diff --git a/examples/rtc/README.md b/examples/rtc/README.md
index 988f997a9..5128645e7 100644
--- a/examples/rtc/README.md
+++ b/examples/rtc/README.md
@@ -16,156 +16,161 @@ Real-Time Chunking addresses the challenge of maintaining consistency and reacti
 
 ## Scripts
 
-### 1. `real_time_chunking_evaluate.py`
+### 1. `eval_dataset.py`
 
-Real-time evaluation on physical robots or simulation environments.
+Offline evaluation on dataset samples with detailed visualization and validation.
 
 **Features:**
 
-- Run policy with RTC on real robot or simulation
-- Compare RTC vs non-RTC actions in real-time
-- Multi-threaded action execution and inference
+- Compare RTC vs non-RTC predictions on two random dataset samples
+- Validate RTC behavior (delay region, blend region, post-horizon region)
+- Generate debug visualizations:
+  - Denoising step comparisons (x_t, v_t, x1_t, corrections)
+  - Final action predictions comparison
 - Support for torch.compile() optimization
+- Memory-efficient sequential policy loading for large models
 
 **Usage:**
 
 ```bash
-# With real robot
-uv run python examples/rtc/real_time_chunking_evaluate.py \
-    --policy.path=lerobot/smolvla_base \
-    --robot.type=so100 \
-    --task="pick up the cup"
+# Basic usage with SmolVLA policy
+uv run python examples/rtc/eval_dataset.py \
+    --policy.path=helper2424/smolvla_check_rtc_last3 \
+    --dataset.repo_id=helper2424/check_rtc \
+    --rtc.execution_horizon=8 \
+    --device=mps \
+    --rtc.max_guidance_weight=10.0 \
+    --seed=10
 
-# With simulation environment
-uv run python examples/rtc/real_time_chunking_evaluate.py \
-    --policy.path=lerobot/smolvla_base \
-    --env.type=pusht \
-    --duration=60.0
+# With Pi0.5 policy on CUDA
+uv run python examples/rtc/eval_dataset.py \
+    --policy.path=lerobot/pi05_libero_finetuned \
+    --dataset.repo_id=HuggingFaceVLA/libero \
+    --rtc.execution_horizon=8 \
+    --device=cuda
 
-# Disable verbose comparison (faster)
-uv run python examples/rtc/real_time_chunking_evaluate.py \
-    --policy.path=lerobot/smolvla_base \
-    --robot.type=so100 \
-    --verbose_rtc_comparison=false
+# With Pi0 policy
+uv run python examples/rtc/eval_dataset.py \
+    --policy.path=lerobot/pi0_libero_finetuned \
+    --dataset.repo_id=HuggingFaceVLA/libero \
+    --rtc.execution_horizon=8 \
+    --device=cuda
 
-# With policy compilation (CUDA only, not MPS)
-uv run python examples/rtc/real_time_chunking_evaluate.py \
-    --policy.path=lerobot/smolvla_base \
-    --robot.type=so100 \
-    --compile_policy=true \
-    --compile_mode=max-autotune
-```
+# With torch.compile for faster inference
+uv run python examples/rtc/eval_dataset.py \
+    --policy.path=helper2424/smolvla_check_rtc_last3 \
+    --dataset.repo_id=helper2424/check_rtc \
+    --rtc.execution_horizon=8 \
+    --device=cuda \
+    --use_torch_compile=true \
+    --torch_compile_mode=max-autotune
 
-**Key Parameters:**
-
-- `--policy.path`: Path to pretrained policy
-- `--robot.type` or `--env.type`: Robot or environment to use
-- `--rtc.execution_horizon`: Number of steps to maintain consistency (default: 10)
-- `--rtc.max_guidance_weight`: Maximum guidance weight (default: 1.0)
-- `--rtc.prefix_attention_schedule`: Schedule type (ZEROS, ONES, LINEAR, EXP)
-- `--verbose_rtc_comparison`: Enable detailed RTC comparison logging (default: true)
-- `--duration`: How long to run (seconds, default: 30.0)
-- `--fps`: Action execution frequency (Hz, default: 10.0)
-
-### 2. `evaluate_rtc_on_dataset.py`
-
-Offline evaluation on dataset samples to measure RTC effectiveness.
-
-**Features:**
-
-- Evaluate RTC on dataset without running robot
-- Compare RTC vs non-RTC predictions
-- Measure consistency and ground truth alignment
-- Simulate different inference delays
-- Save detailed metrics to JSON
-
-**Usage:**
-
-```bash
-# Basic evaluation
-uv run python examples/rtc/evaluate_rtc_on_dataset.py \
-    --policy.path=lerobot/smolvla_base \
-    --dataset.repo_id=lerobot/pusht \
-    --num_iterations=100
-
-# Simulate inference delay (every 3rd step)
-uv run python examples/rtc/evaluate_rtc_on_dataset.py \
-    --policy.path=lerobot/smolvla_base \
-    --dataset.repo_id=lerobot/pusht \
-    --num_iterations=200 \
-    --skip_steps=3
-
-# Custom RTC configuration
-uv run python examples/rtc/evaluate_rtc_on_dataset.py \
-    --policy.path=lerobot/smolvla_base \
-    --dataset.repo_id=lerobot/pusht \
-    --num_iterations=100 \
-    --rtc.execution_horizon=12 \
-    --rtc.max_guidance_weight=5.0 \
-    --rtc.prefix_attention_schedule=LINEAR
-
-# Save results to file
-uv run python examples/rtc/evaluate_rtc_on_dataset.py \
-    --policy.path=lerobot/smolvla_base \
-    --dataset.repo_id=lerobot/pusht \
-    --num_iterations=100 \
-    --output_path=results/rtc_evaluation.json
-
-# Verbose mode with detailed logging
-uv run python examples/rtc/evaluate_rtc_on_dataset.py \
-    --policy.path=lerobot/smolvla_base \
-    --dataset.repo_id=lerobot/pusht \
-    --num_iterations=50 \
-    --verbose=true
+# Enable CUDA graphs (advanced - may cause tensor aliasing errors)
+uv run python examples/rtc/eval_dataset.py \
+    --policy.path=helper2424/smolvla_check_rtc_last3 \
+    --dataset.repo_id=helper2424/check_rtc \
+    --use_torch_compile=true \
+    --torch_compile_backend=inductor \
+    --torch_compile_mode=max-autotune \
+    --torch_compile_disable_cudagraphs=false
 ```
 
