diff --git a/mini-nav/__init__.py b/mini-nav/__init__.py
index 2b77514..0eab1fe 100644
--- a/mini-nav/__init__.py
+++ b/mini-nav/__init__.py
@@ -1,3 +1,3 @@
-from database import DatabaseManager, db_manager, db_schema
+from database import DatabaseManager, db_manager
 
-__all__ = ["DatabaseManager", "db_manager", "db_schema"]
+__all__ = ["DatabaseManager", "db_manager"]
diff --git a/mini-nav/benchmarks/base.py b/mini-nav/benchmarks/base.py
index e013393..e1b0d82 100644
--- a/mini-nav/benchmarks/base.py
+++ b/mini-nav/benchmarks/base.py
@@ -4,7 +4,6 @@ from abc import ABC, abstractmethod
 from typing import Any, Protocol
 
 import lancedb
-from torch.utils.data import DataLoader
 
 
 class BaseDataset(ABC):
diff --git a/mini-nav/benchmarks/runner.py b/mini-nav/benchmarks/runner.py
index 4f11cb8..4f8cdab 100644
--- a/mini-nav/benchmarks/runner.py
+++ b/mini-nav/benchmarks/runner.py
@@ -149,9 +149,9 @@ def run_benchmark(
     sample = train_dataset[0]
     sample_image = sample["img"]
 
-    from .tasks.retrieval import _infer_vector_dim
+    from utils.feature_extractor import infer_vector_dim
 
-    vector_dim = _infer_vector_dim(processor, model, sample_image)
+    vector_dim = infer_vector_dim(processor, model, sample_image)
     print(f"Model output dimension: {vector_dim}")
 
     # Ensure table exists with correct schema
diff --git a/mini-nav/benchmarks/tasks/retrieval.py b/mini-nav/benchmarks/tasks/retrieval.py
index 2878c51..c230dbe 100644
--- a/mini-nav/benchmarks/tasks/retrieval.py
+++ b/mini-nav/benchmarks/tasks/retrieval.py
@@ -1,10 +1,9 @@
 """Retrieval task for benchmark evaluation (Recall@K)."""
 
-from typing import Any, cast
+from typing import Any
 
 import lancedb
 import pyarrow as pa
-import torch
 from benchmarks.base import BaseBenchmarkTask
 from benchmarks.tasks.registry import RegisterTask
 from torch import nn
@@ -12,31 +11,7 @@ from torch.utils.data import DataLoader
 from tqdm.auto import tqdm
 from transformers import BitImageProcessorFast
 
-
-def _infer_vector_dim(
-    processor: BitImageProcessorFast,
-    model: nn.Module,
-    sample_image: Any,
-) -> int:
-    """Infer model output vector dimension via a single forward pass.
-
-    Args:
-        processor: Image preprocessor.
-        model: Feature extraction model.
-        sample_image: A sample image for dimension inference.
-
-    Returns:
-        Vector dimension.
-    """
-    device = next(model.parameters()).device
-    model.eval()
-
-    with torch.no_grad():
-        inputs = processor(images=sample_image, return_tensors="pt")
-        inputs.to(device)
-        output = model(inputs)
-
-    return output.shape[-1]
+from utils.feature_extractor import extract_batch_features, infer_vector_dim
 
 
 def _build_eval_schema(vector_dim: int) -> pa.Schema:
@@ -57,7 +32,6 @@ def _build_eval_schema(vector_dim: int) -> pa.Schema:
     )
 
 
-@torch.no_grad()
 def _establish_eval_database(
     processor: BitImageProcessorFast,
     model: nn.Module,
@@ -72,28 +46,22 @@ def _establish_eval_database(
         table: LanceDB table to store features.
         dataloader: DataLoader for the training dataset.
     """
-    device = next(model.parameters()).device
-    model.eval()
+    # Extract all features using the utility function
+    all_features = extract_batch_features(processor, model, dataloader, show_progress=True)
 
