simheo · Oct 20, 2026 · Oct 20, 2026
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -15,7 +15,7 @@ jobs:
         # Config in the root pyproject.toml ([tool.ruff]). VERSION PINNED ON
         # PURPOSE: `uvx ruff` floats to the latest release, which silently
         # changes the gate. Bump deliberately, with the resulting diff reviewed.
-        run: uvx ruff@0.16.0 check packages integrations
+        run: uvx ruff@0.16.0 check libs policies robots
 
   workspace:
     runs-on: ubuntu-latest
@@ -68,7 +68,7 @@ jobs:
           echo "grabette rev: $REV"
           curl -fsSL "https://raw.githubusercontent.com/pollen-robotics/grabette/$REV/packages/gripette/proto/gripper.proto" \
             -o "$RUNNER_TEMP/gripper.proto"
-          diff -u "$RUNNER_TEMP/gripper.proto" integrations/openarm/openarm_gripette_simu/proto/gripper.proto
+          diff -u "$RUNNER_TEMP/gripper.proto" robots/openarm/openarm_gripette_simu/proto/gripper.proto
 
   tests:
     runs-on: ubuntu-latest
@@ -83,7 +83,7 @@ jobs:
         # lane installs neither lerobot nor torch. None of these tests need them.
         run: |
           uv sync --python 3.11 --package grabette-dataset-tools --extra test
-          uv run --no-sync --package grabette-dataset-tools pytest packages/grabette-dataset-tools/tests -q
+          uv run --no-sync --package grabette-dataset-tools pytest libs/grabette-dataset-tools/tests -q
 
   lerobot:
     # Guards the lerobot boundary so a dependency bump can't silently regress it.
@@ -97,7 +97,7 @@ jobs:
         # no GPU. The lerobot spec is read from the dataset-tools pyproject so the
         # tested version tracks the pin automatically.
         run: |
-          SPEC=$(grep -oE "lerobot\[[a-z,]*\]==[0-9.]+" packages/grabette-dataset-tools/pyproject.toml | head -1)
+          SPEC=$(grep -oE "lerobot\[[a-z,]*\]==[0-9.]+" libs/grabette-dataset-tools/pyproject.toml | head -1)
           echo "Testing against: $SPEC"
           uv venv .venv-lerobot --python 3.12
           VIRTUAL_ENV=.venv-lerobot uv pip install --torch-backend=cpu "$SPEC" pytest pandas scipy
@@ -108,14 +108,14 @@ jobs:
         # `gpu` marker and the package's own addopts deselects it.
         run: |
           VIRTUAL_ENV=.venv-lerobot uv pip install matplotlib opencv-python-headless
-          VIRTUAL_ENV=.venv-lerobot uv pip install --no-deps ./packages/grabette-attention
-          .venv-lerobot/bin/python -m pytest packages/grabette-attention/tests -q
+          VIRTUAL_ENV=.venv-lerobot uv pip install --no-deps ./libs/grabette-attention
+          .venv-lerobot/bin/python -m pytest libs/grabette-attention/tests -q
 
       - name: Chunk-relative processor tests
         # Two of its test files import lerobot at module scope. This package
         # supplies the chunk-relative action transform that the pi0.5
         # checkpoints' preprocessors reference by registry name, so a regression
         # here breaks checkpoint loading rather than just a metric.
         run: |
-          PYTHONPATH=packages/grabette-chunkrel .venv-lerobot/bin/python -m pytest \
-            packages/grabette-chunkrel/tests -q
+          PYTHONPATH=libs/grabette-chunkrel .venv-lerobot/bin/python -m pytest \
+            libs/grabette-chunkrel/tests -q
diff --git a/README.md b/README.md
@@ -1,7 +1,7 @@
 # grabette-policy
 
 Policy learning for [GRABETTE](https://github.com/pollen-robotics/grabette):
-training integrations, the action representations and diagnostics they use,
+training recipes, the action representations and diagnostics they use,
 and the OpenArm-Gripette robot they are evaluated and deployed on.
 
 Datasets come from the GRABETTE recording rig
@@ -11,22 +11,22 @@ LeRobot datasets by the SLAM pipeline
 
