diff --git a/.github/workflows/reusable_docs.yml b/.github/workflows/reusable_docs.yml
index bc2c4aaf..2722e225 100644
--- a/.github/workflows/reusable_docs.yml
+++ b/.github/workflows/reusable_docs.yml
@@ -52,6 +52,10 @@ jobs:
           git config --local user.email "github-actions[bot]@users.noreply.github.com"
           git config --local user.name "github-actions[bot]"
 
+      # Build docs
+      - name: Build docs
+        run: uv run mkdocs build
+
       # Deploy latest tag
       - name: Deploy docs
         if: ${{ inputs.deploy_latest }}
diff --git a/docs/included.py b/docs/included.py
index 4ea01a2e..509c5f1e 100644
--- a/docs/included.py
+++ b/docs/included.py
@@ -1,12 +1,21 @@
 from typing import Optional, cast
 
 import mkdocs_gen_files
-from evalio.cli.ls import Kind, ls
+from evalio.cli.ls import ls
 from rich.table import Table
+import re
 
 
 def clean_cell(cell: str) -> str:
     """Clean a cell by removing unwanted characters."""
+    # Convert to links
+    if cell.startswith("[link"):
+        match = re.match(r"\[link=(.*?)\](.*?)\[/link\]", cell)
+        if match:
+            url, text = match.groups()
+            cell = f"[{text}]({url})"
+            return cell
+
     # Remove rich text formatting
     cell = cell.replace("[bright_black]", "").replace("[/bright_black]", "")
     # Remove line breaks
@@ -15,9 +24,6 @@ def clean_cell(cell: str) -> str:
     cell = cell.replace(" ", " ")
     # Non line breaking hyphen
     cell = cell.replace("-", "‑")
-    # Convert to links
-    if cell.startswith("http"):
-        cell = f"[link]({cell})"
 
     return cell.strip()
 
@@ -75,7 +81,7 @@ def rich_table_to_markdown(
     f.write(DATASETS)
     f.write("\n")
 
-    table = ls(Kind.datasets, show=False, show_hyperlinks=True)
+    table = ls("datasets", show=False)
     if table is not None:
         f.write(rich_table_to_markdown(table, skip_columns=["DL", "Size"]))
 
@@ -91,6 +97,6 @@ def rich_table_to_markdown(
     f.write(PIPELINES)
     f.write("\n")
 
-    table = ls(Kind.pipelines, show=False, show_hyperlinks=True)
+    table = ls("pipelines", show=False)
     if table is not None:
         f.write(rich_table_to_markdown(table))
diff --git a/docs/ref/cli.md b/docs/ref/cli.md
new file mode 100644
index 00000000..cc8523f8
--- /dev/null
+++ b/docs/ref/cli.md
@@ -0,0 +1,6 @@
+# evalio
+
+::: cyclopts
+    module: evalio.cli:app
+    generate_toc: false
+    code_block_title: true
diff --git a/docs/ref/cli.py b/docs/ref/cli.py
deleted file mode 100644
index 354792c3..00000000
--- a/docs/ref/cli.py
+++ /dev/null
@@ -1,8 +0,0 @@
-from contextlib import redirect_stdout
-
-import mkdocs_gen_files
-from typer.cli import app
-
-with mkdocs_gen_files.open("ref/cli.md", "w") as f:
-    with redirect_stdout(f):
-        app(["evalio.cli", "utils", "docs", "--name", "evalio"])
diff --git a/mkdocs.yml b/mkdocs.yml
index 82b2542a..db11c439 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -41,6 +41,7 @@ theme:
 watch:
   - python/
   - cpp/
+  - docs/
 
 nav:
   - evalio:
@@ -69,11 +70,13 @@ plugins:
   search:
     lang: en
 
-  # autogenerate evalio ls & cli pages
+  # autogenerate evalio ls
   gen-files:
     scripts:
       - docs/included.py
-      - docs/ref/cli.py
+
+  # autogenerate cli docs
+  cyclopts:
 
   # Autogenerate docs from docstrings
   mkdocstrings:
diff --git a/pyproject.toml b/pyproject.toml
index d5c61b10..a6c00939 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -7,6 +7,7 @@ description = "Evaluate Lidar-Inertial Odometry on public datasets"
 readme = "README.md"
 requires-python = ">=3.11"
 dependencies = [
+    "cyclopts==4.0",
     "asteval>=1.0.6",
     "distinctipy>=1.3.4",
     "gdown>=5.2.0",
@@ -17,7 +18,6 @@ dependencies = [
     "rapidfuzz>=3.12.2",
     "rosbags>=0.11.0",
     "tqdm>=4.66",
-    "typer>=0.15.3",
 ]
 keywords = [
     "lidar",
@@ -37,7 +37,7 @@ requires = ["scikit-build-core>=0.8", "nanobind>=2.9.2", "numpy"]
 build-backend = "scikit_build_core.build"
 
 [project.scripts]
-evalio = "evalio.cli:app"
+evalio = "evalio.cli:app.meta"
 
 # -------------- Tools -------------- #
 # building
@@ -104,3 +104,6 @@ stubPath = "python/typings"
 reportPrivateUsage = "none"
 reportConstantRedefinition = "none"
 reportUnnecessaryIsInstance = "none"
+
+[tool.uv.sources]
+cyclopts = { git = "https://github.com/BrianPugh/cyclopts.git", branch = "mkdocs-plugin" }
diff --git a/python/evalio/cli/__init__.py b/python/evalio/cli/__init__.py
index 1189397a..41a24aca 100644
--- a/python/evalio/cli/__init__.py
+++ b/python/evalio/cli/__init__.py
@@ -1,106 +1,202 @@
+from inspect import isclass
 from pathlib import Path
-from typing import Annotated, Any, Optional
-
-import typer
+from cyclopts import App, Group, Parameter
+from cyclopts.completion import detect_shell
+from cyclopts.help import DefaultFormatter, ColumnSpec, HelpEntry, PanelSpec, TableSpec
+from enum import Enum
+from rich.console import Console, ConsoleOptions
+from typing import Any, Union, get_args, get_origin, Literal, Annotated, Optional
+
+
+# ------------------------- Prettier Helper Pages ------------------------- #
+# Define custom column renderers
+def names_long(entry: HelpEntry) -> str:
+    """Combine parameter names and shorts."""
+    if not entry.names:
+        return ""
+    # If positional with single name, just return it
+    if len(entry.names) == 1:
+        return entry.names[0]
+    # If multiples, skip ALL_CAPS
+    if entry.names[0].isupper():
+        names = entry.names[1:]
+    else:
+        names = entry.names
+
+    return " ".join(names).strip()
+
+
+def render_type(type_: Any) -> str:
+    """Show the parameter type."""
+    if type_ is bool:
+        return ""
+    elif type_ is str:
+        return "text"
+    elif type_ is int:
+        return "int"
+    elif type_ is float:
+        return "float"
+    elif type_ is Path:
+        return "path"
+    elif type_ is None:
+        return ""
+    elif (origin := get_origin(type_)) is Literal:
+        args = get_args(type_)
+        if len(args) > 5:
+            return "text"
+        return "|".join(str(a) for a in args)
+    elif origin is Union:
+        # handle Optional
+        args = get_args(type_)
+        if len(args) == 2 and type(None) in args:
+            type_ = args[0] if args[1] is type(None) else args[1]
+            return render_type(type_)
+        else:
+            return " | ".join(render_type(t) for t in args)
+    elif origin is list:
+        return render_type(get_args(type_)[0])
+    elif isclass(type_) and issubclass(type_, Enum):
+        return "|".join(e.name for e in type_)
+
+    raise ValueError(f"Unsupported type for rendering: {type_}")
+
+
+def columns(
+    console: Console, options: ConsoleOptions, entries: list[HelpEntry]
+) -> list[ColumnSpec]:
+    columns: list[ColumnSpec] = []
+
+    if any(e.required for e in entries):
+        columns.append(
+            ColumnSpec(
+                renderer=lambda e: "*" if e.required else " ",  # type: ignore
+                width=1,
+                style="red bold",
+            )
+        )
+
+    columns.extend(
+        [
+            ColumnSpec(
+                renderer=names_long,
+                style="cyan",
+            ),
+            ColumnSpec(
+                renderer=lambda e: " ".join(e.shorts).strip() if e.shorts else "",  # type: ignore
+                style="green",
+                max_width=30,
+            ),
+            ColumnSpec(
+                renderer=lambda e: render_type(e.type),  # type: ignore
+                style="yellow",
+                justify="center",
+            ),
+            ColumnSpec(
+                renderer="description",  # Use attribute name
+                overflow="fold",
+            ),
+        ]
+    )
+
+    return columns
+
+
+# Create custom columns
+spec = DefaultFormatter(
+    table_spec=TableSpec(show_header=False),
+    column_specs=columns,  # type: ignore
+    panel_spec=PanelSpec(border_style="bright_black"),
+)
 
