diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6072972e..dd87e494 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,10 @@
 - Updated README for pytorch 1.8.1 support
 - Use custom `gpu_storage` instead of thrust vector for faster constructors
 - pytorch installation instruction updates
+- fix transpose kernel map with `kernel_size == stride_size`
+- Update reconstruction and vae examples for v0.5 API
+- `stack_unet.py` example, API updates
+- `MinkowskiToFeature` layer
 
 ## [0.5.2]
 
diff --git a/MinkowskiEngine/MinkowskiOps.py b/MinkowskiEngine/MinkowskiOps.py
index 39ce41ce..7a39d58f 100644
--- a/MinkowskiEngine/MinkowskiOps.py
+++ b/MinkowskiEngine/MinkowskiOps.py
@@ -457,6 +457,26 @@ def __repr__(self):
         return self.__class__.__name__ + "()"
 
 
+class MinkowskiToFeature(MinkowskiModuleBase):
+    r"""
+    Extract features from a sparse tensor and returns a pytorch tensor.
+
+    Can be used to to make a network construction simpler.
+
+    Example::
+
+       >>> net = nn.Sequential(MinkowskiConvolution(...), MinkowskiGlobalMaxPooling(...), MinkowskiToFeature(), nn.Linear(...))
+       >>> torch_tensor = net(sparse_tensor)
+
+    """
+
+    def forward(self, x: SparseTensor):
+        assert isinstance(
+            x, (SparseTensor, TensorField)
+        ), "Invalid input type for MinkowskiToFeature"
+        return x.F
+
+
 class MinkowskiStackCat(torch.nn.Sequential):
     def forward(self, x):
         return cat([module(x) for module in self])
diff --git a/MinkowskiEngine/__init__.py b/MinkowskiEngine/__init__.py
index 8a734d82..4b404250 100644
--- a/MinkowskiEngine/__init__.py
+++ b/MinkowskiEngine/__init__.py
@@ -22,7 +22,7 @@
 # Please cite "4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural
 # Networks", CVPR'19 (https://arxiv.org/abs/1904.08755) if you use any part
 # of the code.
-__version__ = "0.5.2"
+__version__ = "0.5.3"
 
 import os
 import sys
@@ -189,6 +189,7 @@
     MinkowskiLinear,
     MinkowskiToSparseTensor,
     MinkowskiToDenseTensor,
+    MinkowskiToFeature,
     MinkowskiStackCat,
     MinkowskiStackSum,
     MinkowskiStackMean,
diff --git a/docs/utils.rst b/docs/utils.rst
index 871cf650..f187289e 100644
--- a/docs/utils.rst
+++ b/docs/utils.rst
@@ -68,3 +68,51 @@ MinkowskiToDenseTensor
 .. autoclass:: MinkowskiEngine.MinkowskiToDenseTensor
 
     .. automethod:: __init__
+
+
+MinkowskiToFeature
+------------------
+
+.. autoclass:: MinkowskiEngine.MinkowskiToFeature
+
+    .. automethod:: __init__
+
+
+MinkowskiStackCat
+-----------------
+
+.. autoclass:: MinkowskiEngine.MinkowskiStackCat
+    :members: forward
+    :undoc-members:
+
+    .. automethod:: __init__
+
+
+MinkowskiStackSum
+-----------------
+
+.. autoclass:: MinkowskiEngine.MinkowskiStackSum
+    :members: forward
+    :undoc-members:
+
+    .. automethod:: __init__
+
+
+MinkowskiStackMean
+------------------
+
+.. autoclass:: MinkowskiEngine.MinkowskiStackMean
+    :members: forward
+    :undoc-members:
+
+    .. automethod:: __init__
+
+
+MinkowskiStackVar
+-----------------
+
+.. autoclass:: MinkowskiEngine.MinkowskiStackVar
+    :members: forward
+    :undoc-members:
+
+    .. automethod:: __init__
\ No newline at end of file
diff --git a/examples/stack_unet.py b/examples/stack_unet.py
new file mode 100644
index 00000000..b7e849c8
--- /dev/null
+++ b/examples/stack_unet.py
@@ -0,0 +1,100 @@
+# Copyright (c) Chris Choy (chrischoy@ai.stanford.edu).
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of
+# this software and associated documentation files (the "Software"), to deal in
+# the Software without restriction, including without limitation the rights to
+# use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
+# of the Software, and to permit persons to whom the Software is furnished to do
+# so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+#
+# Please cite "4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural
+# Networks", CVPR'19 (https://arxiv.org/abs/1904.08755) if you use any part
+# of the code.
+import torch
+import torch.nn as nn
+
+import MinkowskiEngine as ME
+import MinkowskiEngine.MinkowskiFunctional as MF
+
+from tests.python.common import data_loader
+
+
+class StackUNet(ME.MinkowskiNetwork):
+    def __init__(self, in_nchannel, out_nchannel, D):
+        ME.MinkowskiNetwork.__init__(self, D)
+        channels = [in_nchannel, 16, 32]
+        self.net = nn.Sequential(
+            ME.MinkowskiStackSum(
+                ME.MinkowskiConvolution(
+                    channels[0],
+                    channels[1],
+                    kernel_size=3,
+                    stride=1,
+                    dimension=D,
+                ),
+                nn.Sequential(
+                    ME.MinkowskiConvolution(
+                        channels[0],
+                        channels[1],
+                        kernel_size=3,
+                        stride=2,
+                        dimension=D,
+                    ),
+                    ME.MinkowskiStackSum(
+                        nn.Identity(),
+                        nn.Sequential(
+                            ME.MinkowskiConvolution(
+                                channels[1],
+                                channels[2],
+                                kernel_size=3,
+                                stride=2,
+                                dimension=D,
+                            ),
+                            ME.MinkowskiConvolutionTranspose(
+                                channels[2],
+                                channels[1],
+                                kernel_size=3,
+                                stride=1,
+                                dimension=D,
+                            ),
+                            ME.MinkowskiPoolingTranspose(
+                                kernel_size=2, stride=2, dimension=D
+                            ),
+                        ),
+                    ),
+                    ME.MinkowskiPoolingTranspose(kernel_size=2, stride=2, dimension=D),
+                ),
+            ),
+            ME.MinkowskiToFeature(),
+            nn.Linear(channels[1], out_nchannel, bias=True),
+        )
+
+    def forward(self, x):
+        return self.net(x)
+
+
+if __name__ == "__main__":
+    # loss and network
+    net = StackUNet(3, 5, D=2)
+    print(net)
+
+    # a data loader must return a tuple of coords, features, and labels.
+    coords, feat, label = data_loader()
+    device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+
+    net = net.to(device)
+    input = ME.SparseTensor(feat, coords, device=device)
+
+    # Forward
+    output = net(input)
diff --git a/examples/unet.py b/examples/unet.py
index 89348788..21b9fdc6 100644
--- a/examples/unet.py
+++ b/examples/unet.py
@@ -26,7 +26,7 @@
 import MinkowskiEngine as ME
 import MinkowskiEngine.MinkowskiFunctional as MF
 
-from tests.common import data_loader
+from tests.python.common import data_loader
 
 
 class UNet(ME.MinkowskiNetwork):
@@ -115,7 +115,7 @@ def forward(self, x):
     device = torch.device('cuda' if torch.cuda.is_available() else 'cpu')
 
     net = net.to(device)
-    input = ME.SparseTensor(feat, coords=coords).to(device)
+    input = ME.SparseTensor(feat, coords, device=device)
 
     # Forward
     output = net(input)