diff --git a/.github/workflows/reusable_build.yml b/.github/workflows/reusable_build.yml
index f1db037..3e7fdf4 100644
--- a/.github/workflows/reusable_build.yml
+++ b/.github/workflows/reusable_build.yml
@@ -25,7 +25,7 @@ jobs:
       AWS_REQUEST_CHECKSUM_CALCULATION: when_required
       AWS_RESPONSE_CHECKSUM_VALIDATION: when_required
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v7
         name: Checkout
 
       # Do all the building
@@ -50,7 +50,7 @@ jobs:
           CIBW_ENVIRONMENT_PASS_LINUX: VCPKG_BINARY_SOURCES AWS_ACCESS_KEY_ID AWS_SECRET_ACCESS_KEY AWS_ENDPOINT_URL AWS_REQUEST_CHECKSUM_CALCULATION AWS_RESPONSE_CHECKSUM_VALIDATION
 
       # save artifacts for testing
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v7
         with:
           name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }}
           path: ./wheelhouse/*.whl
diff --git a/.github/workflows/reusable_checks.yml b/.github/workflows/reusable_checks.yml
index d35ace7..c5b3d8d 100644
--- a/.github/workflows/reusable_checks.yml
+++ b/.github/workflows/reusable_checks.yml
@@ -8,33 +8,34 @@ jobs:
   ruff:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v7
         name: Checkout
-      - uses: astral-sh/ruff-action@v3
+      - uses: astral-sh/ruff-action@v4.1.0
         name: Ruff
 
   # check python typing
   types:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v7
         name: Checkout
       - name: Install uv
-        uses: astral-sh/setup-uv@v5
+        uses: astral-sh/setup-uv@v9.0.0
         with:
           enable-cache: true
       - name: Install the project
         run: uv sync --dev --verbose --all-extras
       - name: Copy stubs into place
         run: cp -r .venv/lib/python$(cat .python-version)/site-packages/evalio/_cpp python/evalio
-      - name: Run basedpyright
-        run: uv run basedpyright
+      - name: Run pyrefly
+        uses: facebook/pyrefly@main
+
 
   # check cpp formatting
   clang-format:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v7
       name: Checkout
     - uses: jidicula/clang-format-action@v4.14.0
       name: Clang-Format
@@ -58,10 +59,10 @@ jobs:
           - "3.13"
           - "3.14"
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v7
         name: Checkout
       - name: Install uv
-        uses: astral-sh/setup-uv@v5
+        uses: astral-sh/setup-uv@v9.0.0
         with:
           python-version: ${{ matrix.python-version }}
           enable-cache: true
diff --git a/.github/workflows/reusable_docs.yml b/.github/workflows/reusable_docs.yml
index 1ec087d..a1907aa 100644
--- a/.github/workflows/reusable_docs.yml
+++ b/.github/workflows/reusable_docs.yml
@@ -31,7 +31,7 @@ jobs:
       AWS_REQUEST_CHECKSUM_CALCULATION: when_required
       AWS_RESPONSE_CHECKSUM_VALIDATION: when_required
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v7
         name: Checkout
         with:
           fetch-depth: 0
@@ -42,7 +42,7 @@ jobs:
 
       # Setup Python dependencies
       - name: Install uv
-        uses: astral-sh/setup-uv@v5
+        uses: astral-sh/setup-uv@v9.0.0
       - name: Install the project
         run: uv sync --dev --verbose
 
diff --git a/pyproject.toml b/pyproject.toml
index c39a6af..93ac77e 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -7,18 +7,18 @@ description = "Evaluate Lidar-Inertial Odometry on public datasets"
 readme = "README.md"
 requires-python = ">=3.11"
 dependencies = [
-    "asteval>=1.0.6",
-    "awscli>=1.44.58",
+    "asteval>=1.0.8",
+    "awscli>=1.46.0",
     "distinctipy>=1.3.4",
-    "gdown>=5.2.0",
+    "gdown>=6.1.0",
     "joblib>=1.5.2",
     "numpy",
-    "polars>=1.33.1",
+    "polars>=1.43.2",
     "pyyaml>=6.0",
     "rapidfuzz>=3.12.2",
-    "rosbags>=0.11.0",
-    "tqdm>=4.66",
-    "typer>=0.15.3",
+    "rosbags>=0.11.3",
+    "tqdm>=4.67",
+    "typer>=0.24.0",
 ]
 keywords = [
     "lidar",
@@ -31,10 +31,10 @@ keywords = [
 license = { file = "LICENSE.txt" }
 
