diff --git a/py_workspace/.sisyphus/plans/full-icp-pipeline.md b/py_workspace/.sisyphus/plans/full-icp-pipeline.md
index ef74701..3e337f9 100644
--- a/py_workspace/.sisyphus/plans/full-icp-pipeline.md
+++ b/py_workspace/.sisyphus/plans/full-icp-pipeline.md
@@ -247,7 +247,7 @@ Parallel Speedup: ~40% faster than sequential
 
 ---
 
-- [ ] 2. Add point extraction functions (hybrid/full/SOR)
+- [x] 2. Add point extraction functions (hybrid/full/SOR)
 
   **What to do**:
   - Add `extract_scene_points(points_world, floor_y, floor_normal, mode, band_height)` function to `aruco/icp_registration.py`
@@ -340,7 +340,7 @@ Parallel Speedup: ~40% faster than sequential
 
 ---
 
-- [ ] 3. Add 3D AABB overlap check
+- [x] 3. Add 3D AABB overlap check
 
   **What to do**:
   - Add `compute_overlap_3d(points_a, points_b, margin)` function to `aruco/icp_registration.py`
@@ -401,7 +401,7 @@ Parallel Speedup: ~40% faster than sequential
 
 ---
 
-- [ ] 4. Add TukeyLoss robust kernel support
+- [x] 4. Add TukeyLoss robust kernel support
 
   **What to do**:
   - Add `robust_kernel: str = "none"` field to `ICPConfig` (values: "none", "tukey")
@@ -540,7 +540,7 @@ Parallel Speedup: ~40% faster than sequential
 
 ---
 
-- [ ] 6. Add FPFH+RANSAC global pre-alignment
+- [x] 6. Add FPFH+RANSAC global pre-alignment
 
   **What to do**:
   - Add `global_init: bool = False` field to `ICPConfig`
@@ -699,7 +699,7 @@ Parallel Speedup: ~40% faster than sequential
 
 ---
 
-- [ ] 8. Relax ICPConfig defaults
+- [x] 8. Relax ICPConfig defaults
 
   **What to do**:
   - Change `ICPConfig` defaults: