[RyanPCo]

_viz_keypoints flattened a (T, D) chunk to (T * 21, 3) and then drew slots
0..20 only -- for k in range(21) for the dots, and edge_ranges over the same
21 -- so an action chunk collapsed to its first timestep and the overlay never
moved, however long the horizon. Every projected point past frame 0 was
computed and thrown away. That is what a whole training campaign's validation
videos turned out to be (2026-09-18).

This replaces it with _viz_keypoints_horizon_trace, which draws the chunk as a
trajectory and degenerates to per-slot start markers for a lone timestep (it
promotes (D,) to (1, D) itself). The old renderer is deleted rather than left
reachable: Human.viz(mode="keypoints") has one path, and a renderer you can
reach by accident is one you will reach.

Consequences, all intended: the dataset inspector, the Aria tutorial and
mecka_keypoints_viz render through the trace now, so the single-frame callers
show per-slot start markers instead of a posed skeleton, and Aria's raw
21-keypoint edge tables go with the renderer that consumed them -- they had no
other caller.

tests/unit/test_chunk_renderer.py pins both halves: that the trace follows the
chunk, and that no second renderer is reachable from Human.

🤖 Generated with Claude Code

https://claude.ai/code/session_01HjCQBqQCr2igFEMR7yUovw

[RyanPCo]

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• pi: initialize from PaliGemma with a scratch action expert #677 : 2 dependent PRs (#678 , #680 )
• perf: vectorized image augs and a torch.compile knob for HPT and Pi; Pi clips gradients like openpi #676
• loader: one zarr read per key, not one per keymap entry #674
• eval: build the pinned-episode video batches only where they are used #673
• checkpoints: last.ckpt as a symlink, not a second full copy #672
• trainHydra: metric_frames_per_episode: auto, and warn on empty prompts #671
• transforms: per-step wrist framing for proprio history #670
• viz: one keypoint renderer, the horizon trace #669 👈 (View in Graphite)
• configs: history and backbone-LR knobs on the keypoint wrist HPT model #668
• trainer: ddp_bf16_compress, DDP with a bf16 gradient all-reduce #667
• eval: overlay videos play at the source rate under DDP #666
• hpt: build the policy on CPU and let Lightning place it #664 : 1 other dependent PR (#665 )
• hpt: never re-initialise pretrained stems; hash-check them; mask text padding #645 : 1 other dependent PR (#646 )
• obs: proprio history (K proprio steps, one token each, learned time embedding) #650
• loss: mask the repeat-last action padding out of the HPT loss #649
• resnet: keep a frozen backbone in eval mode; give backbones their own LR group #652
• augs: per-sample image augmentation for HPT train-mode augs #651
• eval: deterministic validation (seeded prompts + flow sampling); log-only grad-norm MAD #644
• data: mecka_fold_flagship_top3_hpt_6d, the 3-operator flagship train split #643
• val: subsampled metric loaders + pinned contiguous video loaders #642
• infra: mecka 6D / keypoint recipes, 300M models, defaults, and the rollout revert #640
• eval: layout-aware frame-invariant metrics, and a train-split viz head #659
• data: stop letting one bad episode or a rotation channel take a run down #658
• norm: guard degenerate channels, horizon pooling, and no rot6d normalization #657
• keypoints: the 144-D wrist-first hand-keypoint action becomes the human default #656
• mecka: fix the double-mirrored LEFT wrist frame, and correct existing zarrs #655
• 6d: PI goes 6D-only; Eva and Human gain the continuous-rotation modes #654
• 6d: continuous rotation representation, bimanual layouts, shared norm helpers #653
• train: give each Slurm slurm job gets its own cache dir to avoid conflict #638 : 1 other dependent PR (#639 )
• write git version into the run dir for reproducibility #637
• train: don't load PI base weights on resume and verify that checkpoint path exists #636
• configs: declare proprio and actions dims once per HPT model config #634 : 1 other dependent PR (#635 )
• cache norm stats for data configs to minimize recomputation #633
• import cloud packages lazily to support local training #631 : 1 other dependent PR (#632 )
• cache dataset resolver for faster training initialization #630
• validate episode hashes in data config before training #628
• modify pi camera map to match data #629
• add tests to ensure training works between every model and data vendor #626
• run CI tests on every PR #625
• add env variables for user-specific paths #624
• build: set pyproject and uv as the dependency managers #623
• fix(configs): fix paths for data hydra yaml configs #622
• refactor(algo): delete ACT #627 : 1 other dependent PR (#621 )
• tests: create dedicated test folder with unit and integration tests #620
• add pyright type checker #619
• main

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[RyanPCo]

Automated adversarial review (read-only; findings were checked by a second skeptical pass before posting): 1 low, 2 nit.

[RyanPCo]

low (correctness): The left panel still feeds Aria's raw 21-slot layout (tips at 0-4, palm root at 5; that is what the deleted ARIA_FINGER_EDGES described) into Human.viz(mode="keypoints"). _viz_keypoints_horizon_trace hard-codes FINGERTIP_SLOTS=(4,8,12,16,20). The wrist comes out right because 138-D reads it from the wrist block, but the 'thumb' trace is now the Aria pinky tip and the other four are mid-finger joints, so the comparison panel is mislabelled. Either pass Aria's tip slots through the existing fingertip_indices kwarg (e.g. fingertip_indices=(0,1,2,3,4)), permute the batch to MANO order first, or drop the left panel. The docstring line should then say which of these it does.

[RyanPCo]

nit (simplification): Widths are now listed twice: _KEYPOINT_WIDTHS (built from the pose sizes) and this elif chain, which writes 144/140/138 as 2 * (3 * _N_KP + n) and is harder to read than the literals it replaced. A single table such as _SPLIT_KWARGS = {144: dict(wrist_in_data=True, is_rot6d=True), 140: dict(wrist_in_data=True), 138: dict(wrist_in_data=True, is_quat=False), 126: dict(wrist_in_data=False)} could drive both the validation and the _split_keypoints(actions, **_SPLIT_KWARGS[D]) call.

[RyanPCo]

nit (comments): This comment narrates history ('rendered motionless keypoint overlays for a whole 50k-step campaign'). The dated anecdote in the tests/unit/test_chunk_renderer.py docstring does the same. Cut it to the constraint, e.g. 'Single keypoint renderer; a (D,) step draws as start markers', and put the story in the commit message. The np.asarray(viz_data) here is redundant because the callee already does it.

[RyanPCo]

Review findings: status after the fixup pass. The fixes are squashed into this PR's commits, and the whole stack was force-pushed.

Fixed

• Tutorial now renders raw-Aria keypoints through MANO slot indices: The Aria panel passes fingertip_indices=(0,1,2,3,4). The docstring and the panel titles now describe the tip slots rather than edges, since no edges are drawn.
• Width dispatch duplicated between _KEYPOINT_WIDTHS and an if/elif chain: A single _SPLIT_KWARGS table, keyed by width, now drives both the validation and the _split_keypoints call.
• Comment narrates campaign history instead of a constraint: Cut the comment to one line and removed the anecdote from the test_chunk_renderer docstring. Dropped the redundant np.asarray.