[RyanPCo]

require_hands_in_frame (none | either | both | left | right, default both)
picks the anchors: the named hands of the embodiment valid over the whole
action chunk, plus the head pose at the anchor unless none. Samples carry
action_hand_mask ([left, right] valid over the real chunk) and
proprio_hand_valid ([left, right] per proprio frame) for the losses, stats and
bounds check.

https://claude.ai/code/session_01HjCQBqQCr2igFEMR7yUovw

[RyanPCo]

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• aria_to_lance: half-open task and alias end #727
• trainHydra: record the split and Lance versions a run read #726
• rldb, algo, eval: leave an untracked hand out of losses, stats and bounds #725
• rldb/lance: require_hands_in_frame and per-hand sample masks #724 👈 (View in Graphite)
• rldb/lance: action_clamp and history_floor at segment bounds #723
• rldb/lance: one leaf per recording, sampled over its task segments #722
• rldb/mcap: vendor MCAP spec 0.1 and validator #718
• rldb: move MultiDataset and format-neutral pieces out of zarr/ #717
• lance migration #716
• pi: keep per-sample intrinsics so overlays use the episode camera #690 : 2 other dependent PRs (#691 , #707 )
• rdt: long-range visual memory; image memory window and history stride in seconds #689
• norm stats: cache sampled rows per episode so splits share them #687 : 1 other dependent PR (#688 )
• data: exclude episodes by hash; scan Mecka egomotion for failed head tracking #686
• eval: log validation videos to wandb #684 : 1 other dependent PR (#685 )
• slurm: stop cancelled jobs from leaking whole GPUs #682 : 1 other dependent PR (#683 )
• algo: RDT (Robotics Diffusion Transformer) on the HPT chassis #680 : 1 other dependent PR (#681 )
• pi: initialize from PaliGemma with a scratch action expert #677 : 1 other dependent PR (#678 )
• 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
• 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.

[RyanPCo]

low (data-integrity): With "none" the head check is skipped too, but actions are expressed in the anchor's head frame, and aria_to_lance writes the identity pose on head-invalid frames. Those anchors produce world-frame targets that no mask covers. Keep the valid["head"] requirement under "none" so it only drops the hand requirement, or document that "none" admits samples with garbage targets.

[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

• require_hands_in_frame=none samples head-invalid anchors: 'none' now drops only the hand requirement and still needs head_pose_valid at the anchor (and at lance migration #716's history offsets). Updated the docstrings and the test.