diff --git a/.ci-cd/build.sh b/.ci-cd/build.sh
index 54858a58c..232d1f43d 100755
--- a/.ci-cd/build.sh
+++ b/.ci-cd/build.sh
@@ -116,6 +116,7 @@ function test() {
         alf.networks.q_networks_test \
         alf.networks.relu_mlp_test \
         alf.networks.value_networks_test \
+        alf.optimizers.dadapt_optimizers_test \
         alf.optimizers.nero_plus_test \
         alf.optimizers.optimizers_test \
         alf.optimizers.trusted_updater_test \
diff --git a/alf/optimizers/__init__.py b/alf/optimizers/__init__.py
index 08a954bd4..f70de6b5b 100644
--- a/alf/optimizers/__init__.py
+++ b/alf/optimizers/__init__.py
@@ -17,6 +17,8 @@
 from .optimizers import AdamW
 from .optimizers import SGD
 from .optimizers import NeroPlus
+from .optimizers import DAdaptSGD
+from .optimizers import DAdaptAdam
 
 from typing import Any
 Optimizer = Any
diff --git a/alf/optimizers/dadapt_adam.py b/alf/optimizers/dadapt_adam.py
new file mode 100644
index 000000000..a47c98009
--- /dev/null
+++ b/alf/optimizers/dadapt_adam.py
@@ -0,0 +1,263 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+# All rights reserved.
+#
+# This source code is licensed under the license found in the
+# LICENSE file in the root directory of this source tree:
+# https://github.com/facebookresearch/dadaptation/blob/main/LICENSE
+
+import math
+from typing import TYPE_CHECKING, Any, Callable, Optional
+
+import torch
+import pdb
+import logging
+import os
+import torch.distributed as dist
+from torch.optim import Optimizer
+
+if TYPE_CHECKING:
+    from torch.optim.optimizer import _params_t
+else:
+    _params_t = Any
+
+
+class DAdaptAdam(Optimizer):
+    r"""
+    Implements Adam with D-Adaptation automatic step-sizes. 
+    Leave LR set to 1 unless you encounter instability.
+    
+    Arguments:
+        params (iterable): 
+            Iterable of parameters to optimize or dicts defining parameter groups.
+        lr (float): 
+            Learning rate adjustment parameter. Increases or decreases the D-adapted learning rate.
+        betas (Tuple[float, float], optional): coefficients used for computing
+            running averages of gradient and its square (default: (0.9, 0.999))
+        eps (float): 
+            Term added to the denominator outside of the root operation to improve numerical stability. (default: 1e-8).
+        weight_decay (float): 
+            Weight decay, i.e. a L2 penalty (default: 0).
+        log_every (int): 
+            Log using print every k steps, default 0 (no logging).
+        decouple (boolean): 
+            Use AdamW style decoupled weight decay
+        use_bias_correction (boolean):
+            Turn on Adam's bias correction. Off by default.
+        d0 (float):
+            Initial D estimate for D-adaptation (default 1e-6). Rarely needs changing.
+        growth_rate (float):
+            prevent the D estimate from growing faster than this multiplicative rate. 
+            Default is inf, for unrestricted. Values like 1.02 give a kind of learning
+            rate warmup effect.
+        fsdp_in_use (bool):
+            If you're using sharded parameters, this should be set to True. The optimizer
+            will attempt to auto-detect this, but if you're using an implementation other
+            than PyTorch's builtin version, the auto-detection won't work.
+    """
+
+    def __init__(self,
+                 params,
+                 lr=1.0,
+                 betas=(0.9, 0.999),
+                 eps=1e-8,
+                 weight_decay=0,
+                 log_every=0,
+                 decouple=False,
+                 use_bias_correction=False,
+                 d0=1e-6,
+                 growth_rate=float('inf'),
+                 fsdp_in_use=False):
+        if not 0.0 < d0:
+            raise ValueError("Invalid d0 value: {}".format(d0))
+        if not 0.0 < lr:
+            raise ValueError("Invalid learning rate: {}".format(lr))
+        if not 0.0 < eps:
+            raise ValueError("Invalid epsilon value: {}".format(eps))
+        if not 0.0 <= betas[0] < 1.0:
+            raise ValueError("Invalid beta parameter at index 0: {}".format(
+                betas[0]))
+        if not 0.0 <= betas[1] < 1.0:
+            raise ValueError("Invalid beta parameter at index 1: {}".format(
+                betas[1]))
+
+        if decouple:
+            print(f"Using decoupled weight decay")
+
+        defaults = dict(
+            lr=lr,
+            betas=betas,
+            eps=eps,
+            weight_decay=weight_decay,
+            d=d0,
+            k=0,
+            numerator_weighted=0.0,
+            log_every=log_every,
+            growth_rate=growth_rate,
+            use_bias_correction=use_bias_correction,
+            decouple=decouple,
+            fsdp_in_use=fsdp_in_use)
+        self.d0 = d0
+        super().__init__(params, defaults)
+
+    @property
+    def supports_memory_efficient_fp16(self):
+        return False
+
+    @property
+    def supports_flat_params(self):
+        return True
+
+    def step(self, closure=None):
+        """Performs a single optimization step.