+    # Store features to database
     global_idx = 0
-    for batch in tqdm(dataloader, desc="Building eval database"):
-        imgs = batch["img"]
+    for batch in tqdm(dataloader, desc="Storing eval database"):
         labels = batch["label"]
-
-        inputs = processor(imgs, return_tensors="pt")
-        inputs.to(device)
-        outputs = model(inputs)
-
-        features = cast(torch.Tensor, outputs).cpu()
         labels_list = labels.tolist()
-
         batch_size = len(labels_list)
+
         table.add(
             [
                 {
                     "id": global_idx + j,
                     "label": labels_list[j],
-                    "vector": features[j].numpy(),
+                    "vector": all_features[global_idx + j].numpy(),
                 }
                 for j in range(batch_size)
             ]
@@ -101,7 +69,6 @@ def _establish_eval_database(
         global_idx += batch_size
 
 
-@torch.no_grad()
 def _evaluate_recall(
     processor: BitImageProcessorFast,
     model: nn.Module,
@@ -121,25 +88,19 @@ def _evaluate_recall(
     Returns:
         A tuple of (correct_count, total_count).
     """
-    device = next(model.parameters()).device
-    model.eval()
+    # Extract all features using the utility function
+    all_features = extract_batch_features(processor, model, dataloader, show_progress=True)
 
     correct = 0
     total = 0
+    feature_idx = 0
 
     for batch in tqdm(dataloader, desc=f"Evaluating Recall@{top_k}"):
-        imgs = batch["img"]
         labels = batch["label"]
-
-        inputs = processor(imgs, return_tensors="pt")
-        inputs.to(device)
-        outputs = model(inputs)
-
-        features = cast(torch.Tensor, outputs).cpu()
         labels_list = labels.tolist()
 
         for j in range(len(labels_list)):
-            feature = features[j].tolist()
+            feature = all_features[feature_idx + j].tolist()
             true_label = labels_list[j]
 
             results = (
@@ -154,6 +115,8 @@ def _evaluate_recall(
                 correct += 1
             total += 1
 
+        feature_idx += len(labels_list)
+
     return correct, total
 
 
@@ -191,7 +154,7 @@ class RetrievalTask(BaseBenchmarkTask):
         sample = train_dataset[0]
         sample_image = sample["img"]
 
-        vector_dim = _infer_vector_dim(processor, model, sample_image)
+        vector_dim = infer_vector_dim(processor, model, sample_image)
         expected_schema = _build_eval_schema(vector_dim)
 
         # Check schema compatibility
diff --git a/mini-nav/configs/config.yaml b/mini-nav/configs/config.yaml
index 122bfec..70d7700 100644
--- a/mini-nav/configs/config.yaml
+++ b/mini-nav/configs/config.yaml
@@ -30,6 +30,6 @@ benchmark:
   task:
     name: "recall_at_k"
     type: "retrieval"
-    top_k: 10
+    top_k: 1
   batch_size: 64
   model_table_prefix: "benchmark"
diff --git a/mini-nav/configs/models.py b/mini-nav/configs/models.py
index 52bf795..679d281 100644
--- a/mini-nav/configs/models.py
+++ b/mini-nav/configs/models.py
@@ -11,7 +11,7 @@ class ModelConfig(BaseModel):
 
     model_config = ConfigDict(extra="ignore")
 
-    name: str = "facebook/dinov2-large"
+    dino_model: str = "facebook/dinov2-large"
     compression_dim: int = Field(
         default=512, gt=0, description="Output feature dimension"
     )
diff --git a/mini-nav/database.py b/mini-nav/database.py
index acf1435..da86521 100644
--- a/mini-nav/database.py
+++ b/mini-nav/database.py
@@ -4,14 +4,16 @@ import lancedb
 import pyarrow as pa
 from configs import cfg_manager
 
-db_schema = pa.schema(
-    [
-        pa.field("id", pa.int32()),
-        pa.field("label", pa.string()),
-        pa.field("vector", pa.list_(pa.float32(), 1024)),
-        pa.field("binary", pa.binary()),
-    ]
-)
+
+def _build_database_schema():
+    return pa.schema(
+        [
+            pa.field("id", pa.int32()),
+            pa.field("label", pa.string()),
+            pa.field("vector", pa.list_(pa.float32(), 1024)),
+            pa.field("binary", pa.binary()),
+        ]
+    )
 
 
 class DatabaseManager:
@@ -34,7 +36,9 @@ class DatabaseManager:
         # 初始化数据库与表格
         self.db = lancedb.connect(db_path)
         if "default" not in self.db.list_tables().tables:
-            self.table = self.db.create_table("default", schema=db_schema)
+            self.table = self.db.create_table(
+                "default", schema=_build_database_schema()
+            )
         else:
             self.table = self.db.open_table("default")
 