 **Key Parameters:**
 
 - `--policy.path`: Path to pretrained policy
 - `--dataset.repo_id`: Dataset to evaluate on
-- `--num_iterations`: Number of samples to evaluate (default: 100)
-- `--skip_steps`: Steps to skip between inferences, simulates inference delay (default: 1)
-- `--start_episode`: Episode to start from (default: 0)
-- `--output_path`: Path to save results JSON
-- `--verbose`: Enable detailed per-sample logging
+- `--rtc.execution_horizon`: Number of steps to maintain consistency (default: 20)
+- `--rtc.max_guidance_weight`: Maximum guidance weight (default: 10.0)
+- `--rtc.prefix_attention_schedule`: Schedule type (ZEROS, ONES, LINEAR, EXP)
+- `--inference_delay`: Inference delay for RTC (default: 4)
+- `--seed`: Random seed for reproducibility (default: 42)
+- `--output_dir`: Directory to save visualizations (default: rtc_debug_output)
 - `--device`: Device to use (cuda, cpu, mps, auto)
+- `--use_torch_compile`: Enable torch.compile() for faster inference
 
-**Metrics Reported:**
+**Output:**
 
-- **RTC vs Ground Truth MSE**: How close RTC predictions are to actual actions
-- **No-RTC vs Ground Truth MSE**: Baseline without RTC
-- **RTC Improvement**: Absolute and relative improvement over baseline
-- **RTC Consistency**: How well RTC maintains consistency in prefix region
-  - Prefix MSE
-  - Mean/Max error in overlap region
+The script generates several visualization files in `rtc_debug_output/`:
 
