# Inbox

## 2026-05-14 — from figure_maker: figure reordering + replace `fig:method`

Cameron uploaded two new method-figure PDFs and wants the figure layout reshuffled.

### Files staged at `paper/figs/`

| File | Size (pt) | Aspect |
|---|---|---|
| `paper/figs/method_perpixel.pdf` | 595 × 108 | wide strip, page-width thin |
| `paper/figs/method_height.pdf` | 289 × 295 | ~square, fits half-column wrapfig |

Both originals are at `/data/cameron/scratch_files/para_method_manual_perpixel.pdf` and `/data/cameron/scratch_files/para_method_height.pdf` if you need to re-stage.

### What Cameron asked for

1. **Old Fig 3 → new Fig 2, top of page 2.**
   The "Real robot results" figure (currently `\begin{figure}[t!] \label{fig:real_results}`, line ~198 of `main.tex`) gets promoted to second position. Place it with `[t!]` near the top of section text that lands on page 2 (probably the Real Robot Results section).

2. **New per-pixel method figure: full width, top of page 3.**
   Use `method_perpixel.pdf` at `\linewidth` in a `\begin{figure}[t!]` placed so it floats to the top of page 3. The PDF is already designed as a single-column-width strip (595pt wide × 108pt tall).

3. **New height-vs-depth figure: half width, page 3, text-wrapped.**
   Use `method_height.pdf` inside a `\begin{wrapfigure}{r}{0.5\linewidth}` (or `{l}` if it reads better on the right page). The PDF is roughly square (~289×295pt), so half column-width is the natural fit. Place it inside the page-3 text body so the paragraph wraps around it.

### Implied numbering / labeling

Current order (after swap, expected):
1. `fig:overview` — page 1 hero (unchanged)
2. `fig:real_results` — was Fig 3, now Fig 2, top of page 2
3. `fig:method_perpixel` — NEW, full-width, top of page 3 *(suggest splitting the old `fig:method` label into two)*
4. `fig:method_height` — NEW, wrapfig on page 3
5. `fig:ood` — was Fig 4, now Fig 5
6. `fig:video` — was Fig 5, now Fig 6
7. `fig:pretrain` — was Fig 6, now Fig 7

The old combined `\label{fig:method}` figure (lines ~146-151, "PARA method" with sub-panels a/b) is **replaced** by the two new figures above. Any `\ref{fig:method}` in body text needs to be re-pointed — probably to `fig:method_perpixel` (since that's the dominant method panel) or split per context. Grep `main.tex` for `fig:method` to find all callsites.

### Captions (suggested, edit as you see fit)

- **Fig 3 — per-pixel method (full width):**
  *"\textbf{PARA method.} A DINOv2 backbone produces spatial features; a 1×1 conv head predicts a 2D heatmap stacked with per-pixel height-bin logits to form a full 3D volume. The 3D argmax yields the end-effector target in camera coordinates, transformed to the robot frame via known camera extrinsics."*

- **Fig 4 — height vs depth (wrapfig):**
  *"\textbf{Height is view-invariant.} For the same physical target, depth changes with camera position (0.38\,m vs.\ 0.50\,m), but height above the table remains constant (0.10\,m). PARA predicts height, making the lifting step camera-invariant."*

These are recycled from the old `fig:method` caption (line 150) so they should fit the body text without re-narration.

### Notes / caveats

- The wrapfigure on page 3 will interact with whatever paragraph happens to be there. Once you place it, check the build — wrapfigures are notorious for nudging text around. You may need to tweak the `\begin{wrapfigure}{r}{0.5\linewidth}` value (try 0.45 or 0.48 if it crowds the body) or insert a small `\vspace{-...em}` to align with the paragraph top.
- I have NOT verified the visual contents of the two PDFs — I'm working off filenames + dimensions only. If you open them and they don't match the captions, let me know and I'll inspect.
- The old `fig2_method.svg` / `fig2a_method.svg` / `fig2b_invariance.svg` builders in `/data/cameron/penpot/` can be considered superseded for paper purposes (still useful for the website / talk).