diff --git a/mini-nav/feature_retrieval.py b/mini-nav/feature_retrieval.py
index e256b6c..94bef54 100644
--- a/mini-nav/feature_retrieval.py
+++ b/mini-nav/feature_retrieval.py
@@ -1,9 +1,8 @@
 import io
-from typing import Any, Dict, List, Optional, Union, cast
+from typing import Dict, List, Optional, cast
 
 import torch
 from database import db_manager
-from datasets import load_dataset
 from PIL import Image
 from PIL.PngImagePlugin import PngImageFile
 from torch import nn
@@ -14,6 +13,9 @@ from transformers import (
     BitImageProcessorFast,
     Dinov2Model,
 )
+from utils.feature_extractor import extract_batch_features
+
+from datasets import load_dataset
 
 
 def pil_image_to_bytes(image: Image.Image, format: str = "PNG") -> bytes:
@@ -86,78 +88,26 @@ class FeatureRetrieval:
             batch_size: Number of images to process in a batch.
             label_map: Optional mapping from label indices to string names.
         """
-        device = self.model.device
-        self.model.eval()
+        # Extract features using the utility function
+        cls_tokens = extract_batch_features(
+            self.processor, self.model, images, batch_size=batch_size
+        )
 
-        for i in tqdm(range(0, len(images), batch_size)):
-            batch_imgs = images[i : i + batch_size]
+        for i in tqdm(range(len(labels)), desc="Storing to database"):
+            batch_label = labels[i] if label_map is None else label_map[labels[i]]
 
-            inputs = self.processor(batch_imgs, return_tensors="pt")
-
-            # 迁移数据到GPU
-            inputs.to(device)
-
-            outputs = self.model(**inputs)
-
-            # 后处理
-            feats = outputs.last_hidden_state  # [B, N, D]
-            cls_tokens = feats[:, 0]  # Get CLS token (first token) for all batch items
-            cls_tokens = cast(torch.Tensor, cls_tokens)
-
-            # 迁移输出到CPU
-            cls_tokens = cls_tokens.cpu()
-            batch_labels = (
-                labels[i : i + batch_size]
-                if label_map is None
-                else list(
-                    map(lambda x: label_map[cast(int, x)], labels[i : i + batch_size])
-                )
-            )
-            actual_batch_size = len(batch_labels)
-
-            # 存库
+            # Store to database
             db_manager.table.add(
                 [
                     {
-                        "id": i + j,
-                        "label": batch_labels[j],
-                        "vector": cls_tokens[j].numpy(),
-                        "binary": pil_image_to_bytes(batch_imgs[j]),
+                        "id": i,
+                        "label": batch_label,
+                        "vector": cls_tokens[i].numpy(),
+                        "binary": pil_image_to_bytes(images[i]),
                     }
-                    for j in range(actual_batch_size)
                 ]
             )
 
-    @torch.no_grad()
-    def extract_single_image_feature(
-        self, image: Union[Image.Image, Any]
-    ) -> List[float]:
-        """Extract feature from a single image without storing to database.
-
-        Args:
-            image: A single image (PIL Image or other supported format).
-
-        Returns:
-            pl.Series: The extracted CLS token feature vector as a Polars Series.
-        """
-        device = self.model.device
-        self.model.eval()
-
-        # 预处理图片
-        inputs = self.processor(images=image, return_tensors="pt")
-        inputs.to(device, non_blocking=True)
-
-        # 提取特征
-        outputs = self.model(**inputs)
-
-        # 获取 CLS token
-        feats = outputs.last_hidden_state  # [1, N, D]
-        cls_token = feats[:, 0]  # [1, D]
-        cls_token = cast(torch.Tensor, cls_token)
-
-        # 返回 CLS List
-        return cls_token.cpu().squeeze(0).tolist()
-
 
 if __name__ == "__main__":
     train_dataset = load_dataset("uoft-cs/cifar10", split="train")
diff --git a/mini-nav/main.py b/mini-nav/main.py
index 30aa32e..d4cf882 100644
--- a/mini-nav/main.py
+++ b/mini-nav/main.py
@@ -38,7 +38,7 @@ if __name__ == "__main__":
         model_cfg = config.model
         processor = cast(
             BitImageProcessorFast,
-            AutoImageProcessor.from_pretrained(model_cfg.name, device_map=device),
+            AutoImageProcessor.from_pretrained(model_cfg.dino_model, device_map=device),
         )
 
