diff --git a/.gitignore b/.gitignore
index 1b7f1db..05eff5c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -37,3 +37,4 @@ tests/pytest.ini
 tests/htmlcov
 musicalgestures/pose/body_25/pose_iter_584000.caffemodel
 musicalgestures/pose/body_25/.wget-hsts
+dancer_grid.png
diff --git a/musicalgestures/_video.py b/musicalgestures/_video.py
index 948dcde..b6bb0a3 100644
--- a/musicalgestures/_video.py
+++ b/musicalgestures/_video.py
@@ -276,8 +276,14 @@ def __repr__(self):
         return f"MgVideo('{self.filename}')"
 
     def numpy(self):
-        "Pipe all video frames from FFmpeg to numpy array"
+        """
+        Read all video frames into a numpy array using FFmpeg.
 
+        Returns:
+            tuple: A tuple ``(array, fps)`` where ``array`` is a ``numpy.ndarray``
+                of shape ``(N, H, W, 3)`` in BGR format (uint8) containing all N
+                frames, and ``fps`` is the frame rate of the video.
+        """
         # Define ffmpeg command and load all the video frames in memory
         cmd = ["ffmpeg", "-y", "-i", self.filename]
         process = ffmpeg_cmd(cmd, total_time=self.length, pipe="load")
@@ -289,13 +295,26 @@ def numpy(self):
         return array, self.fps
 
     def from_numpy(self, array, fps, target_name=None):
-        if target_name is not None:
-            self.filename = os.path.splitext(target_name)[0] + self.fex
+        """
+        Writes a numpy array of video frames to a video file using FFmpeg.
 
-        if self.path is not None:
-            target_name = os.path.join(self.path, self.filename)
+        After writing, updates ``self.filename``, ``self.of``, and ``self.fex`` to
+        reflect the actual output path so that subsequent operations on this object
+        refer to the newly created file.
+
+        Args:
+            array (np.ndarray): Video frames array with shape (N, H, W, 3) in BGR format.
+            fps (float): Frames per second for the output video.
+            target_name (str, optional): Full path for the output file. If None, uses
+                ``self.path/self.filename`` (or just ``self.filename`` if path is None).
+                Defaults to None.
+        """
+        if target_name is not None:
+            write_path = os.path.splitext(target_name)[0] + self.fex
+        elif self.path is not None:
+            write_path = os.path.join(self.path, self.filename)
         else:
-            target_name = self.filename
+            write_path = self.filename
 
         process = None
         for frame in array:
@@ -319,14 +338,16 @@ def from_numpy(self, array, fps, target_name=None):
                     "libx264",
                     "-pix_fmt",
                     "yuv420p",
-                    target_name,
+                    write_path,
                 ]
                 process = ffmpeg_cmd(cmd, total_time=array.shape[0], pipe="write")
             process.stdin.write(frame.astype(np.uint8))
         process.stdin.close()
         process.wait()
 
-        return
+        # Update self.filename to the actual written path so that get_video() can find the file
+        self.filename = write_path
+        self.of, self.fex = os.path.splitext(write_path)
 