-### 3. `run_dataset_evaluation.sh`
+- `denoising_xt_comparison.png` - Noisy state evolution during denoising
+- `denoising_vt_comparison.png` - Velocity predictions during denoising
+- `denoising_x1t_comparison.png` - Predicted final states during denoising
+- `denoising_correction_comparison.png` - RTC guidance corrections applied
+- `final_actions_comparison.png` - Final action predictions (prev_chunk, no_rtc, rtc)
 
-Convenience script with multiple evaluation scenarios.
+The script also validates RTC behavior and reports:
+
+- ✅ Delay region [0:inference_delay]: RTC = prev_chunk
+- ✅ Blend region [inference_delay:execution_horizon]: prev_chunk ≤ RTC ≤ no_rtc
+- ✅ Post-horizon [execution_horizon:]: RTC = no_rtc
+
+### 2. `eval_with_real_robot.py`
+
+Real-time evaluation on physical robots or simulation environments.
+
+**Features:**
+
+- Run policy with RTC on real robot or simulation
+- Multi-threaded action execution and inference
+- Action queue management with proper timing
+- Latency tracking and adaptive inference delay
+- Support for both robots and gym environments
+- Support for torch.compile() optimization
 
 **Usage:**
 
 ```bash
-# Edit the script to set your policy and dataset
-# Then run all examples:
-./examples/rtc/run_dataset_evaluation.sh
+# With real robot
+uv run python examples/rtc/eval_with_real_robot.py \
+    --policy.path=lerobot/smolvla_base \
+    --robot.type=so100 \
+    --task="pick up the cup" \
+    --duration=30.0
 
-# Or run individual examples from the script
+# With simulation environment
+uv run python examples/rtc/eval_with_real_robot.py \
+    --policy.path=lerobot/smolvla_base \
+    --env.type=pusht \
+    --duration=60.0
+
+# With policy compilation (CUDA only, not MPS)
+uv run python examples/rtc/eval_with_real_robot.py \
+    --policy.path=lerobot/smolvla_base \
+    --robot.type=so100 \
+    --use_torch_compile=true \
+    --torch_compile_mode=max-autotune
 ```
 
+**Key Parameters:**
+
+- `--policy.path`: Path to pretrained policy
+- `--robot.type` or `--env.type`: Robot or environment to use
+- `--task`: Task description (for VLA models)
+- `--rtc.execution_horizon`: Number of steps to maintain consistency (default: 10)
+- `--rtc.max_guidance_weight`: Maximum guidance weight (default: 1.0)
+- `--rtc.prefix_attention_schedule`: Schedule type (ZEROS, ONES, LINEAR, EXP)
+- `--duration`: How long to run (seconds, default: 30.0)
+- `--fps`: Action execution frequency (Hz, default: 10.0)
+- `--action_queue_size_to_get_new_actions`: Queue size threshold to request new actions (default: 30)
+- `--device`: Device to use (cuda, cpu, mps, auto)
+- `--use_torch_compile`: Enable torch.compile() for faster inference
+
 ## Understanding RTC Parameters
 
 ### `execution_horizon`
 
 Number of timesteps from previous chunk to maintain consistency with. Higher values mean more consistency but potentially less reactivity.
 
-**Typical values:** 8-12 steps
+**Typical values:** 8-12 steps for dataset evaluation, 10 steps for real-time execution
 
 ### `max_guidance_weight`
 
 Upper bound on guidance strength. Higher values give stronger consistency but may over-constrain new predictions.
 