         # Load compressor weights if specified in model config
@@ -84,4 +84,6 @@ if __name__ == "__main__":
         )
 
         generated_files = synthesizer.generate()
-        print(f"Generated {len(generated_files)} synthesized images in {dataset_cfg.output_dir}")
+        print(
+            f"Generated {len(generated_files)} synthesized images in {dataset_cfg.output_dir}"
+        )
diff --git a/mini-nav/tests/test_config.py b/mini-nav/tests/test_config.py
index 5b9e4be..0e4019a 100644
--- a/mini-nav/tests/test_config.py
+++ b/mini-nav/tests/test_config.py
@@ -25,7 +25,7 @@ class TestConfigModels:
     def test_model_config_defaults(self):
         """Verify ModelConfig creates with correct defaults."""
         config = ModelConfig()
-        assert config.name == "facebook/dinov2-large"
+        assert config.dino_model == "facebook/dinov2-large"
         assert config.compression_dim == 512
         assert config.device == "auto"
 
@@ -73,7 +73,7 @@ class TestYamlLoader:
         config = load_yaml(config_path, Config)
 
         # Verify model config
-        assert config.model.name == "facebook/dinov2-large"
+        assert config.model.dino_model == "facebook/dinov2-large"
         assert config.model.compression_dim == 256
 
         # Verify output config
diff --git a/mini-nav/tests/test_feature_extractor.py b/mini-nav/tests/test_feature_extractor.py
new file mode 100644
index 0000000..2a3274c
--- /dev/null
+++ b/mini-nav/tests/test_feature_extractor.py
@@ -0,0 +1,50 @@
+"""Tests for feature extraction utilities."""
+
+import pytest
+import torch
+from PIL import Image
+from transformers import AutoImageProcessor, AutoModel
+
+from utils.feature_extractor import (
+    extract_batch_features,
+    extract_single_image_feature,
+    infer_vector_dim,
+)
+
+TEST_MODEL_NAME = "facebook/dinov2-base"
+
+
+@pytest.fixture
+def model_and_processor():
+    processor = AutoImageProcessor.from_pretrained(TEST_MODEL_NAME)
+    model = AutoModel.from_pretrained(TEST_MODEL_NAME)
+    model.eval()
+    yield processor, model
+    del model
+    del processor
+
+
+def test_infer_vector_dim(model_and_processor):
+    """Verify infer_vector_dim returns correct dimension."""
+    processor, model = model_and_processor
+    sample_image = Image.new("RGB", (224, 224), color="blue")
+    dim = infer_vector_dim(processor, model, sample_image)
+    assert dim == 768
+
+
+def test_extract_single_image_feature(model_and_processor):
+    """Verify single image feature extraction."""
+    processor, model = model_and_processor
+    sample_image = Image.new("RGB", (224, 224), color="red")
+    features = extract_single_image_feature(processor, model, sample_image)
+    assert isinstance(features, list)
+    assert len(features) == 768
+
+
+def test_extract_batch_features(model_and_processor):
+    """Verify batch feature extraction."""
+    processor, model = model_and_processor
+    images = [Image.new("RGB", (224, 224), color="red") for _ in range(3)]
+    features = extract_batch_features(processor, model, images)
+    assert isinstance(features, torch.Tensor)
+    assert features.shape == (3, 768)
diff --git a/mini-nav/utils/__init__.py b/mini-nav/utils/__init__.py
index bf23b30..1591fce 100644
--- a/mini-nav/utils/__init__.py
+++ b/mini-nav/utils/__init__.py
@@ -1,3 +1,14 @@
 from .common import get_device, get_output_diretory
+from .feature_extractor import (
+    extract_batch_features,
+    extract_single_image_feature,
+    infer_vector_dim,
+)
 