+
+        Arguments:
+            closure (callable, optional): A closure that reevaluates the model
+                and returns the loss.
+        """
+        loss = None
+        if closure is not None:
+            loss = closure()
+
+        sk_l1 = 0.0
+
+        group = self.param_groups[0]
+        use_bias_correction = group['use_bias_correction']
+        numerator_weighted = group['numerator_weighted']
+        beta1, beta2 = group['betas']
+        k = group['k']
+
+        d = group['d']
+        lr = max(group['lr'] for group in self.param_groups)
+
+        if use_bias_correction:
+            bias_correction = ((1 - beta2**(k + 1))**0.5) / (1 - beta1**
+                                                             (k + 1))
+        else:
+            bias_correction = 1
+
+        dlr = d * lr * bias_correction
+
+        growth_rate = group['growth_rate']
+        decouple = group['decouple']
+        log_every = group['log_every']
+        fsdp_in_use = group['fsdp_in_use']
+
+        sqrt_beta2 = beta2**(0.5)
+
+        numerator_acum = 0.0
+
+        for group in self.param_groups:
+            decay = group['weight_decay']
+            k = group['k']
+            eps = group['eps']
+            group_lr = group['lr']
+
+            if group_lr not in [lr, 0.0]:
+                raise RuntimeError(
+                    f"Setting different lr values in different parameter groups is only supported for values of 0"
+                )
+
+            for p in group['params']:
+                if p.grad is None:
+                    continue
+                if hasattr(p, "_fsdp_flattened"):
+                    fsdp_in_use = True
+
+                grad = p.grad.data
+
+                # Apply weight decay (coupled variant)
+                if decay != 0 and not decouple:
+                    grad.add_(p.data, alpha=decay)
+
+                state = self.state[p]
+
+                # State initialization
+                if 'step' not in state:
+                    state['step'] = 0
+                    state['s'] = torch.zeros_like(p.data).detach()
+                    # Exponential moving average of gradient values
+                    state['exp_avg'] = torch.zeros_like(p.data).detach()
+                    # Exponential moving average of squared gradient values
+                    state['exp_avg_sq'] = torch.zeros_like(p.data).detach()
+
+                exp_avg, exp_avg_sq = state['exp_avg'], state['exp_avg_sq']
+
+                s = state['s']
+
+                if group_lr > 0.0:
+                    denom = exp_avg_sq.sqrt().add_(eps)
+                    numerator_acum += dlr * torch.dot(
+                        grad.flatten(),
+                        s.div(denom).flatten()).item()
+
+                    # Adam EMA updates
+                    exp_avg.mul_(beta1).add_(grad, alpha=dlr * (1 - beta1))
+                    exp_avg_sq.mul_(beta2).addcmul_(
+                        grad, grad, value=1 - beta2)
+
+                    s.mul_(sqrt_beta2).add_(grad, alpha=dlr * (1 - sqrt_beta2))
+                    sk_l1 += s.abs().sum().item()
+
+            ######
+
+        numerator_weighted = sqrt_beta2 * numerator_weighted + (
+            1 - sqrt_beta2) * numerator_acum
+        d_hat = d
+
+        # if we have not done any progres, return
+        # if we have any gradients available, will have sk_l1 > 0 (unless \|g\|=0)
+        if sk_l1 == 0:
+            return loss
+
+        if lr > 0.0:
+            if fsdp_in_use:
+                dist_tensor = torch.zeros(2).cuda()
+                dist_tensor[0] = numerator_weighted
+                dist_tensor[1] = sk_l1
+                dist.all_reduce(dist_tensor, op=dist.ReduceOp.SUM)
+                global_numerator_weighted = dist_tensor[0]
+                global_sk_l1 = dist_tensor[1]
+            else:
+                global_numerator_weighted = numerator_weighted
+                global_sk_l1 = sk_l1
+
+            d_hat = global_numerator_weighted / (
+                (1 - sqrt_beta2) * global_sk_l1)
+            d = max(d, min(d_hat, d * growth_rate))
+
+        if log_every > 0 and k % log_every == 0:
+            logging.info(
+                f"lr: {lr} dlr: {dlr} d_hat: {d_hat}, d: {d}. sk_l1={global_sk_l1:1.1e} numerator_weighted={global_numerator_weighted:1.1e}"
+            )
+
+        for group in self.param_groups:
+            group['numerator_weighted'] = numerator_weighted
+            group['d'] = d
+
+            decay = group['weight_decay']
+            k = group['k']
+            eps = group['eps']
+
+            for p in group['params']:
+                if p.grad is None:
+                    continue
+                grad = p.grad.data
+
+                state = self.state[p]
+
+                exp_avg, exp_avg_sq = state['exp_avg'], state['exp_avg_sq']
+
+                state['step'] += 1
+
+                denom = exp_avg_sq.sqrt().add_(eps)
+
+                # Apply weight decay (decoupled variant)
+                if decay != 0 and decouple:
+                    p.data.add_(p.data, alpha=-decay * dlr)
+
+                ### Take step
+                p.data.addcdiv_(exp_avg, denom, value=-1)
+
+            group['k'] = k + 1
+
+        return loss
diff --git a/alf/optimizers/dadapt_optimizers_test.py b/alf/optimizers/dadapt_optimizers_test.py
new file mode 100644
index 000000000..3d9749dd2
--- /dev/null
+++ b/alf/optimizers/dadapt_optimizers_test.py
@@ -0,0 +1,102 @@
+# Copyright (c) 2023 Horizon Robotics and ALF Contributors. 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.
+
+from absl.testing import parameterized
+from absl import logging
+import torch
+import torch.nn.functional as F
+
+import alf
+
+from alf.optimizers import DAdaptSGD, DAdaptAdam
+from alf.utils.datagen import load_mnist
+
+
+class DadaptOptimizersTest(parameterized.TestCase, alf.test.TestCase):
+    def test_dadapt_sgd(self):
+        train_set, test_set = load_mnist(train_bs=256, test_bs=256)
+        num_classes = len(train_set.dataset.classes)
+        model = alf.layers.Sequential(
+            alf.layers.Conv2D(1, 32, 3, strides=2, padding=1),
+            alf.layers.Conv2D(32, 32, 3, strides=2, padding=1),
+            alf.layers.Conv2D(32, 32, 3, strides=2, padding=1),
+            alf.layers.Reshape(-1),
+            alf.layers.FC(
+                4 * 4 * 32,
+                num_classes,
+                weight_opt_args=dict(
+                    fixed_norm=False,
+                    l2_regularization=1e-3,
+                    zero_mean=True,
+                    max_norm=float('inf'))))
+        opt = DAdaptSGD()
+        opt.add_param_group(dict(params=list(model.parameters())))
+
+        for epoch in range(5):
+            for data, target in train_set:
+                logits = model(data)
+                loss = F.cross_entropy(logits, target)
+                opt.zero_grad()
+                loss.backward()
+                opt.step()
+            correct = 0
+            total = 0
+            for data, target in test_set:
+                logits = model(data)
+                correct += (logits.argmax(dim=1) == target).sum()
+                total += target.numel()
+            logging.info("epoch=%s loss=%s acc=%s" % (epoch, loss.item(),
+                                                      correct.item()))
+        self.assertGreater(correct / total, 0.97)
+
+    @parameterized.parameters((True), (False))
+    def test_dadapt_adam(self, decouple=False):
+        train_set, test_set = load_mnist(train_bs=256, test_bs=256)
+        num_classes = len(train_set.dataset.classes)
+        model = alf.layers.Sequential(
+            alf.layers.Conv2D(1, 32, 3, strides=2, padding=1),
+            alf.layers.Conv2D(32, 32, 3, strides=2, padding=1),
+            alf.layers.Conv2D(32, 32, 3, strides=2, padding=1),
+            alf.layers.Reshape(-1),
+            alf.layers.FC(
+                4 * 4 * 32,
+                num_classes,
+                weight_opt_args=dict(
+                    fixed_norm=False,
+                    l2_regularization=1e-3,
+                    zero_mean=True,
+                    max_norm=float('inf'))))
+        opt = DAdaptAdam(decouple=decouple)
+        opt.add_param_group(dict(params=list(model.parameters())))
+
+        for epoch in range(5):
+            for data, target in train_set:
+                logits = model(data)
+                loss = F.cross_entropy(logits, target)
+                opt.zero_grad()
+                loss.backward()
+                opt.step()
+            correct = 0
+            total = 0
+            for data, target in test_set:
+                logits = model(data)
+                correct += (logits.argmax(dim=1) == target).sum()
+                total += target.numel()
+            logging.info("epoch=%s loss=%s acc=%s" % (epoch, loss.item(),
+                                                      correct.item()))
+        self.assertGreater(correct / total, 0.97)
+
+
+if __name__ == '__main__':
+    alf.test.main()
diff --git a/alf/optimizers/dadapt_sgd.py b/alf/optimizers/dadapt_sgd.py
new file mode 100644
index 000000000..7db7bfb77
--- /dev/null
+++ b/alf/optimizers/dadapt_sgd.py
@@ -0,0 +1,216 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+# All rights reserved.