 [project.optional-dependencies]
-vis = ["rerun-sdk>=0.31"]
+vis = ["rerun-sdk>=0.35"]
 
 [build-system]
-requires = ["scikit-build-core>=0.12", "nanobind>=2.13", "numpy"]
+requires = ["scikit-build-core>=1.0", "nanobind==2.13.0", "numpy"]
 build-backend = "scikit_build_core.build"
 
 [project.scripts]
@@ -82,7 +82,7 @@ MACOSX_DEPLOYMENT_TARGET = "11"
 dev = [
     "cmake<4.0.0",
     "compdb>=0.2.0",
-    "ruff>=0.6.8",
+    "ruff>=0.16",
     "types-pyyaml>=6.0.12.20240917",
     "types-tabulate>=0.9.0.20240106",
     "types-tqdm>=4.66.0.20240417",
@@ -91,12 +91,11 @@ dev = [
     "mkdocstrings[python]>=0.29.1",
     "mkdocs-material>=9.6.11",
     "mkdocs-gen-files>=0.5.0",
-    "nanobind>=2.13",
     "mike>=2.1.3",
-    "basedpyright>=1.31.4",
     "joblib-stubs>=1.5.2.0.20250831",
     "scipy>=1.16.2",
     "scipy-stubs>=1.16.2.4",
+    "pyrefly>=1.2.0",
 ]
 
 [tool.ruff]
diff --git a/python/evalio/cli/run.py b/python/evalio/cli/run.py
index ffdb40b..d2d1abc 100644
--- a/python/evalio/cli/run.py
+++ b/python/evalio/cli/run.py
@@ -346,7 +346,8 @@ def run_single(
         print_warning(f"Error setting up experiment {exp.name}: {output}")
         return
     pipe, dataset = output
-    pipe.set_visualizing(vis.args)
+    if vis.args is not None:
+        pipe.set_visualizing(vis.args)
     exp.status = ty.ExperimentStatus.Started
     traj = ty.Trajectory(metadata=exp)
     traj.open()
diff --git a/python/evalio/rerun.py b/python/evalio/rerun.py
index 4360d4a..e0a2187 100644
--- a/python/evalio/rerun.py
+++ b/python/evalio/rerun.py
@@ -285,7 +285,6 @@ def convert(
             rr.Points3D: LidarMeasurement converted to rerun Points3D.
         """
 
-
     @overload
     def convert(
         obj: list[Point],
@@ -471,6 +470,7 @@ class RerunVis:
         def __init__(
             self, args: Optional[set[VisOption]], pipeline_names: list[str]
         ) -> None:
+            self.args = args
             if args is not None:
                 print_warning("Rerun not found, visualization disabled")
 
diff --git a/tests/__init__.py b/tests/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/test_csv_loading.py b/tests/test_csv_loading.py
index 137da69..5a28a5d 100644
--- a/tests/test_csv_loading.py
+++ b/tests/test_csv_loading.py
@@ -13,7 +13,8 @@
     Stamp,
     Trajectory,
 )
-from utils import check_lidar_eq, isclose_se3, rand_se3
+
+from tests.utils import check_lidar_eq, isclose_se3, rand_se3
 
 # ------------------------- Loading imu & lidar ------------------------- #
 data_dir = Path("tests/data")
diff --git a/tests/test_iteration.py b/tests/test_iteration.py
index fc3521e..72c4787 100644
--- a/tests/test_iteration.py
+++ b/tests/test_iteration.py
@@ -3,7 +3,8 @@
 import numpy as np
 from evalio.datasets.loaders import RawDataIter, RosbagIter
 from evalio.types import ImuMeasurement, LidarMeasurement, LidarParams, Point, Stamp
-from utils import rosbag_saver
+
+from tests.utils import rosbag_saver
 
 
 def make_imus(num: int = 200) -> list[ImuMeasurement]:
diff --git a/tests/test_parsing.py b/tests/test_parsing.py
index 3b58487..00c11f8 100644
--- a/tests/test_parsing.py
+++ b/tests/test_parsing.py
@@ -12,7 +12,8 @@
 name = seq.full_name
 