 | Path | What |
 |---|---|
-| [`packages/grabette-dataset-tools`](packages/grabette-dataset-tools) | Grasp projection, chunk-relative stats, raw-capture normalization, publish gate |
-| [`packages/grabette-chunkrel`](packages/grabette-chunkrel) | Chunk-relative action representation + its LeRobot processor steps |
-| [`packages/grabette-attention`](packages/grabette-attention) | Offline attention maps and view-ablation diagnostics |
-| [`integrations/DiffusionPolicy`](integrations/DiffusionPolicy) | Diffusion Policy data prep and training (own `uv.lock`) |
-| [`integrations/Pi05`](integrations/Pi05) | Pi0.5 fine-tuning (own `uv.lock`) |
-| [`integrations/openarm`](integrations/openarm) | OpenArm-Gripette: model, MuJoCo sim, real-arm driver, teleop bridge |
+| [`libs/grabette-dataset-tools`](libs/grabette-dataset-tools) | Grasp projection, chunk-relative stats, raw-capture normalization, publish gate |
+| [`libs/grabette-chunkrel`](libs/grabette-chunkrel) | Chunk-relative action representation + its LeRobot processor steps |
+| [`libs/grabette-attention`](libs/grabette-attention) | Offline attention maps and view-ablation diagnostics |
+| [`policies/DiffusionPolicy`](policies/DiffusionPolicy) | Diffusion Policy data prep and training (own `uv.lock`) |
+| [`policies/Pi05`](policies/Pi05) | Pi0.5 fine-tuning (own `uv.lock`) |
+| [`robots/openarm`](robots/openarm) | OpenArm-Gripette: model, MuJoCo sim, real-arm driver, teleop bridge |
 
 ## Development
 
-Requires [uv](https://docs.astral.sh/uv/). `packages/*` and
-`integrations/openarm/*` form one uv workspace with a single lock; DiffusionPolicy
+Requires [uv](https://docs.astral.sh/uv/). `libs/*` and
+`robots/openarm/*` form one uv workspace with a single lock; DiffusionPolicy
 and Pi05 are standalone projects with their own lock.
 
 ```bash
 uv sync --all-packages                       # the workspace
-cd integrations/DiffusionPolicy && uv sync   # a standalone integration
+cd policies/DiffusionPolicy && uv sync       # a standalone policy project
 ```
 
 The OpenArm meshes are in Git LFS: install [git-lfs](https://git-lfs.com) before cloning.

diff --git a/THIRD_PARTY_NOTICES.md b/THIRD_PARTY_NOTICES.md
@@ -10,17 +10,17 @@ for attribution and license compliance.
 ### OpenArm & openarm_can — Apache-2.0 (Enactic, Inc.)
 <https://github.com/enactic/openarm> · <https://github.com/enactic/openarm_can>
 
-- The robot description in `integrations/openarm/openarm_gripette_model` is
+- The robot description in `robots/openarm/openarm_gripette_model` is
   derived from the OpenArm arm model, adapted to carry the Gripette end-effector.
-- `openarm_can` is a dependency of `integrations/openarm/openarm_gripette`.
-- `integrations/openarm/openarm_gripette/examples/calibrate_arm_no_gripper.py` is
+- `openarm_can` is a dependency of `robots/openarm/openarm_gripette`.
+- `robots/openarm/openarm_gripette/examples/calibrate_arm_no_gripper.py` is
   adapted from OpenArm's zero-position calibration procedure.
 
 ### LeRobot — Apache-2.0 (Hugging Face, Inc.)
 <https://github.com/huggingface/lerobot>
 
 - Used as a dependency for LeRobot-format dataset generation and policy training.
-- `integrations/openarm/openarm_gripette/openarm_gripette/openarm7_follower.py`
+- `robots/openarm/openarm_gripette/openarm_gripette/openarm7_follower.py`
   and `config_openarm7_follower.py` subclass LeRobot's `OpenArmFollower` and
   retain the original Hugging Face copyright headers.
 
@@ -32,6 +32,6 @@ Used to generate the OpenArm-Gripette URDF / MuJoCo model from Onshape CAD.
 ### 6-D rotation representation — Zhou et al., CVPR 2019
 *"On the Continuity of Rotation Representations in Neural Networks."*
 
-`integrations/DiffusionPolicy/rotation.py` is a Pollen Robotics implementation of
+`policies/DiffusionPolicy/rotation.py` is a Pollen Robotics implementation of
 this representation (Apache-2.0), vendored to avoid depending on a fork.
 
diff --git a/packages/grabette-attention/README.md → libs/grabette-attention/README.md b/packages/grabette-attention/README.md → libs/grabette-attention/README.md
diff --git a/packages/grabette-attention/docs/findings.md → libs/grabette-attention/docs/findings.md b/packages/grabette-attention/docs/findings.md → libs/grabette-attention/docs/findings.md
@@ -1,6 +1,6 @@
 # Attention maps and view ablation: first measurements
 
-What the tool in `packages/grabette-attention` actually found. Companion to
+What the tool in `libs/grabette-attention` actually found. Companion to
 `saliency_review.md`, which is the literature review and the
 argument for the tool's design; this file is the data. Every script and CSV
 cited here is in `refs/`.