+#
+# This source code is licensed under the license found in the
+# LICENSE file in the root directory of this source tree:
+# https://github.com/facebookresearch/dadaptation/blob/main/LICENSE
+
+import torch
+import pdb
+import math
+import logging
+import torch.distributed as dist
+from torch.optim import Optimizer
+
+
+class DAdaptSGD(Optimizer):
+    r"""
+    Implements SGD with D-Adaptation automatic step-sizes. Leave LR set to 1 unless you encounter instability.
+
+    Arguments:
+        params (iterable): 
+            Iterable of parameters to optimize or dicts defining parameter groups.
+        lr (float): 
+            Learning rate adjustment parameter. Increases or decreases the D-adapted learning rate.
+        momentum (float): 
+            Momentum value in  the range [0,1) (default: 0).
+        weight_decay (float): 
+            Weight decay, i.e. a L2 penalty (default: 0).
+        log_every (int): 
+            Log using print every k steps, default 0 (no logging).
+        d0 (float):
+            Initial D estimate for D-adaptation (default 1e-6). Rarely needs changing.
+        growth_rate (float):
+            prevent the D estimate from growing faster than this multiplicative rate. 
+            Default is inf, for unrestricted. More conservative values like 1.02 may
+            help if training is unstable.
+        fsdp_in_use (bool):
+            If you're using sharded parameters, this should be set to True. 
+            The optimizer will attempt to auto-detect this, but if you're 
+            using an implementation other than PyTorch's builtin version, 
+            the auto-detection won't work.
+    """
+
+    def __init__(self,
+                 params,
+                 lr=1.0,
+                 momentum=0.0,
+                 weight_decay=0,
+                 log_every=0,
+                 d0=1e-6,
+                 growth_rate=float('inf'),
+                 fsdp_in_use=False):
+
+        if not 0.0 < d0:
+            raise ValueError("Invalid d0 value: {}".format(d0))
+        if not 0.0 < lr:
+            raise ValueError("Invalid learning rate: {}".format(lr))
+
+        defaults = dict(
+            lr=lr,
+            momentum=momentum,
+            weight_decay=weight_decay,
+            k=0,
+            log_every=log_every,
+            numerator_weighted=0.0,
+            d=d0,
+            growth_rate=growth_rate,
+            fsdp_in_use=fsdp_in_use)
+        self.loggables = {}
+
+        try:
+            self.rank = torch.distributed.get_rank()
+        except:
+            self.rank = 0
+
+        super().__init__(params, defaults)
+
+    def step(self, closure=None):
+        loss = None
+        if closure is not None:
+            loss = closure()
+
+        group = self.param_groups[0]
+        lr = max(group['lr'] for group in self.param_groups)
+
+        decay = group['weight_decay']
+        momentum = group['momentum']
+        log_every = group['log_every']
+        ck = 1 - momentum
+        k = group['k']
+
+        numerator_weighted = group['numerator_weighted']
+        growth_rate = group['growth_rate']
+        d = group['d']
+        fsdp_in_use = group['fsdp_in_use']
+
+        group = self.param_groups[0]
+
+        sk_sq = 0.0
+
+        if k == 0:
+            g_sq = 0.0
+            for group in self.param_groups:
+                group_lr = group['lr']
+                for p in group['params']:
+                    if p.grad is None:
+                        continue
+                    if hasattr(p, "_fsdp_flattened"):
+                        fsdp_in_use = True
+                    grad = p.grad.data
+
+                    # Apply weight decay
+                    if decay != 0:
+                        grad.add(p.data, alpha=decay)
+
+                    state = self.state[p]
+
+                    if group_lr > 0.0:
+                        g_sq += (grad * grad).sum().item()
+
+            if fsdp_in_use:
+                dist_tensor = torch.zeros(1).cuda()
+                dist_tensor[0] = g_sq