-import evalio
-from evalio.datasets import set_data_dir
 
-# import typer apps
-from .dataset_manager import app as app_dl
-from .ls import app as app_ls
-from .run import app as app_run
-from .stats import app as app_stats
+# ------------------------- Make CLI App ------------------------- #
+mg = Group("Misc", sort_key=1)
+gg = Group("Global Options", sort_key=100)
 
-app = typer.Typer(
+app = App(
+    name="evalio",
     help="Tool for evaluating Lidar-Inertial Odometry pipelines on open-source datasets",
-    rich_markup_mode="rich",
-    no_args_is_help=True,
-    pretty_exceptions_enable=False,
+    help_formatter=spec,
+    help_on_error=True,
+    default_parameter=Parameter(negative=""),
+    version_flags=[],
 )
 
-app.add_typer(app_dl)
-app.add_typer(app_ls)
-app.add_typer(app_run)
-app.add_typer(app_stats)
+# Register commands
+app.command("evalio.cli.ls:ls")
+app.command("evalio.cli.dataset_manager:dl")
+app.command("evalio.cli.dataset_manager:rm")
+app.command("evalio.cli.dataset_manager:filter")
+app.command("evalio.cli.stats:evaluate_cli", name="stats")
+app.command("evalio.cli.run:run_from_cli", name="run")
+app.register_install_completion_command(add_to_startup=True)  # type: ignore
 
+# Assign groups
+app["--install-completion"].group = mg
+app["--help"].group = gg
 
-def version_callback(value: bool):
-    """
-    Show version and exit.
-    """
-    if value:
-        print(evalio.__version__)
-        raise typer.Exit()
+for c in app:
+    if c in ["--help", "-h"]:
+        continue
+    app[c]["--help"].group = gg
 
 
-def data_callback(value: Optional[Path]):
+@app.command(name="--show-completion", group=mg)
+def show_completion():
     """
-    Set the data directory.
+    Show shell completion script.
     """
-    if value is not None:
-        set_data_dir(value)
+    comp = app.generate_completion()
+    # zsh needs an extra line
+    if detect_shell() == "zsh":
+        comp += "compdef _evalio evalio"
+        # Fix wildcard completions
+        comp = comp.replace("/*", "/\\*")
+    print(comp)
 
 
-def module_callback(value: Optional[list[str]]) -> list[Any]:
+@app.command(name="--version", alias="-V", group=mg)
+def version():
     """
-    Set the module to use.
+    Show version and exit.
     """
-    if value is not None:
-        for module in value:
-            evalio._register_custom_modules(module)
+    import evalio
 
-    return []
+    print(evalio.__version__)
 
 
-@app.callback()
+@app.meta.default
 def global_options(
-    # Marking this as a str for now to get autocomplete to work,
-    # Once this fix is released (hasn't been as of 0.15.2), we can change it to a Path
-    # https://github.com/fastapi/typer/pull/1138
-    data_dir: Annotated[
-        Optional[Path],
-        typer.Option(
-            "-D",
-            "--data-dir",
-            help="Directory to store downloaded datasets.",
-            show_default=False,
-            rich_help_panel="Global options",
-            callback=data_callback,
-        ),
-    ] = None,
-    custom_modules: Annotated[
-        Optional[list[str]],
-        typer.Option(
-            "-M",
-            "--module",
-            help="Custom module to load (for custom datasets or pipelines). Can be used multiple times.",
-            show_default=False,
-            rich_help_panel="Global options",
-            callback=module_callback,
-        ),
-    ] = None,
-    version: Annotated[
-        bool,
-        typer.Option(
-            "--version",
-            "-V",
-            help="Show version and exit.",
-            is_eager=True,
-            show_default=False,
-            callback=version_callback,
-        ),
-    ] = False,
+    *tokens: Annotated[str, Parameter(show=False, allow_leading_hyphen=True)],
+    module: Annotated[Optional[list[str]], Parameter(alias="-M", group=gg)] = None,
+    data_dir: Annotated[Optional[Path], Parameter(alias="-D", group=gg)] = None,
 ):
+    """Define a number of global options that are set before any command is run.
+
+    Args:
+        module (list[str]): Custom module to import. Can be repeated.
+        data_dir (Optional[Path]): Directory to store downloaded datasets.
     """
-    Global options for the evalio CLI.
-    """
-    pass
+    # Register custom modules
+    if module is not None:
+        from evalio import _register_custom_modules
+
+        for m in module:
+            _register_custom_modules(m)
+
+    # Set data directory
+    if data_dir is not None:
+        from evalio.datasets import set_data_dir
+
+        set_data_dir(data_dir)
+
+    app(tokens)
+
+
+def launch():
+    app.meta()
 
 
 __all__ = [
     "app",
 ]
-
-if __name__ == "__main__":
-    app()
diff --git a/python/evalio/cli/completions.py b/python/evalio/cli/completions.py
deleted file mode 100644
index 63700bec..00000000
--- a/python/evalio/cli/completions.py
+++ /dev/null
@@ -1,119 +0,0 @@
-from typing import Annotated, Optional, TypeAlias
-
-import typer
-from rapidfuzz.process import extractOne
-from rich.console import Console
-from evalio import datasets as ds, pipelines as pl
-
-err_console = Console(stderr=True)
-
-all_sequences_names = list(ds.all_sequences().keys())
-
-
-# ------------------------- Completions ------------------------- #
-def complete_dataset(incomplete: str, ctx: typer.Context):
-    # TODO: Check for * to remove autocompletion for all of that dataset
-    already_listed: list[str] = ctx.params.get("datasets") or []
-
-    for name in all_sequences_names:
-        if name not in already_listed and name.startswith(incomplete):
-            yield name
-
-
-def validate_datasets(datasets: list[str]) -> list[str]:
-    if not datasets:
-        return []
-
-    for dataset in datasets:
-        if dataset not in all_sequences_names:
-            closest, score, _idx = extractOne(dataset, all_sequences_names)  # type: ignore
-            if score < 80:
-                msg = dataset
-            else:
-                # TODO: color would be nice here, but breaks rich panel spacing
-                # name = typer.style(closest, fg=typer.colors.RED)
-                msg = f"{dataset}\n A similar dataset exists: {closest}"
-            raise typer.BadParameter(msg, param_hint="dataset")
-
-    if len(set(datasets)) != len(datasets):
-        raise typer.BadParameter("Duplicate datasets listed", param_hint="dataset")
-
-    return datasets
-
-
-valid_pipelines = list(pl.all_pipelines().keys())
-
-
-def complete_pipeline(incomplete: str, ctx: typer.Context):
-    already_listed: list[str] = ctx.params.get("pipelines") or []
-
-    for name in valid_pipelines:
-        if name not in already_listed and name.startswith(incomplete):
-            yield name
-
-
-def validate_pipelines(pipelines: list[str]) -> list[str]:
-    if not pipelines:
-        return []
-
-    for pipeline in pipelines:
-        if pipeline not in valid_pipelines:
-            closest, score, _idx = extractOne(pipeline, valid_pipelines)  # type: ignore
-            if score < 80:
-                msg = pipeline
-            else:
-                # TODO: color would be nice here, but breaks rich panel spacing
-                # name = typer.style(closest, fg=typer.colors.RED)
-                msg = f"{pipeline}\n A similar pipeline exists: {closest}"
-            raise typer.BadParameter(msg, param_hint="pipeline")
-
-    return pipelines
-
-
-# ------------------------- Type aliases ------------------------- #
-
-DatasetArg: TypeAlias = Annotated[
-    list[str],
-    typer.Argument(
-        help="The dataset(s) to use",
-        autocompletion=complete_dataset,
-        callback=validate_datasets,
-        show_default=False,
-    ),
-]
-
-DatasetOpt: TypeAlias = Annotated[
-    Optional[list[str]],
-    typer.Option(
-        "--datasets",
-        "-d",
-        help="The dataset(s) to use",
-        autocompletion=complete_dataset,
-        callback=validate_datasets,
-        rich_help_panel="Manual options",
-        show_default=False,
-    ),
-]
-
-PipelineArg: TypeAlias = Annotated[
-    list[str],
-    typer.Argument(
-        help="The pipeline(s) to use",
-        autocompletion=complete_pipeline,
-        callback=validate_pipelines,
-        show_default=False,
-    ),
-]
-
-PipelineOpt: TypeAlias = Annotated[
-    Optional[list[str]],
-    typer.Option(
-        "--pipelines",
-        "-p",
-        help="The pipeline(s) to use",
-        autocompletion=complete_pipeline,
-        callback=validate_pipelines,
-        rich_help_panel="Manual options",
-        show_default=False,
-    ),
-]
diff --git a/python/evalio/cli/dataset_manager.py b/python/evalio/cli/dataset_manager.py
index 3e3643e3..88fe4ed3 100644
--- a/python/evalio/cli/dataset_manager.py
+++ b/python/evalio/cli/dataset_manager.py
@@ -1,52 +1,58 @@
 import shutil
 from pathlib import Path
-from typing import Annotated, cast
+from typing import Annotated, cast, TypeAlias
 