-**Typical values:** 1.0-10.0
+**Typical values:**
+
+- Dataset evaluation: 10.0-100.0 (can be higher for analysis)
+- Real-time execution: 1.0-10.0 (more conservative)
 
 ### `prefix_attention_schedule`
 
@@ -178,104 +183,69 @@ How to weight consistency across the overlap region:
 
 **Recommended:** `EXP`
 
-### `skip_steps` (evaluation only)
+### `inference_delay`
 
-Simulates inference delay by evaluating every N-th step. This helps understand how RTC performs with realistic delays.
+Number of timesteps from the prefix to use for guidance. Typically calculated dynamically based on inference latency in real-time execution, but fixed for dataset evaluation.
 
-**Example:** `skip_steps=3` means policy infers every 3 steps, simulating 3x action execution frequency vs inference frequency.
+**Typical values:** 3-5 steps for dataset evaluation
 
-## Output Format (Dataset Evaluation)
+### `action_queue_size_to_get_new_actions` (real-time only)
 
-When using `--output_path`, results are saved in JSON format:
+Threshold for requesting new action chunks. Should be higher than `inference_delay + execution_horizon` to ensure smooth operation.
 
-```json
-{
-  "summary": {
-    "rtc_vs_ground_truth_mse": {
-      "mean": 0.00123,
-      "std": 0.00045,
-      "min": 0.00012,
-      "max": 0.00456
-    },
-    "improvement": {
-      "absolute": 0.00034,
-      "relative_percent": 12.5
-    },
-    ...
-  },
-  "config": {
-    "num_iterations": 100,
-    "skip_steps": 3,
-    "execution_horizon": 10,
-    ...
-  },
-  "detailed_results": [
-    {
-      "sample_idx": 0,
-      "rtc_vs_ground_truth_mse": 0.00112,
-      "no_rtc_vs_ground_truth_mse": 0.00145,
-      ...
-    },
-    ...
-  ]
-}
-```
+**Typical values:** 20-30 steps
+
+## Validation Rules (Dataset Evaluation)
+
+The dataset evaluation script validates that RTC behavior matches expectations:
+
+1. **Delay Region [0:inference_delay]**: RTC actions should equal previous chunk
+   - Ensures consistency during the inference delay period
+
+2. **Blend Region [inference_delay:execution_horizon]**: RTC should be between prev_chunk and no_rtc
+   - Smooth transition from previous plan to new predictions
+
+3. **Post-Horizon [execution_horizon:]**: RTC should equal no_rtc
+   - Full adoption of new predictions after execution horizon
 
 ## Tips
 
-1. **Start with dataset evaluation** to understand RTC behavior before running on robot
-2. **Use verbose mode** for debugging unexpected behavior
+1. **Start with dataset evaluation** (`eval_dataset.py`) to understand RTC behavior and tune parameters before running on robot
+2. **Use visualizations** to debug unexpected behavior - check denoising steps and final actions
 3. **Tune execution_horizon** based on your inference latency and action frequency
-4. **Monitor consistency metrics** - very low consistency might indicate execution_horizon is too small
+4. **Monitor validation output** - failures indicate potential implementation issues or misconfigured parameters
 5. **Compare different schedules** - EXP usually works best but LINEAR can be more interpretable
 
 ## Troubleshooting
 
-### High RTC vs No-RTC difference but no improvement
+### Validation fails in delay region
 
-- Try reducing `max_guidance_weight`
-- Check if `execution_horizon` is too large
+- Check that `prev_chunk_left_over` is properly passed to the policy
+- Verify RTC guidance is being applied during denoising
+- Look at denoising visualizations to see where guidance diverges
 
-### Poor consistency metrics
+### Validation fails in post-horizon region
 
-- Increase `execution_horizon`
-- Check that `skip_steps` is not larger than your action chunk size
-- Verify episodes are being reset correctly
+- RTC and no_rtc use different noise - verify same noise is being used for comparison
+- Check that weights are correctly zeroed out after execution horizon
+- Review prefix_attention_schedule visualization
 