 # fmt: off
-DATASETS: list[tuple[str | DatasetConfig | Sequence[str | DatasetConfig], DatasetConfigError | list[tuple[ds.Dataset, int]]]] = [
+# pyrefly: ignore [bad-assignment]
+DATASETS: list[tuple[str | DatasetConfig | Sequence[str | DatasetConfig], DatasetConfigError | list[tuple[ds.Dataset, int | None]]]] = [
     # good ones
     (name, [(seq, None)]),
     ({"name": name}, [(seq, None)]),
@@ -23,7 +24,7 @@
     ("newer_college_123/*", ds.DatasetNotFound(name="newer_college_123")),
     ("newer_college_123/*", ds.DatasetNotFound(name="newer_college_123")),
     ({"name": "newer_college_2020/bad"}, ds.SequenceNotFound("newer_college_2020/bad")),
-    ({"length": 100}, ds.InvalidDatasetConfig("Missing 'name' in dataset config")), # type: ignore
+    ({"length": 100}, ds.InvalidDatasetConfig("Missing 'name' in dataset config")),
 ]
 # fmt: on
 
diff --git a/tests/test_rosbag_conversion.py b/tests/test_rosbag_conversion.py
index 6ba9ee1..49b8c72 100644
--- a/tests/test_rosbag_conversion.py
+++ b/tests/test_rosbag_conversion.py
@@ -18,7 +18,8 @@
     Point,
     Stamp,
 )
-from utils import check_lidar_eq, rosbag_saver
+
+from tests.utils import check_lidar_eq, rosbag_saver
 
 # Create a row major point cloud
 WIDTH = 256
diff --git a/tests/test_stats.py b/tests/test_stats.py
index 346b5b4..354b056 100644
--- a/tests/test_stats.py
+++ b/tests/test_stats.py
@@ -3,7 +3,8 @@
 import numpy as np
 from evalio import stats
 from evalio.types import SE3, Stamp, Trajectory
-from utils import isclose_se3, rand_se3
+
+from tests.utils import isclose_se3, rand_se3
 
 ID = SE3.identity()
 
diff --git a/uv.lock b/uv.lock
index 5861d95..657a231 100644
--- a/uv.lock
+++ b/uv.lock
@@ -148,18 +148,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/1c/cf/e5f9b68a5b0e939a2fb933a66c20180d0c9241bf8927f7a47fa48c1675e9/backrefs-8.0-py314-none-any.whl", hash = "sha256:9ec96efa080938be92323e8e730e57718c9c88eb15ad70bbef4e1766df591408", size = 411903, upload-time = "2026-07-26T19:54:23.221Z" },
 ]
 
-[[package]]
-name = "basedpyright"
-version = "1.39.9"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "nodejs-wheel-binaries" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/7a/4b/c1f4e211e50389304d6af32b9280e026a7133e3ad59bbdf8f7a3250f8bee/basedpyright-1.39.9.tar.gz", hash = "sha256:32cbea5fc8273e89df3db20daea56cb7286e419ccdfdc479c64759d2dc071901", size = 24412216, upload-time = "2026-06-27T02:19:49.834Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/2a/d4/e1fa108710d0498a18c77b1e13897f31eab47c69aa8cfe2d2a4df746541e/basedpyright-1.39.9-py3-none-any.whl", hash = "sha256:6b0837b9eba972c71895167ab9b127e6afdbc17abc92312e3f8d15ca82a5611c", size = 13374276, upload-time = "2026-06-27T02:19:54.431Z" },
-]
-
 [[package]]
 name = "beautifulsoup4"
 version = "4.15.0"
@@ -361,7 +349,6 @@ vis = [
 
 [package.dev-dependencies]
 dev = [
-    { name = "basedpyright" },
     { name = "cmake" },
     { name = "compdb" },
     { name = "joblib-stubs" },
@@ -370,7 +357,7 @@ dev = [
     { name = "mkdocs-gen-files" },
     { name = "mkdocs-material" },
     { name = "mkdocstrings", extra = ["python"] },
-    { name = "nanobind" },
+    { name = "pyrefly" },
     { name = "pytest" },
     { name = "ruff" },
     { name = "scipy", version = "1.17.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.12'" },
@@ -384,25 +371,24 @@ dev = [
 