-import typer
+from cyclopts import Parameter
 from rosbags.interfaces import Connection, ConnectionExtRosbag2
-from rosbags.rosbag1 import (
-    Reader as Reader1,
-)
-from rosbags.rosbag1 import (
-    Writer as Writer1,
-)
-from rosbags.rosbag2 import (
-    Reader as Reader2,
-)
-from rosbags.rosbag2 import (
-    StoragePlugin,
-)
-from rosbags.rosbag2 import (
-    Writer as Writer2,
-)
+from rosbags.rosbag1 import Reader as Reader1
+from rosbags.rosbag1 import Writer as Writer1
+from rosbags.rosbag2 import Reader as Reader2
+from rosbags.rosbag2 import StoragePlugin
+from rosbags.rosbag2 import Writer as Writer2
 from rosbags.typesys import Stores, get_typestore
 
 import evalio.datasets as ds
 from evalio.utils import print_warning
 
-from .completions import DatasetArg
+from .types import DataSeq, data_sequence_converter
 
-app = typer.Typer()
+DatasetArg: TypeAlias = Annotated[
+    list[DataSeq], Parameter(converter=data_sequence_converter)
+]
 
+ForceAnnotation = Annotated[
+    bool, Parameter(name=["--yes", "-y"], negative="", show_default=False)
+]
 
-def parse_datasets(
-    datasets: DatasetArg,
-) -> list[ds.Dataset]:
+
+def confirm_check() -> bool:
+    """
+    Check if --confirm is used, if not ask for confirmation.
+    """
+    print("Are you sure you want to continue? This is a destructive operation. [y/N]")
+    response = input().strip().lower()
+    return response == "y"
+
+
+def parse_datasets(datasets: DatasetArg) -> list[ds.Dataset]:
     """
     Parse datasets from command line argument
     """
     # parse all datasets
     valid_datasets = ds.parse_config(datasets)
+    # NOTE: Should this never fail since we pre-validate before this
     if isinstance(valid_datasets, ds.DatasetConfigError):
         print_warning(f"Error parsing datasets: {valid_datasets}")
         return []
     return [b[0] for b in valid_datasets]
 
 
-@app.command(no_args_is_help=True)
-def dl(datasets: DatasetArg) -> None:
+def dl(datasets: DatasetArg, /) -> None:
     """
     Download datasets
+
+    Args:
+        datasets (str): The dataset(s) to download.
     """
     # parse all datasets
     valid_datasets = parse_datasets(datasets)
@@ -78,27 +84,22 @@ def dl(datasets: DatasetArg) -> None:
         print(f"---------- Finished {dataset} ----------")
 
 
-@app.command(no_args_is_help=True)
-def rm(
-    datasets: DatasetArg,
-    force: Annotated[
-        bool,
-        typer.Option(
-            "--force",
-            "-f",
-            prompt="Are you sure you want to delete these datasets?",
-            help="Force deletion without confirmation",
-        ),
-    ] = False,
-):
+def rm(datasets: DatasetArg, /, confirm: ForceAnnotation = False):
     """
     Remove dataset(s)
 
-    If --force is not used, will ask for confirmation.
+    Args:
+        datasets (str): The dataset(s) to remove.
+        confirm (bool): Force, do not ask for confirmation.
     """
     # parse all datasets
     to_remove = parse_datasets(datasets)
 
+    if not confirm:
+        if not confirm_check():
+            print("Aborting")
+            return
+
     print("Will remove:")
     for dataset in to_remove:
         print(f"  {dataset}")
@@ -214,25 +215,22 @@ def filter_ros2(bag: Path, topics: list[str]) -> None:
     bag_temp.rmdir()
 
 
-@app.command(no_args_is_help=True)
-def filter(
-    datasets: DatasetArg,
-    force: Annotated[
-        bool,
-        typer.Option(
-            "--force",
-            "-f",
-            prompt="Are you sure you want to filter these datasets? This is slightly experimental, please make sure the data has a copy somewhere!",
-            help="Force deletion without confirmation",
-        ),
-    ] = False,
-):
+def filter(datasets: DatasetArg, /, confirm: ForceAnnotation = False):
     """
-    Filter rosbag dataset(s) to only include lidar and imu data. Useful for shrinking disk size.
+    Filter rosbag dataset(s) to only include lidar and imu data.
+
+    Args:
+        datasets (str): The dataset(s) to filter.
+        confirm (bool): Force, do not ask for confirmation.
     """
     # parse all datasets
     valid_datasets = parse_datasets(datasets)
 
+    if not confirm:
+        if not confirm_check():
+            print("Aborting")
+            return
+
     # Check if already downloaded
     to_filter: list[ds.Dataset] = []
     for dataset in valid_datasets:
diff --git a/python/evalio/cli/ls.py b/python/evalio/cli/ls.py
index ac896029..aa363b63 100644
--- a/python/evalio/cli/ls.py
+++ b/python/evalio/cli/ls.py
@@ -1,7 +1,6 @@
-from enum import StrEnum, auto
 from typing import Annotated, Literal, Optional, TypeVar, TypedDict
 
-import typer
+from cyclopts import Parameter
 from rapidfuzz.process import extract_iter
 from rich import box
 from rich.console import Console
@@ -9,8 +8,6 @@
 
 from evalio import datasets as ds, pipelines as pl
 
-app = typer.Typer()
-
 T = TypeVar("T")
 
 
@@ -24,10 +21,10 @@ def unique(lst: list[T]) -> list[T]:
 
 
 def extract_len(d: ds.Dataset) -> str:
-    """Get the length of a dataset in a human readable format
+    """Get the temporal length of a dataset in a human readable format
 
     Args:
-        d (Dataset): Dataset to get length of
+        d (Dataset): Dataset
 
     Returns:
         Length of dataset in minutes or '-' if length is unknown
@@ -39,54 +36,31 @@ def extract_len(d: ds.Dataset) -> str:
         return f"{length / d.lidar_params().rate / 60:.1f}min".rjust(7)
 