diff --git a/...tte-attention/docs/refs/ablation_sweep.py → ...tte-attention/docs/refs/ablation_sweep.py b/...tte-attention/docs/refs/ablation_sweep.py → ...tte-attention/docs/refs/ablation_sweep.py
diff --git a/...tte-attention/docs/refs/attn_vs_causal.py → ...tte-attention/docs/refs/attn_vs_causal.py b/...tte-attention/docs/refs/attn_vs_causal.py → ...tte-attention/docs/refs/attn_vs_causal.py
diff --git a/...te-attention/docs/refs/axis_convention.py → ...te-attention/docs/refs/axis_convention.py b/...te-attention/docs/refs/axis_convention.py → ...te-attention/docs/refs/axis_convention.py
diff --git a/...te-attention/docs/refs/biblio_saliency.md → ...te-attention/docs/refs/biblio_saliency.md b/...te-attention/docs/refs/biblio_saliency.md → ...te-attention/docs/refs/biblio_saliency.md
diff --git a/...tention/docs/refs/biblio_vla_attention.md → ...tention/docs/refs/biblio_vla_attention.md b/...tention/docs/refs/biblio_vla_attention.md → ...tention/docs/refs/biblio_vla_attention.md
diff --git a/...rabette-attention/docs/refs/check_dr6d.py → ...rabette-attention/docs/refs/check_dr6d.py b/...rabette-attention/docs/refs/check_dr6d.py → ...rabette-attention/docs/refs/check_dr6d.py
diff --git a/...abette-attention/docs/refs/check_units.py → ...abette-attention/docs/refs/check_units.py b/...abette-attention/docs/refs/check_units.py → ...abette-attention/docs/refs/check_units.py
diff --git a/...bette-attention/docs/refs/combine_repr.py → ...bette-attention/docs/refs/combine_repr.py b/...bette-attention/docs/refs/combine_repr.py → ...bette-attention/docs/refs/combine_repr.py
diff --git a/...attention/docs/refs/compare_processors.py → ...attention/docs/refs/compare_processors.py b/...attention/docs/refs/compare_processors.py → ...attention/docs/refs/compare_processors.py
diff --git a/...bette-attention/docs/refs/corner_cells.py → ...bette-attention/docs/refs/corner_cells.py b/...bette-attention/docs/refs/corner_cells.py → ...bette-attention/docs/refs/corner_cells.py
diff --git a/...bette-attention/docs/refs/cube_vs_rest.py → ...bette-attention/docs/refs/cube_vs_rest.py b/...bette-attention/docs/refs/cube_vs_rest.py → ...bette-attention/docs/refs/cube_vs_rest.py
diff --git a/...rabette-attention/docs/refs/delta_maps.py → ...rabette-attention/docs/refs/delta_maps.py b/...rabette-attention/docs/refs/delta_maps.py → ...rabette-attention/docs/refs/delta_maps.py
diff --git a/...-attention/docs/refs/delta_vs_chunkrel.py → ...-attention/docs/refs/delta_vs_chunkrel.py b/...-attention/docs/refs/delta_vs_chunkrel.py → ...-attention/docs/refs/delta_vs_chunkrel.py
diff --git a/...ntion/docs/refs/delta_vs_chunkrel_maps.py → ...ntion/docs/refs/delta_vs_chunkrel_maps.py b/...ntion/docs/refs/delta_vs_chunkrel_maps.py → ...ntion/docs/refs/delta_vs_chunkrel_maps.py
diff --git a/...abette-attention/docs/refs/detect_cube.py → ...abette-attention/docs/refs/detect_cube.py b/...abette-attention/docs/refs/detect_cube.py → ...abette-attention/docs/refs/detect_cube.py
diff --git a/...bette-attention/docs/refs/endpoint_run.py → ...bette-attention/docs/refs/endpoint_run.py b/...bette-attention/docs/refs/endpoint_run.py → ...bette-attention/docs/refs/endpoint_run.py
diff --git a/...bette-attention/docs/refs/episode_grid.py → ...bette-attention/docs/refs/episode_grid.py b/...bette-attention/docs/refs/episode_grid.py → ...bette-attention/docs/refs/episode_grid.py
diff --git a/...-attention/docs/refs/find_delta_models.py → ...-attention/docs/refs/find_delta_models.py b/...-attention/docs/refs/find_delta_models.py → ...-attention/docs/refs/find_delta_models.py
diff --git a/...attention/docs/refs/fixed_or_following.py → ...attention/docs/refs/fixed_or_following.py b/...attention/docs/refs/fixed_or_following.py → ...attention/docs/refs/fixed_or_following.py