 [package.metadata]
 requires-dist = [
-    { name = "asteval", specifier = ">=1.0.6" },
-    { name = "awscli", specifier = ">=1.44.58" },
+    { name = "asteval", specifier = ">=1.0.8" },
+    { name = "awscli", specifier = ">=1.46.0" },
     { name = "distinctipy", specifier = ">=1.3.4" },
-    { name = "gdown", specifier = ">=5.2.0" },
+    { name = "gdown", specifier = ">=6.1.0" },
     { name = "joblib", specifier = ">=1.5.2" },
     { name = "numpy" },
-    { name = "polars", specifier = ">=1.33.1" },
+    { name = "polars", specifier = ">=1.43.2" },
     { name = "pyyaml", specifier = ">=6.0" },
     { name = "rapidfuzz", specifier = ">=3.12.2" },
-    { name = "rerun-sdk", marker = "extra == 'vis'", specifier = ">=0.31" },
-    { name = "rosbags", specifier = ">=0.11.0" },
-    { name = "tqdm", specifier = ">=4.66" },
-    { name = "typer", specifier = ">=0.15.3" },
+    { name = "rerun-sdk", marker = "extra == 'vis'", specifier = ">=0.35" },
+    { name = "rosbags", specifier = ">=0.11.3" },
+    { name = "tqdm", specifier = ">=4.67" },
+    { name = "typer", specifier = ">=0.24.0" },
 ]
 provides-extras = ["vis"]
 
 [package.metadata.requires-dev]
 dev = [
-    { name = "basedpyright", specifier = ">=1.31.4" },
     { name = "cmake", specifier = "<4.0.0" },
     { name = "compdb", specifier = ">=0.2.0" },
     { name = "joblib-stubs", specifier = ">=1.5.2.0.20250831" },
@@ -411,9 +397,9 @@ dev = [
     { name = "mkdocs-gen-files", specifier = ">=0.5.0" },
     { name = "mkdocs-material", specifier = ">=9.6.11" },
     { name = "mkdocstrings", extras = ["python"], specifier = ">=0.29.1" },
-    { name = "nanobind", specifier = ">=2.13" },
+    { name = "pyrefly", specifier = ">=1.2.0" },
     { name = "pytest", specifier = ">=8.3.5" },
-    { name = "ruff", specifier = ">=0.6.8" },
+    { name = "ruff", specifier = ">=0.16" },
     { name = "scipy", specifier = ">=1.16.2" },
     { name = "scipy-stubs", specifier = ">=1.16.2.4" },
     { name = "types-pyyaml", specifier = ">=6.0.12.20240917" },
@@ -837,31 +823,6 @@ wheels = [
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 ]
 
-[[package]]
-name = "nanobind"
-version = "2.13.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/07/e5/a6fc2f024eaef17c68b94b5f8f56098d31859a7840a11a3dd45da2d3908a/nanobind-2.13.0.tar.gz", hash = "sha256:c7b04d6a6a4cd57985571e605539399b51331ae455d7fce576a5e2fcb89b1dcf", size = 1052101, upload-time = "2026-06-18T06:03:49.491Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/39/8d/cec69a0a804711fd89f47fad92cd2a438a1ceaafd9dabaf3b8b403b5cbba/nanobind-2.13.0-py3-none-any.whl", hash = "sha256:9268d7201eaf5519ae61b7a83175f2af77088cb4b99dd3ce5b00550f697da7b7", size = 269387, upload-time = "2026-06-18T06:03:47.508Z" },
-]
-
-[[package]]
-name = "nodejs-wheel-binaries"
-version = "24.16.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/a3/22/2a5beb4e21417c73233d9f65cf6f3e96e891b80d2f550a8f630ebc6b88c6/nodejs_wheel_binaries-24.16.0.tar.gz", hash = "sha256:c973cb69dc5fd16e6f6dc6e579e2c3d5534e2a1f57619dddf5ba070efa7dde37", size = 8056, upload-time = "2026-05-30T16:52:09.807Z" }
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-]
-
 [[package]]
 name = "numpy"
 version = "2.4.6"
@@ -1362,6 +1323,25 @@ wheels = [
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 ]
 
+[[package]]
+name = "pyrefly"
+version = "1.2.0"
+source = { registry = "https://pypi.org/simple" }
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