 
-class Kind(StrEnum):
-    datasets = auto()
-    pipelines = auto()
-
-
-@app.command(no_args_is_help=True)
 def ls(
-    kind: Annotated[
-        Kind, typer.Argument(help="The kind of object to list", show_default=False)
-    ],
-    search: Annotated[
-        Optional[str],
-        typer.Option(
-            "--search",
-            "-s",
-            help="Fuzzy search for a pipeline or dataset by name",
-            show_default=False,
-        ),
-    ] = None,
-    quiet: Annotated[
-        bool,
-        typer.Option(
-            "--quiet",
-            "-q",
-            help="Output less verbose information",
-        ),
-    ] = False,
-    show_hyperlinks: Annotated[
-        bool,
-        typer.Option(
-            "--show-hyperlinks",
-            help="Output full links. For terminals that don't support hyperlinks (OSC 8).",
-        ),
-    ] = False,
-    show: Annotated[
-        bool,
-        typer.Option(
-            hidden=True,
-        ),
-    ] = True,
+    kind: Literal["datasets", "pipelines"],
+    /,
+    search: Annotated[Optional[str], Parameter(alias="-s")] = None,
+    quiet: Annotated[bool, Parameter(alias="-q")] = False,
+    show_hyperlinks: bool = False,
+    show: Annotated[bool, Parameter(show=False)] = True,
 ) -> Optional[Table]:
     """
-    List dataset and pipeline information
+    Lists datasets and pipelines information.
+
+    Args:
+        kind (Kind): The kind of object to list.
+        search (Optional[str], optional): Fuzzy search for a pipeline or dataset by name.
+        quiet (bool, optional): Output less verbose information.
+        show_hyperlinks (bool, optional): Output full links. For terminals that don't support hyperlinks (OSC 8).
+        show (bool, optional): Whether to display the table in the console.
+
+    Returns:
+        Optional[Table]: A rich Table object containing the listed information, or None if no results are found.
     """
     ColOpts = TypedDict("ColOpts", {"vertical": Literal["top", "middle", "bottom"]})
     col_opts: ColOpts = {"vertical": "middle"}
 
-    if kind == Kind.datasets:
+    if kind == "datasets":
         # Search for datasets using rapidfuzz
         # TODO: Make it search through sequences as well?
         all_datasets = list(ds.all_datasets().values())
@@ -204,7 +178,7 @@ def ls(
 
         return table
 
-    if kind == Kind.pipelines:
+    if kind == "pipelines":
         # Search for pipelines using rapidfuzz
         # TODO: Make it search through parameters as well?
         all_pipelines = list(pl.all_pipelines().values())
diff --git a/python/evalio/cli/run.py b/python/evalio/cli/run.py
index 5dd39199..fa7b42fe 100644
--- a/python/evalio/cli/run.py
+++ b/python/evalio/cli/run.py
@@ -1,114 +1,102 @@
 import multiprocessing
 from pathlib import Path
-from evalio._cpp.types import VisOption  # type: ignore
-from evalio.cli.completions import DatasetOpt, PipelineOpt
-from evalio.types.base import Trajectory
+from cyclopts import Group, Token, ValidationError
+from cyclopts import Parameter
+from evalio.cli.types import (
+    DataSeq,
+    Pipeline,
+    data_sequence_converter,
+    pipeline_converter,
+)
+from evalio.types import Trajectory
 from evalio.utils import print_warning
 from tqdm.rich import tqdm
 import yaml
 
 from evalio import datasets as ds, pipelines as pl, types as ty
 from evalio.rerun import RerunVis
-
-# from .stats import evaluate
+from evalio._cpp.types import VisOption  # type: ignore
 
 from rich import print
-from typing import Optional, Annotated
-import typer
+from typing import TYPE_CHECKING, Literal, Optional, Sequence, Annotated
 
 from time import time
 
+if TYPE_CHECKING:
+    VisStr = str
+else:
+    # Use literal instead of enum for cyclopts to parse as value instead of name
+    VisStr = Literal[(tuple(v.__name__[0].lower() for v in VisOption))]
+
 
-app = typer.Typer()
+def opt2vis(opt: VisStr) -> VisOption:
+    map = {v.__name__[0].lower(): v for v in VisOption}
+    return map[opt]
 
 
-def parse_vis(opts: str) -> set[VisOption]:
-    out = set[VisOption]()
-    for o in opts:
-        match o:
-            case "m":
-                out.add(VisOption.MAP)
-            case "i":
-                out.add(VisOption.IMAGE)
-            case "s":
-                out.add(VisOption.SCAN)
-            case "f":
-                out.add(VisOption.FEATURES)
-            case _:
-                raise typer.BadParameter(f"Unknown visualization option {o}")
+def vis_convert(type_: type, tokens: Sequence[Token]) -> Optional[list[str]]:
+    """Custom converter to split strings into individual characters."""
+    out: list[str] = []
+    options = [v.__name__[0].lower() for v in VisOption]
+    for t in tokens:
+        if t.value in options:
+            out.append(t.value)
+        elif len(t.value) > 1:
+            for c in t.value:
+                if c in options:
+                    out.append(c)
 
     return out
 
 
-@app.command(no_args_is_help=True, name="run", help="Run pipelines on datasets")
+# shorten things for annotation
+Ann = Annotated
+Opt = Optional
+Par = Parameter
+pc = pipeline_converter
+dc = data_sequence_converter
+
+# groups
+cg = Group("Config", sort_key=0)
+mg = Group("Manual", sort_key=1)
+og = Group("Misc", sort_key=2)
+
+
 def run_from_cli(
+    *,
     # Config file
-    config: Annotated[
-        Optional[Path],
-        typer.Option(
-            "-c",
-            "--config",
-            help="Config file to load from",
-            rich_help_panel="From config",
-            show_default=False,
-        ),
-    ] = None,
+    config: Ann[Opt[Path], Par(alias="-c", group=cg)] = None,
     # Manual options
-    in_datasets: DatasetOpt = None,
-    in_pipelines: PipelineOpt = None,
-    in_out: Annotated[
-        Optional[Path],
-        typer.Option(
-            "-o",
-            "--output",
-            help="Output directory to save results",
-            rich_help_panel="Manual options",
-            show_default=False,
-        ),
-    ] = None,
+    datasets: Ann[Opt[list[DataSeq]], Par(alias="-d", group=mg, converter=dc)] = None,
+    pipelines: Ann[Opt[list[Pipeline]], Par(alias="-p", group=mg, converter=pc)] = None,
+    out: Ann[Opt[Path], Par(alias="-o", group=mg)] = None,
+    length: Ann[Opt[int], Par(alias="-l", group=mg)] = None,
     # misc options
-    length: Annotated[
-        Optional[int],
-        typer.Option(
-            "-l",
-            "--length",
-            help="Number of scans to process for each dataset",
-            rich_help_panel="Manual options",
-            show_default=False,
-        ),
-    ] = None,
-    visualize: Annotated[
-        bool,
-        typer.Option(
-            "-v",
-            "--visualize",
-            help="Visualize the results via rerun",
-            show_default=False,
-        ),
-    ] = False,
-    show: Annotated[
-        Optional[set[VisOption]],
-        typer.Option(
-            "-s",
-            "--show",
-            help="Show visualization options (m: map, i: image, s: scan, f: features). Automatically implies -v.",
-            show_default=False,
-            parser=parse_vis,
+    rerun_failed: Ann[bool, Par(group=og)] = False,
+    visualize: Ann[
+        Opt[list[VisStr]],
+        Par(
+            alias="-v",
+            group=og,
+            consume_multiple=True,
+            converter=vis_convert,
         ),
     ] = None,
-    rerun_failed: Annotated[
-        bool,
-        typer.Option(
-            "--rerun-failed",
-            help="Rerun failed experiments. If not set, will skip previously failed experiments.",
-            show_default=False,
-        ),
-    ] = False,
 ):
-    if (in_pipelines or in_datasets or length) and config:
-        raise typer.BadParameter(
-            "Cannot specify both config and manual options", param_hint="run"
-        )
+    """Run lidar-inertial odometry experiments.
+
+    Args:
+        config (Path): Path to the config file.
+        datasets (Dataset): Input datasets. May be repeated.
+        pipelines (Pipeline): Input pipelines. May be repeated.
+        out (Path): Output directory to save results.
+        length (int): Number of scans to process for each dataset.
+        visualize (list[VisOptions]): Visualization options. If just '-v', will show trajectory. Add more via '-v misf' (m: map, i: image, s: scan, f: features).
+        rerun_failed (bool): Rerun failed experiments. By default, failed experiments are skipped.
+    """
+
+    if (pipelines or datasets or length) and config:
+        raise ValueError("Cannot specify both config and manual options")
 