diff --git a/...ention/docs/refs/gripper_cross_episode.py → ...ention/docs/refs/gripper_cross_episode.py b/...ention/docs/refs/gripper_cross_episode.py → ...ention/docs/refs/gripper_cross_episode.py
diff --git a/...tte-attention/docs/refs/mask_registers.py → ...tte-attention/docs/refs/mask_registers.py b/...tte-attention/docs/refs/mask_registers.py → ...tte-attention/docs/refs/mask_registers.py
diff --git a/...attention/docs/refs/object_and_corners.py → ...attention/docs/refs/object_and_corners.py b/...attention/docs/refs/object_and_corners.py → ...attention/docs/refs/object_and_corners.py
diff --git a/...abette-attention/docs/refs/object_grid.py → ...abette-attention/docs/refs/object_grid.py b/...abette-attention/docs/refs/object_grid.py → ...abette-attention/docs/refs/object_grid.py
diff --git a/...ette-attention/docs/refs/occlusion_run.py → ...ette-attention/docs/refs/occlusion_run.py b/...ette-attention/docs/refs/occlusion_run.py → ...ette-attention/docs/refs/occlusion_run.py
diff --git a/.../grabette-attention/docs/refs/pnp_grid.py → .../grabette-attention/docs/refs/pnp_grid.py b/.../grabette-attention/docs/refs/pnp_grid.py → .../grabette-attention/docs/refs/pnp_grid.py
diff --git a/...tte-attention/docs/refs/pnp_phase_maps.py → ...tte-attention/docs/refs/pnp_phase_maps.py b/...tte-attention/docs/refs/pnp_phase_maps.py → ...tte-attention/docs/refs/pnp_phase_maps.py
diff --git a/...abette-attention/docs/refs/pnp_summary.py → ...abette-attention/docs/refs/pnp_summary.py b/...abette-attention/docs/refs/pnp_summary.py → ...abette-attention/docs/refs/pnp_summary.py
diff --git a/...ette-attention/docs/refs/project_grasp.py → ...ette-attention/docs/refs/project_grasp.py b/...ette-attention/docs/refs/project_grasp.py → ...ette-attention/docs/refs/project_grasp.py
diff --git a/...rabette-attention/docs/refs/prompt_run.py → ...rabette-attention/docs/refs/prompt_run.py b/...rabette-attention/docs/refs/prompt_run.py → ...rabette-attention/docs/refs/prompt_run.py
diff --git a/...tention/docs/refs/prompt_run_retrained.py → ...tention/docs/refs/prompt_run_retrained.py b/...tention/docs/refs/prompt_run_retrained.py → ...tention/docs/refs/prompt_run_retrained.py
diff --git a/...-attention/docs/refs/regions_vs_causal.py → ...-attention/docs/refs/regions_vs_causal.py b/...-attention/docs/refs/regions_vs_causal.py → ...-attention/docs/refs/regions_vs_causal.py
diff --git a/...tte-attention/docs/refs/repo_internals.md → ...tte-attention/docs/refs/repo_internals.md b/...tte-attention/docs/refs/repo_internals.md → ...tte-attention/docs/refs/repo_internals.md
@@ -7,13 +7,13 @@ Legend: **[V]** = verified by reading source; **[I]** = inferred (standard behav
 - All four venvs that matter carry **byte-identical** `modeling_pi05.py` (md5 `a5758a20…`) and
   `modeling_diffusion.py` (md5 `0272d025…`) [V]:
   - `…/worktrees/attention-maps/.venv` and `…/worktrees/relative-actions/.venv` -> lerobot **0.6.0** (PyPI)
-  - `…/worktrees/relative-actions/integrations/Pi05/.venv` -> lerobot **0.6.1** from git commit `e40b58a8` (`direct_url.json`)
-  - `…/integrations/DiffusionPolicy/.venv` -> lerobot 0.6.0
+  - `…/worktrees/relative-actions/policies/Pi05/.venv` -> lerobot **0.6.1** from git commit `e40b58a8` (`direct_url.json`)
+  - `…/policies/DiffusionPolicy/.venv` -> lerobot 0.6.0
   - (`/home/steve/Project/Repo/GRABETTE/openarm_gripette_simu/.venv` is stale lerobot 0.5.1 with a *different* file; ignore.)
 - Readable source copy used for line numbers below (identical to what is installed):
   `LR = /home/steve/.cache/uv/git-v0/checkouts/b2400a7a62d6a7cf/e40b58a8/src/lerobot/policies`
 - Stack in the Pi05 venv: `transformers 5.5.4`, `torch 2.11.0+cu128` [V]. transformers paths below are
-  `TF = …/relative-actions/integrations/Pi05/.venv/lib/python3.12/site-packages/transformers`.
+  `TF = …/relative-actions/policies/Pi05/.venv/lib/python3.12/site-packages/transformers`.
 
