# yams — tasks

Workstreams across the YAM stack. Project-level YAM tasks live in
[`vault/para/robot/yam/tasks.md`](../../../para/robot/yam/tasks.md);
this file is for agent-level workstreams (infra, refactor, cross-cutting).

## Active

- [ ] **Refactor `deploy_yam_2view.py` (2200 lines) into thin launcher +
  `lib/` modules** per the Code Hygiene rule. Targets: ≤300 lines/file,
  one responsibility per file. Split into: fusion decode, recal, render,
  viz, main loop.
- [ ] **Refactor `record_skip_wrist.py`** similarly. Shares rendering +
  recal with deploy — pull shared logic into `lib/`.
- [ ] **Investigate inter-substep delay** during chunk execution (~3 s
  pause after each `smooth_move_to`). Chiral lock contention suspected.
  Orphan-frame bug ruled out (caused the obs-stream-pause regression).
  Try: lower obs hz to 5 globally; or fix the pause/resume to drain
  orphan frames safely.
- [ ] **Run viz_keypoints on every episode** + visually inspect for
  bad-calib outliers before next training run.

## Recently completed (2026-06-02)

- [x] sshfs bidirectional setup: `/data/cameron/` mounted at `~/lab/`
  on puget + russet. Tailscale SSH approvals in place. Single source of
  truth confirmed.
- [x] Code migration: `~/yam_para/{code,yam_control,raiden_fork,dinov3,
  rot_kmeans_K64*.npz}` → `/data/cameron/para/{robot/yam/, dinov3/}`.
- [x] `bin/yam-mount` helper + `bin/yam-rd-serve` respawn wrapper.
- [x] `ControlMaster` for `dev` + `robot-lab` in `~/.ssh/config`.
- [x] Populated vault `para/robot/yam/` slice (overview, tasks, memory,
  INDEX, control, calibration, recording, conversion, rendering,
  training, inference, rerun-panels, known-bugs).
- [x] Built `control_speed_test.py` (auto-loads latest .npz, times
  parallel smooth_move_joints, reports planned vs achieved rad/s).
- [x] 12 h cross-attn training run `yam_wrist_xattn_v1`.

## Cross-cutting / longer-horizon

- [ ] Set up wandb-summary autoposter at training end.
- [ ] Investigate whether HD720-mode scene cam reduces obs round-trip
  enough to remove inter-substep delay (would isolate payload hypothesis).
- [ ] Consider a `yam-tunnel` helper that opens the rerun SSH tunnel
  (`-L 9094:127.0.0.1:9094 -L 9095:127.0.0.1:9095 dev`) automatically.