     # ------------------------- Parse Config file ------------------------- #
     if config is not None:
@@ -125,18 +113,14 @@ def run_from_cli(
             params = yaml.load(f, Loader=Loader)
 
         if "datasets" not in params:
-            raise typer.BadParameter(
-                "No datasets specified in config", param_hint="run"
-            )
+            raise ValueError("No datasets specified in config")
         if "pipelines" not in params:
-            raise typer.BadParameter(
-                "No pipelines specified in config", param_hint="run"
-            )
+            raise ValueError("No pipelines specified in config")
 
-        datasets = ds.parse_config(params.get("datasets", None))
-        pipelines = pl.parse_config(params.get("pipelines", None))
+        run_datasets = ds.parse_config(params.get("datasets", None))
+        run_pipelines = pl.parse_config(params.get("pipelines", None))
 
-        out = (
+        run_out = (
             params["output_dir"]
             if "output_dir" in params
             else Path("./evalio_results") / config.stem
@@ -144,80 +128,66 @@ def run_from_cli(
 
     # ------------------------- Parse manual options ------------------------- #
     else:
-        if in_pipelines is None:
-            raise typer.BadParameter(
-                "Must specify at least one pipeline", param_hint="run"
-            )
-        if in_datasets is None:
-            raise typer.BadParameter(
-                "Must specify at least one dataset", param_hint="run"
-            )
+        if pipelines is None:
+            raise ValueError("Must specify at least one pipeline")
+        if datasets is None:
+            raise ValidationError(msg="Must specify at least one dataset")
 
         if length is not None:
             temp_datasets: list[ds.DatasetConfig] = [
-                {"name": d, "length": length} for d in in_datasets
+                {"name": d, "length": length} for d in datasets
             ]
         else:
-            temp_datasets = [{"name": d} for d in in_datasets]
+            temp_datasets = [{"name": d} for d in datasets]
 
-        pipelines = pl.parse_config(in_pipelines)
-        datasets = ds.parse_config(temp_datasets)
+        run_pipelines = pl.parse_config(pipelines)
+        run_datasets = ds.parse_config(temp_datasets)
 
-        if in_out is None:
+        if out is None:
             print_warning("Output directory not set. Defaulting to './evalio_results'")
-            out = Path("./evalio_results")
+            run_out = Path("./evalio_results")
         else:
-            out = in_out
+            run_out = out
 
     # ------------------------- Miscellaneous ------------------------- #
     # error out if either is wrong
-    if isinstance(datasets, ds.DatasetConfigError):
-        raise typer.BadParameter(
-            f"Error in datasets config: {datasets}", param_hint="run"
-        )
-    if isinstance(pipelines, pl.PipelineConfigError):
-        raise typer.BadParameter(
-            f"Error in pipelines config: {pipelines}", param_hint="run"
-        )
-
-    if out.suffix == ".csv" and (len(pipelines) > 1 or len(datasets) > 1):
-        raise typer.BadParameter(
-            "Output must be a directory when running multiple experiments",
-            param_hint="run",
-        )
+    if isinstance(run_datasets, ds.DatasetConfigError):
+        raise ValueError(f"Error in datasets config: {run_datasets}")
+    if isinstance(run_pipelines, pl.PipelineConfigError):
+        raise ValueError(f"Error in pipelines config: {run_pipelines}")
 
     # make sure all datasets are downloaded
-    for d, _ in datasets:
+    for d, _ in run_datasets:
         d._fail_not_downloaded()
 
     # parse all of the lengths
-    datasets = [
-        (s, len(s) if length is None else min(len(s), length)) for s, length in datasets
+    run_datasets = [
+        (s, len(s) if length is None else min(len(s), length))
+        for s, length in run_datasets
     ]
 
+    if run_out.suffix == ".csv" and (len(run_pipelines) > 1 or len(run_datasets) > 1):
+        raise ValueError("Output must be a directory when running multiple experiments")
+
     print(
-        f"Running {plural(len(datasets), 'dataset')} => {plural(len(pipelines) * len(datasets), 'experiment')}"
+        f"Running {plural(len(run_datasets), 'dataset')} => {plural(len(run_pipelines) * len(run_datasets), 'experiment')}"
     )
-    dtime = sum(le / d.lidar_params().rate for d, le in datasets)
-    dtime *= len(pipelines)
+    dtime = sum(le / d.lidar_params().rate for d, le in run_datasets)
+    dtime *= len(run_pipelines)
     if dtime > 3600:
         print(f"Estimated time (if real-time): {dtime / 3600:.2f} hours")
     elif dtime > 60:
         print(f"Estimated time (if real-time): {dtime / 60:.2f} minutes")
     else:
         print(f"Estimated time (if real-time): {dtime:.2f} seconds")
-    print(f"Output will be saved to {out}\n")
+    print(f"Output will be saved to {run_out}\n")
 
     # Go through visualization options
-    vis_args: Optional[set[VisOption]]
-    if show is None:
-        if visualize:
-            vis_args = set()
-        else:
-            vis_args = None
-    else:
-        vis_args = show
-    vis = RerunVis(vis_args, [p[0] for p in pipelines])
+    vis_args = None
+    if visualize is not None:
+        vis_args = set(opt2vis(v) for v in visualize)
+
+    vis = RerunVis(vis_args, [p[0] for p in run_pipelines])
 
     # save_config(pipelines, datasets, out)
 
@@ -230,10 +200,10 @@ def run_from_cli(
             pipeline=pipeline,
             pipeline_version=pipeline.version(),
             pipeline_params=params,
-            file=out / sequence.full_name / f"{name}.csv",
+            file=run_out / sequence.full_name / f"{name}.csv",
         )
-        for sequence, length in datasets
-        for name, pipeline, params in pipelines
+        for sequence, length in run_datasets
+        for name, pipeline, params in run_pipelines
     ]
 
     run(experiments, vis, rerun_failed)
diff --git a/python/evalio/cli/stats.py b/python/evalio/cli/stats.py
index ae7f7560..cff3141a 100644
--- a/python/evalio/cli/stats.py
+++ b/python/evalio/cli/stats.py
@@ -1,23 +1,19 @@
 from pathlib import Path
 from typing import Annotated, Any, Callable, Optional, cast
 
-from evalio.types.base import Trajectory
 import polars as pl
 import itertools
 
+from evalio import types as ty, stats
 from evalio.utils import print_warning
 from rich.table import Table
 from rich.console import Console
 from rich import box
 
-from evalio import types as ty, stats
-import typer
-
 import distinctipy
 
 from joblib import Parallel, delayed
-
-app = typer.Typer()
+from cyclopts import Group, Parameter
 
 
 def eval_dataset(
@@ -88,7 +84,7 @@ def eval_dataset(
 
         if len(traj) > 0:
             # align to ground truth, copying ground truth by hand
-            gt_aligned = Trajectory(
+            gt_aligned = ty.Trajectory(
                 stamps=[ty.Stamp(s) for s in gt_og.stamps],
                 poses=[ty.SE3(p) for p in gt_og.poses],
             )
@@ -165,129 +161,60 @@ def evaluate(
     return list(itertools.chain.from_iterable(results))
 