 ---
 
@@ -187,7 +187,7 @@ h = expert_attn[i].register_forward_hook(lambda mod, inp, out: store(i, out[1]))
 - Inference: `predict_action_chunk` and `select_action` are `@torch.no_grad()` (l.102, 123); `generate_actions` (l.307) and `conditional_sample` (l.233) are **not** — call
   `policy.diffusion.generate_actions(batch)` under grad for Grad-CAM (batch must already be time-stacked `(B, S, …)` with `OBS_IMAGES` key; see `predict_action_chunk` l.113-119 for how it builds it offline).
 
-### 4.3 Grabette config (`integrations/DiffusionPolicy/train.py:473-520`) [V]
+### 4.3 Grabette config (`policies/DiffusionPolicy/train.py:473-520`) [V]
 `DiffusionConfig(n_obs_steps=args.n_obs_steps (default 2, l.281-283), horizon=16, n_action_steps=args.n_action_steps (default 8), vision_backbone="resnet18",
 resize_shape=(236, 236), crop_ratio=0.95  # -> crop_shape (224, 224) via configuration_diffusion.py:191-196, crop_is_random=not args.no_random_crop,
 pretrained_backbone_weights=None, use_group_norm=True, use_separate_rgb_encoder_per_camera=False, spatial_softmax_num_keypoints=32,
@@ -204,12 +204,12 @@ Cameras: `--cameras` default `["observation.images.cam0"]` (l.309); input featur
 
 ## 5. Repo scripts
 
-### 5.1 `integrations/openarm/openarm_gripette_simu/examples/evaluate.py` (2373 lines) [V]
+### 5.1 `robots/openarm/openarm_gripette_simu/examples/evaluate.py` (2373 lines) [V]
 - `--dump_obs DIR` (l.509-512): "Directory to dump the EXACT observations fed to the policy (obs_XXXXX.png + state.jsonl, one subdir per episode). Use with --num_episodes 1 for a train/deploy distribution check (ood_check.py)."
   - Sync path (l.1234-1244): **per control step**, `cv2.imwrite(dump_dir / f"obs_{step:05d}.png", cv2.cvtColor(camera_image, cv2.COLOR_RGB2BGR), [IMWRITE_PNG_COMPRESSION, 1])` and one JSON line
     `{"step": step, "state": [floats]}` appended to `state.jsonl`. `camera_image` is **RGB HWC uint8 full-res (960x720 live), pre-normalisation, pre-letterbox**.
   - Async path (l.1804-1828): same PNG/state.jsonl keyed by `executor.sent_count`, plus `traj.jsonl` lines `{"t", "tick", "meas", "meas_r6d", "cmd", "cmd_r6d", "grip_cmd", "grip_obs"}`.
-  - Per-episode subdir: `f"{args.dump_obs}/ep{ep:03d}"` (l.2268, 2296). No action/chunk is dumped in sync mode. Consumer: `integrations/DiffusionPolicy/ood_check.py` (`--images DIR`, docstring l.1-31).
+  - Per-episode subdir: `f"{args.dump_obs}/ep{ep:03d}"` (l.2268, 2296). No action/chunk is dumped in sync mode. Consumer: `policies/DiffusionPolicy/ood_check.py` (`--images DIR`, docstring l.1-31).
 - Policy loading `_load_policy_any` (l.37-56): `cfg = PreTrainedConfig.from_pretrained(ckpt); cfg.compile_model = False; policy = get_policy_class(cfg.type).from_pretrained(ckpt, config=cfg); if cfg.type in ("pi05","pi0"): policy = policy.to(dtype=torch.float32)`.
   Then `policy.to(device); policy.eval(); make_pre_post_processors(policy.config, pretrained_path=ckpt, preprocessor_overrides={"device_processor": {"device": str(device)}})` (l.2064-2074).
 - Batch construction (l.1246-1259): `image_tensor = torch.from_numpy(camera_image).float() / 255.0; .permute(2,0,1)`; batch = `{"observation.state": (1, D), "observation.images.cam0": (1,3,H,W), "task": task}`, then `batch = preprocessor(batch)` (l.1271) and `policy.select_action(batch)` under `torch.no_grad()` (l.1274-1276, 1391-1393).
@@ -225,7 +225,7 @@ Cameras: `--cameras` default `["observation.images.cam0"]` (l.309); input featur
   `serve.py:6` "one msgpack frame {"actions": ..., "server_timing": {...}}"; args `--checkpoint --host --port --api_key --device --dtype {float32,bfloat16} --transport {websocket,iroh}` (l.123-136).
   -> **Attention cannot be obtained remotely today**; it would need a server-side hook + an extra reply key (e.g. `"attention": {layer: (8,50,prefix_len)}`), and the wire protocol string `PROTOCOL = "ficelle/1"` (l.43) bumped. Local checkpoint path is the natural place for the tool.
 