+                dist.all_reduce(dist_tensor, op=dist.ReduceOp.SUM)
+                global_gsq = dist_tensor[0]
+            else:
+                global_gsq = g_sq
+            group['g0_norm'] = g0_norm = math.sqrt(global_gsq)
+
+        g0_norm = group['g0_norm']
+
+        dlr = d * lr / g0_norm
+
+        for group in self.param_groups:
+            group_lr = group['lr']
+            if group_lr not in [lr, 0.0]:
+                raise RuntimeError(
+                    f"Setting different lr values in different parameter groups is only supported for values of 0"
+                )
+
+            for p in group['params']:
+                if p.grad is None:
+                    continue
+                grad = p.grad.data
+                state = self.state[p]
+
+                if 'z' not in state:
+                    z = state['z'] = torch.clone(p.data).detach()
+                    s = state['s'] = torch.zeros_like(p.data).detach()
+                    x0 = state['x0'] = torch.clone(p.data).detach()
+
+                # Apply weight decay
+                if decay != 0:
+                    grad.add_(p.data, alpha=decay)
+
+                s = state['s']
+
+                if group_lr > 0.0:
+                    numerator_weighted += dlr * torch.dot(
+                        grad.flatten(), s.flatten()).item()
+
+                    s.data.add_(grad, alpha=dlr)
+                    sk_sq += (s * s).sum().item()
+            ######
+
+        d_hat = d
+
+        if lr > 0.0:
+            if fsdp_in_use:
+                dist_tensor = torch.zeros(2).cuda()
+                dist_tensor[0] = sk_sq
+                dist_tensor[1] = numerator_weighted
+                dist.all_reduce(dist_tensor, op=dist.ReduceOp.SUM)
+                global_sk_sq = dist_tensor[0]
+                global_numerator_weighted = dist_tensor[1]
+            else:
+                global_sk_sq = sk_sq
+                global_numerator_weighted = numerator_weighted
+
+            d_hat = 2 * global_numerator_weighted / math.sqrt(global_sk_sq)
+            d = max(d, min(d_hat, d * growth_rate))
+
+        # if we have not done any updates
+        # if we have any gradients available, will have sk_sq > 0 (unless \|g\|=0)
+        if global_sk_sq == 0:
+            return loss
+
+        if log_every > 0 and k % log_every == 0:
+            logging.info(
+                f"(r={self.rank},k={k}) dlr: {dlr} d_hat: {d_hat}, d: {d}. sk_norm={math.sqrt(global_sk_sq)} numerator_weighted={global_numerator_weighted} g0_norm={g0_norm}"
+            )
+
+        for group in self.param_groups:
+            group['numerator_weighted'] = numerator_weighted
+            group['d'] = d
+            group['g0_norm'] = g0_norm
+            ######################################
+            for p in group['params']:
+                if p.grad is None:
+                    continue
+                grad = p.grad.data
+                state = self.state[p]
+
+                s = state['s']
+                x0 = state['x0']
+                z = state['z']
+
+                # z step
+                z.data.copy_(x0 - s)
+
+                # x step
+                p.data.mul_(1 - ck).add_(z, alpha=ck)
+
+            group['k'] = k + 1
+
+        return loss
diff --git a/alf/optimizers/optimizers.py b/alf/optimizers/optimizers.py
index 71ad4a240..35f2af459 100644
--- a/alf/optimizers/optimizers.py
+++ b/alf/optimizers/optimizers.py
@@ -20,7 +20,7 @@
 import alf
 from alf.utils import common
 from alf.utils import tensor_utils
-from . import adam_tf, adamw, nero_plus
+from . import adam_tf, adamw, nero_plus, dadapt_sgd, dadapt_adam
 from .utils import get_opt_arg
 
 
@@ -327,3 +327,8 @@ def add_param_group(self, param_group):
 AdamTF = alf.configurable('AdamTF')(wrap_optimizer(adam_tf.AdamTF))
 
 NeroPlus = alf.configurable('NeroPlus')(wrap_optimizer(nero_plus.NeroPlus))
+
+DAdaptSGD = alf.configurable('DAdaptSGD')(wrap_optimizer(dadapt_sgd.DAdaptSGD))
+
+DAdaptAdam = alf.configurable('DAdaptAdam')(wrap_optimizer(
+    dadapt_adam.DAdaptAdam))