 
-@app.command("stats", no_args_is_help=True)
-def evaluate_typer(
-    directories: Annotated[
-        list[Path], typer.Argument(help="Directory of results to evaluate.")
-    ],
-    visualize: Annotated[
-        bool, typer.Option("--visualize", "-v", help="Visualize results.")
-    ] = False,
-    # output options
-    sort: Annotated[
-        Optional[str],
-        typer.Option(
-            "-S",
-            "--sort",
-            help="Sort results by the name of a column. Defaults to RTEt.",
-            rich_help_panel="Output options",
-        ),
-    ] = None,
-    reverse: Annotated[
-        bool,
-        typer.Option(
-            "--reverse",
-            "-r",
-            help="Reverse the sorting order. Defaults to False.",
-            rich_help_panel="Output options",
-        ),
-    ] = False,
+fg = Group("Filtering", sort_key=1)
+mg = Group("Metric", sort_key=2)
+og = Group("Output", sort_key=3)
+
+Ann = Annotated
+Opt = Optional
+Par = Parameter
+
+
+def evaluate_cli(
+    directories: list[Path],
+    /,
+    *,
     # filtering options
-    filter_str: Annotated[
-        Optional[str],
-        typer.Option(
-            "-f",
-            "--filter",
-            help="Python expressions to filter results rows. 'True' rows will be kept. Example: --filter 'RTEt < 0.5'",
-            rich_help_panel="Filtering options",
-        ),
-    ] = None,
-    only_complete: Annotated[
-        bool,
-        typer.Option(
-            "--only-complete",
-            help="Only show results for trajectories that completed.",
-            rich_help_panel="Filtering options",
-        ),
-    ] = False,
-    only_failed: Annotated[
-        bool,
-        typer.Option(
-            "--only-failed",
-            help="Only show results for trajectories that failed.",
-            rich_help_panel="Filtering options",
-        ),
-    ] = False,
-    hide_columns: Annotated[
-        Optional[list[str]],
-        typer.Option(
-            "-h",
-            "--hide",
-            help="Columns to hide, may be repeated.",
-            rich_help_panel="Output options",
-        ),
-    ] = None,
-    show_columns: Annotated[
-        Optional[list[str]],
-        typer.Option(
-            "-s",
-            "--show",
-            help="Columns to force show, may be repeated.",
-            rich_help_panel="Output options",
-        ),
-    ] = None,
-    print_columns: Annotated[
-        bool,
-        typer.Option(
-            "--print-columns",
-            help="Print the names of all available columns.",
-            rich_help_panel="Output options",
-        ),
-    ] = False,
+    filter_str: Ann[Optional[str], Par(alias="-f", group=fg)] = None,
+    only_complete: Ann[bool, Par(group=fg)] = False,
+    only_failed: Ann[bool, Par(group=fg)] = False,
     # metric options
-    w_meters: Annotated[
-        Optional[list[float]],
-        typer.Option(
-            "--w-meters",
-            help="Window size in meters for RTE computation. May be repeated. Defaults to 30m.",
-            rich_help_panel="Metric options",
-        ),
-    ] = None,
-    w_seconds: Annotated[
-        Optional[list[float]],
-        typer.Option(
-            "--w-seconds",
-            help="Window size in seconds for RTE computation. May be repeated. Defaults to none.",
-            rich_help_panel="Metric options",
-        ),
-    ] = None,
-    metric: Annotated[
-        stats.MetricKind,
-        typer.Option(
-            "--metric",
-            help="Metric to use for ATE/RTE computation. Defaults to sse.",
-            rich_help_panel="Metric options",
-        ),
-    ] = stats.MetricKind.sse,
-    length: Annotated[
-        Optional[int],
-        typer.Option(
-            "-l",
-            "--length",
-            help="Specify subset of trajectory to evaluate.",
-            rich_help_panel="Metric options",
-        ),
+    w_meters: Ann[Optional[list[float]], Par(group=mg)] = None,
+    w_seconds: Ann[Optional[list[float]], Par(group=mg)] = None,
+    metric: Ann[stats.MetricKind, Par(alias="-m", group=mg)] = stats.MetricKind.sse,
+    length: Ann[Optional[int], Par(alias="-l", group=mg)] = None,
+    # output options
+    sort: Ann[Optional[str], Par(alias="-s", group=og)] = None,
+    reverse: Ann[bool, Par(alias="-r", group=og)] = False,
+    hide_columns: Ann[
+        Optional[list[str]], Par(alias="-H", group=og, negative="")
     ] = None,
+    show_columns: Ann[Optional[list[str]], Par(alias="-S", group=og)] = None,
+    visualize: Ann[bool, Par(alias="-v", group=og)] = False,
+    print_columns: Ann[bool, Par(group=og)] = False,
 ) -> None:
-    """
-    Evaluate the results of experiments.
+    """Evaluate experiment results and display statistics.
+
+    Args:
+        directories (list[Path]): List of directories containing experiment results.
+        filter_str (str, optional): Python expression to filter result rows. Example: 'RTEt < 0.5'.
+        only_complete (bool, optional): Only show results for completed trajectories.
+        only_failed (bool, optional): Only show results for failed trajectories.
+        w_meters (list[float], optional): Window size in meters for RTE. May be repeated. Defaults to [30.0].
+        w_seconds (list[float], optional): Window size in seconds for RTE. May be repeated.
+        metric (stats.MetricKind, optional): Metric to use for ATE/RTE computation. Defaults to sse.
+        length (int, optional): Specify subset of trajectory to evaluate.
+        sort (str, optional): Name of the column to sort results by. Defaults to first RTEt.
+        reverse (bool, optional): Reverse the sorting order.
+        hide_columns (list[str], optional): Columns to hide from output. May be repeated.
+        show_columns (list[str], optional): Columns to force show in output. May be repeated.
+        visualize (bool, optional): Visualize resulting trajectories in rerun.
+        print_columns (bool, optional): Print the names of all available columns and exit.
     """
     # ------------------------- Process all inputs ------------------------- #
     # Parse some of the options
     if only_complete and only_failed:
-        raise typer.BadParameter(
-            "Can only use one of --only-complete, --only-incomplete, or --only-failed."
-        )
+        raise ValueError("Can only use one of --only-complete and --only-failed.")
 
     # Parse the filtering options
     filter_method: Callable[[dict[str, Any]], bool]
diff --git a/python/evalio/cli/types.py b/python/evalio/cli/types.py
new file mode 100644
index 00000000..63478846
--- /dev/null
+++ b/python/evalio/cli/types.py
@@ -0,0 +1,52 @@
+from typing import TYPE_CHECKING, Literal, Sequence
+
+from cyclopts import Token
+from evalio import datasets as ds, pipelines as pl
+
+from rapidfuzz.process import extractOne
+
+# ------------------------- Type aliases ------------------------- #
+all_sequences = list(ds.all_sequences().keys())
+all_sequences.extend([d + "/*" for d in ds.all_datasets().keys()])
+all_pipelines = list(pl.all_pipelines().keys())
+
+if TYPE_CHECKING:
+    DataSeq = str
+    Pipeline = str
+else:
+    DataSeq = Literal[tuple(all_sequences)]
+    Pipeline = Literal[tuple(all_pipelines)]
+
+
+# This is really a validator, but I want to shortcut the built-in Literal validation
+def data_sequence_converter(type_: type, value: Sequence[Token]) -> list[str]:
+    for v in value:
+        if v.value not in ds.all_sequences():
+            # closest, score, _idx
+            out = extractOne(v.value, ds.all_sequences().keys())
+            if out is None or out[1] < 80:
+                msg = v.value
+            else:
+                msg = f"{v.value}\nA similar seq exists: {out[0]}"
+
+            if v.keyword is None:
+                msg = f"Invalid data sequence: {msg}"
+
+            raise ValueError(msg)
+
+    return [t.value for t in value]
+
+
+def pipeline_converter(type_: type, value: Sequence[Token]) -> list[str]:
+    for v in value:
+        if v.value not in pl.all_pipelines():
+            # closest, score, _idx
+            out = extractOne(v.value, pl.all_pipelines().keys())
+            if out is None or out[1] < 80:
+                msg = v.value
+            else:
+                msg = f"{v.value}\nA similar pipeline exists:  {out[0]}"
+
+            raise ValueError(f"Invalid pipeline: {msg}")
+
+    return [t.value for t in value]
diff --git a/python/evalio/datasets/base.py b/python/evalio/datasets/base.py
index 24d0628d..157aed38 100644
--- a/python/evalio/datasets/base.py
+++ b/python/evalio/datasets/base.py
@@ -241,7 +241,7 @@ def _warn_default_dir(cls):
         global _DATA_DIR, _WARNED
         if not _WARNED and _DATA_DIR == Path("./evalio_data"):
             print_warning(
-                "Using default './evalio_data' for base data directory. Override by setting [magenta]EVALIO_DATA[/magenta], [magenta]evalio.set_data_dir(path)[/magenta] in python, or [magenta]-D[/magenta] in the CLI."
+                "Using default './evalio_data' for base data directory. Override by setting [magenta]EVALIO_DATA[/magenta], [magenta]evalio.set_DATA_DIR(path)[/magenta] in python, or [magenta]-D[/magenta] in the CLI."
             )
             _WARNED = True
 
diff --git a/python/evalio/stats.py b/python/evalio/stats.py
index d681ffe7..957da5ee 100644
--- a/python/evalio/stats.py
+++ b/python/evalio/stats.py
@@ -345,7 +345,6 @@ def rte(
             window_deltas_poses.append(traj.poses[i].inverse() * traj.poses[end_idx])
             window_deltas_gts.append(gt.poses[i].inverse() * gt.poses[end_idx])
 