-### 5.3 `integrations/Pi05/smoke_generation.py` (447 lines) [V]
+### 5.3 `policies/Pi05/smoke_generation.py` (447 lines) [V]
 - Offline load (l.210-219): `cfg = PreTrainedConfig.from_pretrained(ckpt); cfg.device = "cpu"; cfg.compile_model = False; policy = get_policy_class(args.policy_type).from_pretrained(ckpt, config=cfg);
   policy = policy.to(dtype=torch.float32 if args.fp32 else torch.bfloat16).eval(); policy = policy.to(device); policy.config.device = device; pre, post = make_pre_post_processors(policy.config, args.checkpoint)`.
   `--fp32` help (l.182-186): "the pi05 port has a bf16 dtype clash in its flow path … fp32 is 16.6GB of WEIGHTS … use a >=24GB card".
@@ -236,11 +236,11 @@ Cameras: `--cameras` default `["observation.images.cam0"]` (l.309); input featur
 - `probe_task_sensitivity.py` is the remote (ficelle) twin: same idea over `open_client` (PEP-723 header pins lerobot `@e40b58a8`).
 
 ### 5.4 Existing visualisation conventions to follow [V]
-- `integrations/DiffusionPolicy/offline_eval.py:165-200`: matplotlib `Agg`, `fig.savefig(out_dir / f"offline_eval_ep{ep:03d}.png", dpi=110)`, graceful "matplotlib not installed — skipping plots". Batch building at l.126-131 mirrors smoke_generation.
-- `integrations/DiffusionPolicy/ood_check.py:45-60`: `FeatureExtractor` hooks `policy.diffusion.rgb_encoder` directly with the checkpoint preprocessor (`self.encoder = policy.diffusion.rgb_encoder`) — precedent for reaching into `policy.diffusion.*` from a tool.
-- `integrations/DiffusionPolicy/vision_check.py` (docstring l.1-45): "Does the policy actually USE the image?" — image-swap / pixel-shift sensitivity probes; the attention tool is the natural complement (it should be listed next to it in the DP README table).
+- `policies/DiffusionPolicy/offline_eval.py:165-200`: matplotlib `Agg`, `fig.savefig(out_dir / f"offline_eval_ep{ep:03d}.png", dpi=110)`, graceful "matplotlib not installed — skipping plots". Batch building at l.126-131 mirrors smoke_generation.
+- `policies/DiffusionPolicy/ood_check.py:45-60`: `FeatureExtractor` hooks `policy.diffusion.rgb_encoder` directly with the checkpoint preprocessor (`self.encoder = policy.diffusion.rgb_encoder`) — precedent for reaching into `policy.diffusion.*` from a tool.
+- `policies/DiffusionPolicy/vision_check.py` (docstring l.1-45): "Does the policy actually USE the image?" — image-swap / pixel-shift sensitivity probes; the attention tool is the natural complement (it should be listed next to it in the DP README table).
 - `grabette-postprocess/scripts/visualize/visualize_rgbd_trajectory.py` in the grabette-slam repo: rerun (`rr.init(app_id, spawn=True)`, `rr.set_time("time", timestamp=…)`, `rr.log("camera_feed", rr.Image(frame_disp))` after `cv2.resize(frame, (640, 400))`, `rr.SeriesLines`/`rr.Scalars`). If you want a rerun front-end, this is the house style (entity paths `world/...`, `camera_feed`, `imu/...`).
-- `integrations/openarm/openarm_gripette_simu/examples/replay_dataset.py:55, 124`: `to_bgr()` helper "LeRobot video frame -> HWC uint8 BGR for cv2.imshow"; `openarm_gripette/examples/view_camera.py`: matplotlib QtAgg live view because lerobot pulls headless OpenCV (l.3-35).
+- `robots/openarm/openarm_gripette_simu/examples/replay_dataset.py:55, 124`: `to_bgr()` helper "LeRobot video frame -> HWC uint8 BGR for cv2.imshow"; `openarm_gripette/examples/view_camera.py`: matplotlib QtAgg live view because lerobot pulls headless OpenCV (l.3-35).
 - `cv2.applyColorMap`/`cv2.addWeighted` are **not used anywhere** in the repo yet (grep) — no existing heat-map overlay to match.
 
