[ASTER] Add ASTER Encoder

[Mountchicken]

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Motivation

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Modification

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BC-breaking (Optional)

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Use cases (Optional)

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Checklist

Before PR:

• [ ] I have read and followed the workflow indicated in the CONTRIBUTING.md to create this PR.
• [ ] Pre-commit or linting tools indicated in CONTRIBUTING.md are used to fix the potential lint issues.
• [ ] Bug fixes are covered by unit tests, the case that causes the bug should be added in the unit tests.
• [ ] New functionalities are covered by complete unit tests. If not, please add more unit test to ensure the correctness.
• [ ] The documentation has been modified accordingly, including docstring or example tutorials.

After PR:

• [ ] If the modification has potential influence on downstream or other related projects, this PR should be tested with some of those projects.
• [ ] CLA has been signed and all committers have signed the CLA in this PR.