-
     elif isinstance(window, WindowMeters):
         # Compute deltas for all of ground truth poses
         dist = np.zeros(len_gt)
diff --git a/tests/test_cli_data.py b/tests/test_cli_data.py
index 1f067a67..4dec1da0 100644
--- a/tests/test_cli_data.py
+++ b/tests/test_cli_data.py
@@ -1,7 +1,7 @@
 from enum import auto
 from pathlib import Path
 from typing import Sequence
-from evalio.cli.dataset_manager import dl, rm
+from evalio.cli import app
 from evalio import datasets as ds, types as ty
 
 import pytest
@@ -50,10 +50,11 @@ def url() -> str:
 
 
 ds.register_dataset(FakeData)
+app.result_action = "return_value"
 
 
 def test_dl_done(capsys: pytest.CaptureFixture[str]) -> None:
-    dl(["fake_data/downloaded"])
+    app.meta(["dl", "fake_data/downloaded"])
 
     captured = capsys.readouterr()
     expected = """
@@ -64,7 +65,7 @@ def test_dl_done(capsys: pytest.CaptureFixture[str]) -> None:
 
 
 def test_dl_not_done(capsys: pytest.CaptureFixture[str]) -> None:
-    dl(["fake_data/not_downloaded"])
+    app.meta(["dl", "fake_data/not_downloaded"])
 
     captured = capsys.readouterr()
     expected = """
@@ -78,7 +79,7 @@ def test_dl_not_done(capsys: pytest.CaptureFixture[str]) -> None:
 
 
 def test_rm_done(capsys: pytest.CaptureFixture[str]) -> None:
-    rm(["fake_data/downloaded"])
+    app.meta(["rm", "fake_data/downloaded", "-y"])
 
     captured = capsys.readouterr()
     expected = f"""
@@ -93,7 +94,7 @@ def test_rm_done(capsys: pytest.CaptureFixture[str]) -> None:
 
 
 def test_rm_not_done(capsys: pytest.CaptureFixture[str]) -> None:
-    rm(["fake_data/not_downloaded"])
+    app.meta(["rm", "fake_data/not_downloaded", "-y"])
 
     captured = capsys.readouterr()
     expected = f"""
diff --git a/tests/test_cli_ls.py b/tests/test_cli_ls.py
index 161f357e..bea58f2e 100644
--- a/tests/test_cli_ls.py
+++ b/tests/test_cli_ls.py
@@ -1,6 +1,6 @@
-from evalio.cli.ls import Kind, ls
+from evalio.cli.ls import ls
 
 
-def test_ls_pipelines():
-    ls(Kind.datasets)
-    ls(Kind.pipelines)
+def test_ls():
+    ls("datasets")
+    ls("pipelines")
diff --git a/uv.lock b/uv.lock
index 7889ef17..67671cbc 100644
--- a/uv.lock
+++ b/uv.lock
@@ -8,11 +8,11 @@ resolution-markers = [
 
 [[package]]
 name = "asteval"
-version = "1.0.6"
+version = "1.0.7"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/2b/f0/ad92c4bc565918713f9a4b54f06d06ec370e48079fdb50cf432befabee8b/asteval-1.0.6.tar.gz", hash = "sha256:1aa8e7304b2e171a90d64dd269b648cacac4e46fe5de54ac0db24776c0c4a19f", size = 52079, upload-time = "2025-01-19T21:44:03.291Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/41/cf/82ccb7bc570ebfc5ad8357a6ead94492b0da845ab6b6fb4468fbb21118ca/asteval-1.0.7.tar.gz", hash = "sha256:729fa010511957afcbdbadb0304da09cef6904c145b6901e917afac2dd5668a1", size = 51859, upload-time = "2025-11-06T21:42:37.045Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/13/ac/19dbba27e891f39feb4170b884da449ee2699ef4ebb88eefeda364bbbbcf/asteval-1.0.6-py3-none-any.whl", hash = "sha256:5e119ed306e39199fd99c881cea0e306b3f3807f050c9be79829fe274c6378dc", size = 22406, upload-time = "2025-01-19T21:44:01.323Z" },
+    { url = "https://files.pythonhosted.org/packages/b7/da/875925db2ed80dc7b919b2817da555848b608620be9662c5f835670d5d8d/asteval-1.0.7-py3-none-any.whl", hash = "sha256:d78df08681dfff59031ca624ba7030f9dc576a7a16e2f7a5137c6e7ef3ee60c4", size = 22089, upload-time = "2025-11-06T21:42:35.245Z" },
 ]
 
 [[package]]
@@ -35,28 +35,28 @@ wheels = [
 
 [[package]]
 name = "backrefs"
-version = "5.9"
+version = "6.0.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/eb/a7/312f673df6a79003279e1f55619abbe7daebbb87c17c976ddc0345c04c7b/backrefs-5.9.tar.gz", hash = "sha256:808548cb708d66b82ee231f962cb36faaf4f2baab032f2fbb783e9c2fdddaa59", size = 5765857, upload-time = "2025-06-22T19:34:13.97Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/91/e6/5eac48095081c358926a0cd8821351d7a013168b05cad9530fa3bcae3071/backrefs-6.0.1.tar.gz", hash = "sha256:54f8453c9ae38417a83c06d23745c634138c8da622d87a12cb3eef9ba66dd466", size = 5767249, upload-time = "2025-07-30T02:51:32.816Z" }
 wheels = [
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-    { url = "https://files.pythonhosted.org/packages/10/bf/fa31834dc27a7f05e5290eae47c82690edc3a7b37d58f7fb35a1bdbf355b/backrefs-5.9-py313-none-any.whl", hash = "sha256:cc37b19fa219e93ff825ed1fed8879e47b4d89aa7a1884860e2db64ccd7c676b", size = 399843, upload-time = "2025-06-22T19:34:09.68Z" },
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+    { url = "https://files.pythonhosted.org/packages/03/c9/482590c6e687e8e962d6446c5279a4b5f498c31dd0352352e106af6fd1d7/backrefs-6.0.1-py310-none-any.whl", hash = "sha256:78a69e21b71d739b625b52b5adbf7eb1716fb4cf0a39833826f59546f321cb99", size = 381119, upload-time = "2025-07-30T02:51:21.376Z" },
+    { url = "https://files.pythonhosted.org/packages/3d/ca/7476846268a6382f0e7535fecedf81b514bdeae1404d2866040e1ec21ae3/backrefs-6.0.1-py311-none-any.whl", hash = "sha256:6ba76d616ccb02479a3a098ad1f46d92225f280d7bdce7583bc62897f32d946c", size = 392915, upload-time = "2025-07-30T02:51:23.311Z" },
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+    { url = "https://files.pythonhosted.org/packages/a7/45/84853f5ce1182cc283beebd0a7f05e4210aac06b4f39192cefd60e5901b1/backrefs-6.0.1-py313-none-any.whl", hash = "sha256:62ea7e9b286808576f35b2d28a0daa09b85ae2fc71b82a951d35729b0138e66b", size = 400784, upload-time = "2025-07-30T02:51:26.577Z" },
+    { url = "https://files.pythonhosted.org/packages/cb/07/2e43935cbaa0ec12d7e225e942a3c1e39fc8233f7b18100bcbffd25e6192/backrefs-6.0.1-py314-none-any.whl", hash = "sha256:3ba0d943178d24a3721c5d915734767fa93f3bde1d317c4ef9e0f33b21b9c302", size = 412645, upload-time = "2025-07-30T02:51:28.521Z" },
+    { url = "https://files.pythonhosted.org/packages/e2/9b/14e312dbbc994093caa942a3462dc9f5f54bd0770c8171c6f6aec06e8600/backrefs-6.0.1-py39-none-any.whl", hash = "sha256:b1a61b29c35cc72cfb54886164b626fbe64cab74e9d8dcac125155bd3acdb023", size = 381118, upload-time = "2025-07-30T02:51:30.749Z" },
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 [[package]]
 name = "basedpyright"
-version = "1.32.1"
+version = "1.33.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "nodejs-wheel-binaries" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/4f/a5/691d02a30bda15acb6a5727bb696dd7f3fcae1ad5b9f2708020c2645af8c/basedpyright-1.32.1.tar.gz", hash = "sha256:ce979891a3c4649e7c31d665acb06fd451f33fedfd500bc7796ee0950034aa54", size = 22757919, upload-time = "2025-10-23T12:53:28.169Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/62/c1/d62811ef22ec66bd3112ee2a8c18ff39ea87f3d8040cf3a93574024b17ea/basedpyright-1.33.0.tar.gz", hash = "sha256:a7e4d6d2285b93d8c0c91c75490d5bc00adbe7ef96ba1f1d4c010d9a731e243a", size = 22786957, upload-time = "2025-11-07T11:49:32.008Z" }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/38/87/d95da7ef033c26d71a7153623e7b14fd9cc2c8676e03cf4e9199320cbaf5/basedpyright-1.33.0-py3-none-any.whl", hash = "sha256:1ab813683e28184aa60fd4000731f6fe9dbd083c9bd489420bb20f3e5dbb6ab8", size = 11859149, upload-time = "2025-11-07T11:49:28.694Z" },
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 [[package]]
@@ -74,11 +74,11 @@ wheels = [
 