 ### 5.5 Existing mentions of "attention" / "saliency" / "grad-cam" / "heatmap" [V]

diff --git a/...abette-attention/docs/refs/repr_figure.py → ...abette-attention/docs/refs/repr_figure.py b/...abette-attention/docs/refs/repr_figure.py → ...abette-attention/docs/refs/repr_figure.py
diff --git a/...tte-attention/docs/refs/sweep_confound.py → ...tte-attention/docs/refs/sweep_confound.py b/...tte-attention/docs/refs/sweep_confound.py → ...tte-attention/docs/refs/sweep_confound.py
diff --git a/...bette-attention/docs/refs/sweep_report.py → ...bette-attention/docs/refs/sweep_report.py b/...bette-attention/docs/refs/sweep_report.py → ...bette-attention/docs/refs/sweep_report.py
diff --git a/...abette-attention/docs/refs/sweep_rows.csv → ...abette-attention/docs/refs/sweep_rows.csv b/...abette-attention/docs/refs/sweep_rows.csv → ...abette-attention/docs/refs/sweep_rows.csv
diff --git a/...rabette-attention/docs/refs/zoom_frame.py → ...rabette-attention/docs/refs/zoom_frame.py b/...rabette-attention/docs/refs/zoom_frame.py → ...rabette-attention/docs/refs/zoom_frame.py
diff --git a/...rabette-attention/docs/saliency_review.md → ...rabette-attention/docs/saliency_review.md b/...rabette-attention/docs/saliency_review.md → ...rabette-attention/docs/saliency_review.md
diff --git a/...-attention/grabette_attention/__init__.py → ...-attention/grabette_attention/__init__.py b/...-attention/grabette_attention/__init__.py → ...-attention/grabette_attention/__init__.py
@@ -1,6 +1,6 @@
 """Offline attention-map and view-ablation diagnostics for Grabette policies.
 
-Read `packages/grabette-attention/docs/saliency_review.md` before drawing conclusions from the
+Read `libs/grabette-attention/docs/saliency_review.md` before drawing conclusions from the
 maps: on pi0.5 an interventional score is measurably more faithful than
 attention, so the maps are hypothesis generators and the ablation numbers are
 the evidence.

diff --git a/...n/grabette_attention/adapters/__init__.py → ...n/grabette_attention/adapters/__init__.py b/...n/grabette_attention/adapters/__init__.py → ...n/grabette_attention/adapters/__init__.py
diff --git a/...ntion/grabette_attention/adapters/base.py → ...ntion/grabette_attention/adapters/base.py b/...ntion/grabette_attention/adapters/base.py → ...ntion/grabette_attention/adapters/base.py
diff --git a/...ntion/grabette_attention/adapters/pi05.py → ...ntion/grabette_attention/adapters/pi05.py b/...ntion/grabette_attention/adapters/pi05.py → ...ntion/grabette_attention/adapters/pi05.py
diff --git a/...-attention/grabette_attention/analysis.py → ...-attention/grabette_attention/analysis.py b/...-attention/grabette_attention/analysis.py → ...-attention/grabette_attention/analysis.py
diff --git a/...e-attention/grabette_attention/capture.py → ...e-attention/grabette_attention/capture.py b/...e-attention/grabette_attention/capture.py → ...e-attention/grabette_attention/capture.py
diff --git a/...bette-attention/grabette_attention/cli.py → ...bette-attention/grabette_attention/cli.py b/...bette-attention/grabette_attention/cli.py → ...bette-attention/grabette_attention/cli.py
diff --git a/.../grabette_attention/frontends/__init__.py → .../grabette_attention/frontends/__init__.py b/.../grabette_attention/frontends/__init__.py → .../grabette_attention/frontends/__init__.py
diff --git a/...ntion/grabette_attention/frontends/png.py → ...ntion/grabette_attention/frontends/png.py b/...ntion/grabette_attention/frontends/png.py → ...ntion/grabette_attention/frontends/png.py
@@ -1,7 +1,7 @@
 """Write attention overlays as PNGs and the numbers as a text summary.
 
 Headless by construction: matplotlib is switched to Agg before pyplot is
-imported, matching `integrations/DiffusionPolicy/offline_eval.py`. Frames are
+imported, matching `policies/DiffusionPolicy/offline_eval.py`. Frames are
 RGB in memory throughout; nothing here writes BGR.
 """
 
@@ -17,7 +17,7 @@
     "NOTE: pi0.5 spreads attention broadly with low peaks, and action "
     "fine-tuning makes it more diffuse. A broad map is NORMAL and is not "
     "evidence of anything. The ablation millimetres are the interventional "
-    "measurement; the map is a hypothesis. See packages/grabette-attention/docs/saliency_review.md."
+    "measurement; the map is a hypothesis. See libs/grabette-attention/docs/saliency_review.md."
 )
 
 # Attention grids routinely carry one or two "register" cells -- high-norm

diff --git a/...bette_attention/frontends/rerun_logger.py → ...bette_attention/frontends/rerun_logger.py b/...bette_attention/frontends/rerun_logger.py → ...bette_attention/frontends/rerun_logger.py
diff --git a/...-attention/grabette_attention/language.py → ...-attention/grabette_attention/language.py b/...-attention/grabette_attention/language.py → ...-attention/grabette_attention/language.py
diff --git a/...te-attention/grabette_attention/layout.py → ...te-attention/grabette_attention/layout.py b/...te-attention/grabette_attention/layout.py → ...te-attention/grabette_attention/layout.py
diff --git a/...te-attention/grabette_attention/loader.py → ...te-attention/grabette_attention/loader.py b/...te-attention/grabette_attention/loader.py → ...te-attention/grabette_attention/loader.py
@@ -1,6 +1,6 @@
 """Load a pi0.5 checkpoint the way the rest of the repo does.
 
