline
 from nerfstudio.utils.rich_utils import ItersPerSecColumn
 
 console = Console(width=120)
diff --git a/tests/field_components/test_encodings.py b/tests/field_components/test_encodings.py
index fe79f7799..271adddc9 100644
--- a/tests/field_components/test_encodings.py
+++ b/tests/field_components/test_encodings.py
@@ -4,7 +4,7 @@ Encoding Tests
 import pytest
 import torch
 
-from nerfstudio.field_components import encoding
+from nerfstudio.field_components import encodings
 
 
 def test_scaling_and_offset():
@@ -14,7 +14,7 @@ def test_scaling_and_offset():
 
     scaling = 2.0
     offset = 4.5
-    encoder = encoding.ScalingAndOffset(in_dim=in_dim, scaling=scaling, offset=offset)
+    encoder = encodings.ScalingAndOffset(in_dim=in_dim, scaling=scaling, offset=offset)
 
     assert encoder.get_out_dim() == in_dim
     encoded = encoder(in_tensor)
@@ -22,7 +22,7 @@ def test_scaling_and_offset():
     assert in_tensor * 6.5 == pytest.approx(encoded)
 
     with pytest.raises(ValueError):
-        encoding.ScalingAndOffset(in_dim=-1)
+        encodings.ScalingAndOffset(in_dim=-1)
 
 
 def test_nerf_encoder():
@@ -34,7 +34,7 @@ def test_nerf_encoder():
     num_frequencies = 3
     min_freq_exp = 0
     max_freq_exp = 3
-    encoder = encoding.NeRFEncoding(
+    encoder = encodings.NeRFEncoding(
         in_dim=in_dim, num_frequencies=num_frequencies, min_freq_exp=min_freq_exp, max_freq_exp=max_freq_exp
     )
     assert encoder.get_out_dim() == out_dim
@@ -62,7 +62,7 @@ def test_rff_encoder():
 
     num_frequencies = 12
     scale = 5
-    encoder = encoding.RFFEncoding(in_dim=in_dim, num_frequencies=num_frequencies, scale=scale)
+    encoder = encodings.RFFEncoding(in_dim=in_dim, num_frequencies=num_frequencies, scale=scale)
     assert encoder.get_out_dim() == out_dim
 
     in_tensor = torch.ones((2, 3, in_dim))
@@ -83,7 +83,7 @@ def test_tensor_vm_encoder():
     in_dim = 3
     out_dim = 3 * num_components
 
-    encoder = encoding.TensorVMEncoding(num_components=num_components, resolution=resolution)
+    encoder = encodings.TensorVMEncoding(num_components=num_components, resolution=resolution)
     assert encoder.get_out_dim() == out_dim
 
     in_tensor = torch.ones((3, in_dim))
@@ -107,7 +107,7 @@ def test_tensor_cp_encoder():
     in_dim = 3
     out_dim = num_components
 
-    encoder = encoding.TensorCPEncoding(num_components=num_components, resolution=resolution)
+    encoder = encodings.TensorCPEncoding(num_components=num_components, resolution=resolution)
     assert encoder.get_out_dim() == out_dim
 
     in_tensor = torch.ones((3, in_dim))
@@ -128,9 +128,9 @@ def test_tensor_sh_encoder():
     out_dim = levels**2
 
     with pytest.raises(ValueError):
-        encoder = encoding.SHEncoding(levels=5)
+        encoder = encodings.SHEncoding(levels=5)
 
-    encoder = encoding.SHEncoding(levels=levels)
+    encoder = encodings.SHEncoding(levels=levels)
     assert encoder.get_out_dim() == out_dim
 
     in_tensor = torch.zeros((10, 3))
@@ -146,7 +146,7 @@ def test_tensor_hash_encoder():
     features_per_level = 4
     out_dim = num_levels * features_per_level
 
-    encoder = encoding.HashEncoding(
+    encoder = encodings.HashEncoding(
         num_levels=num_levels,
         features_per_level=features_per_level,
         log2_hashmap_size=5,
@@ -159,7 +159,7 @@ def test_tensor_hash_encoder():
     encoded = encoder(in_tensor)
     assert encoded.shape == (10, out_dim)
 
-    encoder = encoding.HashEncoding(
+    encoder = encodings.HashEncoding(
         num_levels=num_levels,
         features_per_level=features_per_level,
         log2_hashmap_size=5,
diff --git a/tests/model_components/test_ray_sampler.py b/tests/model_components/test_ray_sampler.py
index 577334421..55db613b9 100644
--- a/tests/model_components/test_ray_sampler.py
+++ b/tests/model_components/test_ray_sampler.py
@@ -5,7 +5,7 @@ Test samplers
 import torch
 
 from nerfstudio.cameras.rays import RayBundle
-from nerfstudio.model_components.ray_sampler import (
+from nerfstudio.model_components.ray_samplers import (
     LinearDisparitySampler,
     LogSampler,
     PDFSampler,
diff --git a/tests/utils/test_visualization.py b/tests/utils/test_visualization.py
index 39fbcc4d2..824722f2d 100644
--- a/tests/utils/test_visualization.py
+++ b/tests/utils/test_visualization.py
@@ -1,15 +1,15 @@
 """
-Test visualizations
+Test colormaps
 """
 import torch
 
-from nerfstudio.utils import visualization
+from nerfstudio.utils import colormaps
 
 
 def test_apply_colormap():
     """Test adding a colormap to data"""
     data = torch.rand((10, 20, 1))
-    colored_data = visualization.apply_colormap(data)
+    colored_data = colormaps.apply_colormap(data)
 
     assert colored_data.shape == (10, 20, 3)
     assert torch.min(colored_data) >= 0
@@ -21,7 +21,7 @@ def test_apply_depth_colormap():
     data = torch.rand((10, 20, 1))
     accum = torch.rand((10, 20, 1))
     accum = accum / torch.max(accum)
-    colored_data = visualization.apply_depth_colormap(depth=data, accumulation=accum)
+    colored_data = colormaps.apply_depth_colormap(depth=data, accumulation=accum)
 
     assert colored_data.shape == (10, 20, 3)
     assert torch.min(colored_data) >= 0
@@ -32,7 +32,7 @@ def test_apply_boolean_colormap():
     """Test adding a colormap to boolean data"""
     data = torch.rand((10, 20, 1))
     data = data > 0.5
-    colored_data = visualization.apply_boolean_colormap(data)
+    colored_data = colormaps.apply_boolean_colormap(data)
 
     assert colored_data.shape == (10, 20, 3)
     assert torch.min(colored_data) >= 0