 [[package]]
 name = "certifi"
-version = "2025.10.5"
+version = "2025.11.12"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/4c/5b/b6ce21586237c77ce67d01dc5507039d444b630dd76611bbca2d8e5dcd91/certifi-2025.10.5.tar.gz", hash = "sha256:47c09d31ccf2acf0be3f701ea53595ee7e0b8fa08801c6624be771df09ae7b43", size = 164519, upload-time = "2025-10-05T04:12:15.808Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/a2/8c/58f469717fa48465e4a50c014a0400602d3c437d7c0c468e17ada824da3a/certifi-2025.11.12.tar.gz", hash = "sha256:d8ab5478f2ecd78af242878415affce761ca6bc54a22a27e026d7c25357c3316", size = 160538, upload-time = "2025-11-12T02:54:51.517Z" }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/70/7d/9bc192684cea499815ff478dfcdc13835ddf401365057044fb721ec6bddb/certifi-2025.11.12-py3-none-any.whl", hash = "sha256:97de8790030bbd5c2d96b7ec782fc2f7820ef8dba6db909ccf95449f2d062d4b", size = 159438, upload-time = "2025-11-12T02:54:49.735Z" },
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 [[package]]
@@ -210,6 +210,17 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/19/60/009b092d1664e20c8726dbead6aa0093747fca23ae85b7d7a5fc3c4c22e0/compdb-0.2.0-py2.py3-none-any.whl", hash = "sha256:f63b87d36a50b984a654dea1c782066cf659cad66d9b37e2d06cede7d0737b91", size = 26333, upload-time = "2018-03-26T20:10:06.723Z" },
 ]
 
+[[package]]
+name = "cyclopts"
+version = "4.2.4.dev27+g4175ac11c"
+source = { git = "https://github.com/BrianPugh/cyclopts.git?branch=mkdocs-plugin#4175ac11c98a32d85e5d26cc444fe998c62f6a33" }
+dependencies = [
+    { name = "attrs" },
+    { name = "docstring-parser" },
+    { name = "rich" },
+    { name = "rich-rst" },
+]
+
 [[package]]
 name = "distinctipy"
 version = "1.3.4"
@@ -222,12 +233,31 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/0a/75/fa882538bdb0c8fc4459f1595a761591b827691936d57c08c492676f19bc/distinctipy-1.3.4-py3-none-any.whl", hash = "sha256:2bf57d9d20dbc5c2fd462298573cc963c037f493d04ec61e94cb8d0bf5023c74", size = 26743, upload-time = "2024-01-10T21:32:22.351Z" },
 ]
 
+[[package]]
+name = "docstring-parser"
+version = "0.17.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/b2/9d/c3b43da9515bd270df0f80548d9944e389870713cc1fe2b8fb35fe2bcefd/docstring_parser-0.17.0.tar.gz", hash = "sha256:583de4a309722b3315439bb31d64ba3eebada841f2e2cee23b99df001434c912", size = 27442, upload-time = "2025-07-21T07:35:01.868Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/55/e2/2537ebcff11c1ee1ff17d8d0b6f4db75873e3b0fb32c2d4a2ee31ecb310a/docstring_parser-0.17.0-py3-none-any.whl", hash = "sha256:cf2569abd23dce8099b300f9b4fa8191e9582dda731fd533daf54c4551658708", size = 36896, upload-time = "2025-07-21T07:35:00.684Z" },
+]
+
+[[package]]
+name = "docutils"
+version = "0.22.3"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/d9/02/111134bfeb6e6c7ac4c74594e39a59f6c0195dc4846afbeac3cba60f1927/docutils-0.22.3.tar.gz", hash = "sha256:21486ae730e4ca9f622677b1412b879af1791efcfba517e4c6f60be543fc8cdd", size = 2290153, upload-time = "2025-11-06T02:35:55.655Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/11/a8/c6a4b901d17399c77cd81fb001ce8961e9f5e04d3daf27e8925cb012e163/docutils-0.22.3-py3-none-any.whl", hash = "sha256:bd772e4aca73aff037958d44f2be5229ded4c09927fcf8690c577b66234d6ceb", size = 633032, upload-time = "2025-11-06T02:35:52.391Z" },
+]
+
 [[package]]
 name = "evalio"
 version = "0.4.2"
 source = { editable = "." }
 dependencies = [
     { name = "asteval" },
+    { name = "cyclopts" },
     { name = "distinctipy" },
     { name = "gdown" },
     { name = "joblib" },
@@ -237,7 +267,6 @@ dependencies = [
     { name = "rapidfuzz" },
     { name = "rosbags" },
     { name = "tqdm" },
-    { name = "typer" },
 ]
 
 [package.optional-dependencies]
@@ -269,6 +298,7 @@ dev = [
 [package.metadata]
 requires-dist = [
     { name = "asteval", specifier = ">=1.0.6" },
+    { name = "cyclopts", git = "https://github.com/BrianPugh/cyclopts.git?branch=mkdocs-plugin" },
     { name = "distinctipy", specifier = ">=1.3.4" },
     { name = "gdown", specifier = ">=5.2.0" },
     { name = "joblib", specifier = ">=1.5.2" },
@@ -279,7 +309,6 @@ requires-dist = [
     { name = "rerun-sdk", marker = "extra == 'vis'", specifier = ">=0.25" },
     { name = "rosbags", specifier = ">=0.11.0" },
     { name = "tqdm", specifier = ">=4.66" },
-    { name = "typer", specifier = ">=0.15.3" },
 ]
 provides-extras = ["vis"]
 
@@ -342,14 +371,14 @@ wheels = [
 
 [[package]]
 name = "griffe"
-version = "1.14.0"
+version = "1.15.0"
 source = { registry = "https://pypi.org/simple" }
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+sdist = { url = "https://files.pythonhosted.org/packages/0d/0c/3a471b6e31951dce2360477420d0a8d1e00dea6cf33b70f3e8c3ab6e28e1/griffe-1.15.0.tar.gz", hash = "sha256:7726e3afd6f298fbc3696e67958803e7ac843c1cfe59734b6251a40cdbfb5eea", size = 424112, upload-time = "2025-11-10T15:03:15.52Z" }
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+    { url = "https://files.pythonhosted.org/packages/9c/83/3b1d03d36f224edded98e9affd0467630fc09d766c0e56fb1498cbb04a9b/griffe-1.15.0-py3-none-any.whl", hash = "sha256:6f6762661949411031f5fcda9593f586e6ce8340f0ba88921a0f2ef7a81eb9a3", size = 150705, upload-time = "2025-11-10T15:03:13.549Z" },
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