-Copied deliberately from `integrations/Pi05/smoke_generation.py` rather than
+Copied deliberately from `policies/Pi05/smoke_generation.py` rather than
 invented: CPU config first, `compile_model` off so forward hooks are not
 swallowed by a graph, fp32 because the pi05 port has a bf16 clash in its flow
 path, and camera keys taken from the CHECKPOINT rather than the dataset.

diff --git a/...e-attention/grabette_attention/metrics.py → ...e-attention/grabette_attention/metrics.py b/...e-attention/grabette_attention/metrics.py → ...e-attention/grabette_attention/metrics.py
diff --git a/...attention/grabette_attention/occlusion.py → ...attention/grabette_attention/occlusion.py b/...attention/grabette_attention/occlusion.py → ...attention/grabette_attention/occlusion.py
@@ -5,7 +5,7 @@
 image, re-run, and measure how far the commanded chunk moves. The result is a
 causal map in millimetres, not an attention map -- which matters because on
 this policy attention mass does not track causal effect (see
-packages/grabette-attention/docs/findings.md), and the attention map's dominant component is
+libs/grabette-attention/docs/findings.md), and the attention map's dominant component is
 locked to the gripper rather than to the scene.
 
 The occlusion grid divides the SOURCE image into blocks. The attention grid has

diff --git a/...e-attention/grabette_attention/records.py → ...e-attention/grabette_attention/records.py b/...e-attention/grabette_attention/records.py → ...e-attention/grabette_attention/records.py
diff --git a/...te-attention/grabette_attention/reduce.py → ...te-attention/grabette_attention/reduce.py b/...te-attention/grabette_attention/reduce.py → ...te-attention/grabette_attention/reduce.py
diff --git a/...e-attention/grabette_attention/sources.py → ...e-attention/grabette_attention/sources.py b/...e-attention/grabette_attention/sources.py → ...e-attention/grabette_attention/sources.py
@@ -64,7 +64,7 @@ class DatasetSource:
     """Reads held-out frames from a LeRobot dataset.
 
     Follows the offline loading already used by
-    `integrations/Pi05/smoke_generation.py`: one episode at a time, frames
+    `policies/Pi05/smoke_generation.py`: one episode at a time, frames
     indexed directly. Camera keys come from the CHECKPOINT, not the dataset, so
     a dataset missing a view is handled by the adapter's masking rather than by
     guessing here.

diff --git a/packages/grabette-attention/pyproject.toml → libs/grabette-attention/pyproject.toml b/packages/grabette-attention/pyproject.toml → libs/grabette-attention/pyproject.toml
@@ -13,7 +13,7 @@ dependencies = ["numpy"]
 
 [project.optional-dependencies]
 # The PNG front end. matplotlib only; the repo already uses the Agg backend for
-# offline plots (integrations/DiffusionPolicy/offline_eval.py).
+# offline plots (policies/DiffusionPolicy/offline_eval.py).
 png = ["matplotlib"]
 # The second front end, added after the PNG one.
 rerun = ["rerun-sdk"]

diff --git a/...u/openarm_gripette_simu/proto/__init__.py → libs/grabette-attention/tests/__init__.py b/...u/openarm_gripette_simu/proto/__init__.py → libs/grabette-attention/tests/__init__.py
diff --git a/...grabette-attention/tests/test_analysis.py → ...grabette-attention/tests/test_analysis.py b/...grabette-attention/tests/test_analysis.py → ...grabette-attention/tests/test_analysis.py
diff --git a/.../grabette-attention/tests/test_capture.py → .../grabette-attention/tests/test_capture.py b/.../grabette-attention/tests/test_capture.py → .../grabette-attention/tests/test_capture.py
diff --git a/...ages/grabette-attention/tests/test_cli.py → libs/grabette-attention/tests/test_cli.py b/...ages/grabette-attention/tests/test_cli.py → libs/grabette-attention/tests/test_cli.py
diff --git a/...grabette-attention/tests/test_endpoint.py → ...grabette-attention/tests/test_endpoint.py b/...grabette-attention/tests/test_endpoint.py → ...grabette-attention/tests/test_endpoint.py