-__all__ = ["get_device", "get_output_diretory"]
+__all__ = [
+    "get_device",
+    "get_output_diretory",
+    "infer_vector_dim",
+    "extract_single_image_feature",
+    "extract_batch_features",
+]
diff --git a/mini-nav/utils/feature_extractor.py b/mini-nav/utils/feature_extractor.py
new file mode 100644
index 0000000..01acb29
--- /dev/null
+++ b/mini-nav/utils/feature_extractor.py
@@ -0,0 +1,130 @@
+"""Feature extraction utilities for image models."""
+
+from typing import Any, List, Union, cast
+
+import torch
+from PIL import Image
+from torch import nn
+from torch.utils.data import DataLoader
+from transformers import BitImageProcessorFast
+from tqdm.auto import tqdm
+
+
+def _extract_features_from_output(output: Any) -> torch.Tensor:
+    """Extract features from model output, handling both HuggingFace ModelOutput and raw tensors.
+
+    Args:
+        output: Model output (either ModelOutput with .last_hidden_state or raw tensor).
+
+    Returns:
+        Feature tensor of shape [B, D].
+    """
+    # Handle HuggingFace ModelOutput (has .last_hidden_state)
+    if hasattr(output, "last_hidden_state"):
+        return output.last_hidden_state[:, 0]  # [B, D] - CLS token
+    # Handle raw tensor output (like DinoCompressor)
+    return cast(torch.Tensor, output)
+
+
+def infer_vector_dim(
+    processor: BitImageProcessorFast,
+    model: nn.Module,
+    sample_image: Any,
+) -> int:
+    """Infer model output vector dimension via a single forward pass.
+
+    Args:
+        processor: Image preprocessor.
+        model: Feature extraction model.
+        sample_image: A sample image for dimension inference.
+
+    Returns:
+        Vector dimension.
+    """
+    device = next(model.parameters()).device
+    model.eval()
+
+    with torch.no_grad():
+        inputs = processor(images=sample_image, return_tensors="pt")
+        inputs.to(device)
+        output = model(inputs)
+
+    features = _extract_features_from_output(output)
+    return features.shape[-1]
+
+
+@torch.no_grad()
+def extract_single_image_feature(
+    processor: BitImageProcessorFast,
+    model: nn.Module,
+    image: Union[Image.Image, Any],
+) -> List[float]:
+    """Extract feature from a single image.
+
+    Args:
+        processor: Image preprocessor.
+        model: Feature extraction model.
+        image: A single image (PIL Image or other supported format).
+
+    Returns:
+        The extracted CLS token feature vector as a list of floats.
+    """
+    device = next(model.parameters()).device
+    model.eval()
+
+    inputs = processor(images=image, return_tensors="pt")
+    inputs.to(device, non_blocking=True)
+    outputs = model(inputs)
+
+    features = _extract_features_from_output(outputs)  # [1, D]
+    return features.cpu().squeeze(0).tolist()
+
+
+@torch.no_grad()
+def extract_batch_features(
+    processor: BitImageProcessorFast,
+    model: nn.Module,
+    images: Union[List[Any], Any],
+    batch_size: int = 32,
+    show_progress: bool = False,
+) -> torch.Tensor:
+    """Extract features from a batch of images.
+
+    Args:
+        processor: Image preprocessor.
+        model: Feature extraction model.
+        images: List of images, DataLoader, or other iterable.
+        batch_size: Batch size for processing.
+        show_progress: Whether to show progress bar.
+
+    Returns:
+        Tensor of shape [batch_size, feature_dim].
+    """
+    device = next(model.parameters()).device
+    model.eval()
+
+    # Handle DataLoader input
+    if isinstance(images, DataLoader):
+        all_features = []
+        iterator = tqdm(images, desc="Extracting features") if show_progress else images
+        for batch in iterator:
+            imgs = batch["img"] if isinstance(batch, dict) else batch[0]
+            inputs = processor(images=imgs, return_tensors="pt")
+            inputs.to(device)
+            outputs = model(inputs)
+            features = _extract_features_from_output(outputs)  # [B, D]
+            all_features.append(features.cpu())
+        return torch.cat(all_features, dim=0)
+
+    # Handle list of images
+    all_features = []
+    iterator = tqdm(range(0, len(images), batch_size), desc="Extracting features") if show_progress else range(0, len(images), batch_size)
+    for i in iterator:
+        batch_imgs = images[i : i + batch_size]
+        inputs = processor(images=batch_imgs, return_tensors="pt")
+        inputs.to(device)
+        outputs = model(inputs)
+        features = _extract_features_from_output(outputs)  # [B, D]
+        all_features.append(features.cpu())
+
+    return torch.cat(all_features, dim=0)