     def extract_frame(self, **kwargs):
         """
diff --git a/tests/test_numpy.py b/tests/test_numpy.py
new file mode 100644
index 0000000..6f7b551
--- /dev/null
+++ b/tests/test_numpy.py
@@ -0,0 +1,164 @@
+"""Tests for numpy array read/write and memory-based processing flow (issue #294)."""
+import os
+import numpy as np
+import pytest
+import musicalgestures
+from musicalgestures._utils import extract_subclip
+
+
+@pytest.fixture(scope="module")
+def testvideo_avi(tmp_path_factory):
+    target_name = os.path.join(str(tmp_path_factory.mktemp("data")), "testvideo.avi")
+    return extract_subclip(musicalgestures.examples.dance, 5, 6, target_name=target_name)
+
+
+class Test_MgVideo_numpy:
+    """Tests for MgVideo.numpy() – read video frames as numpy array."""
+
+    def test_returns_tuple(self, testvideo_avi):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        result = mg.numpy()
+        assert isinstance(result, tuple)
+        assert len(result) == 2
+
+    def test_array_shape(self, testvideo_avi):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        array, fps = mg.numpy()
+        # shape should be (N_frames, height, width, 3)
+        assert array.ndim == 4
+        assert array.shape[1] == mg.height
+        assert array.shape[2] == mg.width
+        assert array.shape[3] == 3
+
+    def test_array_dtype(self, testvideo_avi):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        array, fps = mg.numpy()
+        assert array.dtype == np.uint8
+
+    def test_fps_matches(self, testvideo_avi):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        array, fps = mg.numpy()
+        assert fps == mg.fps
+
+    def test_frame_count(self, testvideo_avi):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        array, fps = mg.numpy()
+        from musicalgestures._utils import get_framecount
+        expected_frames = get_framecount(testvideo_avi)
+        assert array.shape[0] == expected_frames
+
+
+class Test_MgAudio_numpy:
+    """Tests for MgAudio.numpy() – read audio as numpy array."""
+
+    def test_returns_array(self, testvideo_avi):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        result = mg.audio.numpy()
+        assert isinstance(result, np.ndarray)
+
+    def test_array_1d(self, testvideo_avi):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        result = mg.audio.numpy()
+        assert result.ndim == 1
+
+    def test_sample_rate_set(self, testvideo_avi):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        mg.audio.numpy()
+        assert mg.audio.sr > 0
+
+    def test_array_length_matches_duration(self, testvideo_avi):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        result = mg.audio.numpy()
+        # Audio duration = n_samples / sr, should be roughly 1 second (we extracted 5-6 s)
+        duration = len(result) / mg.audio.sr
+        assert 0.5 < duration < 2.0
+
+
+class Test_MgVideo_from_numpy:
+    """Tests for creating MgVideo from a numpy array (via __init__ array parameter)."""
+
+    def test_init_with_array_no_path(self, testvideo_avi, tmp_path):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        array, fps = mg.numpy()
+        out_file = str(tmp_path / "from_arr.avi")
+        new_mg = musicalgestures.MgVideo(
+            filename=out_file,
+            array=array[:30],
+            fps=fps,
+        )
+        assert os.path.isfile(new_mg.filename)
+        assert new_mg.fps == fps
+        assert new_mg.width == array.shape[2]
+        assert new_mg.height == array.shape[1]
+
+    def test_init_with_array_and_path(self, testvideo_avi, tmp_path):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        array, fps = mg.numpy()
+        new_mg = musicalgestures.MgVideo(
+            filename="arr_output.avi",
+            array=array[:30],
+            fps=fps,
+            path=str(tmp_path),
+        )
+        expected_path = os.path.join(str(tmp_path), "arr_output.avi")
+        assert new_mg.filename == expected_path
+        assert os.path.isfile(new_mg.filename)
+
+    def test_from_numpy_direct_call(self, testvideo_avi, tmp_path):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        array, fps = mg.numpy()
+        target = str(tmp_path / "direct.avi")
+        mg.from_numpy(array[:30], fps, target_name=target)
+        assert os.path.isfile(target)
+
+    def test_roundtrip_frame_count(self, testvideo_avi, tmp_path):
+        """Array written to disk should have the same number of frames."""
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        array, fps = mg.numpy()
+        n_frames = 20
+        out_file = str(tmp_path / "roundtrip.avi")
+        new_mg = musicalgestures.MgVideo(
+            filename=out_file,
+            array=array[:n_frames],
+            fps=fps,
+        )
+        from musicalgestures._utils import get_framecount
+        assert get_framecount(new_mg.filename) == n_frames
+
+
+class Test_mg_grid_return_array:
+    """Tests for mg_grid() memory-based flow (return_array=True)."""
+
+    def test_return_array_type(self, testvideo_avi):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        result = mg.grid(height=100, rows=2, cols=2, return_array=True)
+        assert isinstance(result, np.ndarray)
+
+    def test_return_array_dtype(self, testvideo_avi):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        result = mg.grid(height=100, rows=2, cols=2, return_array=True)
+        assert result.dtype == np.uint8
+
+    def test_return_array_shape(self, testvideo_avi):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        rows, cols, height = 2, 3, 100
+        result = mg.grid(height=height, rows=rows, cols=cols, return_array=True)
+        assert result.ndim == 3
+        assert result.shape[0] == height * rows
+        assert result.shape[2] == 3  # RGB channels
+
+    def test_no_file_written(self, testvideo_avi, tmp_path):
+        """return_array=True should not write any file to disk."""
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        of = os.path.splitext(testvideo_avi)[0]
+        expected_file = of + "_grid.png"
+        if os.path.exists(expected_file):
+            os.remove(expected_file)
+        mg.grid(height=100, rows=2, cols=2, return_array=True)
+        assert not os.path.exists(expected_file)
+
+    def test_return_mgimage_when_no_array(self, testvideo_avi):
+        mg = musicalgestures.MgVideo(testvideo_avi)
+        result = mg.grid(height=100, rows=2, cols=2, return_array=False)
+        assert isinstance(result, musicalgestures.MgImage)
+        assert os.path.isfile(result.filename)