-### RTC worse than No-RTC
+### Poor performance on real robot
 
-- RTC may not help if inference is faster than action execution
-- Try different `prefix_attention_schedule`
-- Ensure `execution_horizon` matches your use case
+- Increase `action_queue_size_to_get_new_actions` if you see warnings
+- Reduce `max_guidance_weight` if robot is too conservative
+- Try different `prefix_attention_schedule` values
+- Enable torch.compile() for faster inference (CUDA only)
 
-## Examples Results
+### Memory issues with large models
 
-Example output from dataset evaluation:
-
-```
-================================================================================
-EVALUATION SUMMARY
-================================================================================
-
-Ground Truth Alignment:
-  RTC MSE:        0.001234 ± 0.000456
-  No-RTC MSE:     0.001567 ± 0.000512
-
-RTC Improvement:
-  Absolute:       0.000333
-  Relative:       21.23%
-
-RTC vs No-RTC Difference:
-  MSE:            0.000112 ± 0.000034
-
-RTC Consistency (Prefix Region):
-  MSE:            0.000089 ± 0.000023
-  Mean Error:     0.007654 ± 0.002341
-  Max Error:      0.023456 ± 0.008765
-```
+- The dataset evaluation script loads policies sequentially to minimize memory
+- For real-time execution, only one policy is loaded
+- Use smaller batch sizes if needed
 
 ## Related Documentation
 
 - [RTC Implementation](../../src/lerobot/policies/rtc/modeling_rtc.py)
 - [RTC Configuration](../../src/lerobot/policies/rtc/configuration_rtc.py)
+- [Action Queue](../../src/lerobot/policies/rtc/action_queue.py)
 - [Physical Intelligence Paper](https://www.physicalintelligence.company/download/real_time_chunking.pdf)
diff --git a/examples/rtc/eval_dataset.py b/examples/rtc/eval_dataset.py
index c3d540339..16f1cfacc 100644
--- a/examples/rtc/eval_dataset.py
+++ b/examples/rtc/eval_dataset.py
@@ -16,7 +16,9 @@ Usage:
         --policy.path=helper2424/smolvla_check_rtc_last3 \
         --dataset.repo_id=helper2424/check_rtc \
         --rtc.execution_horizon=8 \
-        --device=mps
+        --device=mps \
+        --rtc.max_guidance_weight=10.0 \
+        --seed=10
 
     # Basic usage with pi0.5 policy
     uv run python examples/rtc/eval_dataset.py \
@@ -439,6 +441,8 @@ class RTCEvaluator:
         logging.info("Step 2: Generating actions WITHOUT RTC with policy_no_rtc")
         logging.info("=" * 80)
 
+        set_seed(self.cfg.seed)
+
         # Initialize policy 2
         policy_no_rtc_policy = self._init_policy(
             name="policy_no_rtc",
@@ -470,6 +474,8 @@ class RTCEvaluator:
         logging.info("Step 3: Generating actions WITH RTC with policy_rtc")
         logging.info("=" * 80)
 
+        set_seed(self.cfg.seed)
+
         # Initialize policy 3
         policy_rtc_policy = self._init_policy(
             name="policy_rtc",
@@ -510,6 +516,11 @@ class RTCEvaluator:
         logging.info("Validating RTC behavior...")
         self.validate_rtc_behavior(rtc_actions, no_rtc_actions, prev_chunk_left_over)
 
+        # Plot final actions comparison
+        logging.info("=" * 80)
+        logging.info("Plotting final actions comparison...")
+        self.plot_final_actions_comparison(rtc_actions, no_rtc_actions, prev_chunk_left_over)
+
         logging.info("=" * 80)
         logging.info("Evaluation completed successfully")
 
@@ -527,29 +538,24 @@ class RTCEvaluator:
             no_rtc_actions: Final actions from non-RTC policy (batch, time, action_dim)
             prev_chunk_left_over: Previous chunk used as ground truth (time, action_dim)
         """
-        if rtc_actions is None or no_rtc_actions is None:
-            logging.warning("  ⚠ Cannot validate: missing action predictions")
-            return
+        # Remove batch dimension if present and move to CPU
+        rtc_actions_t = rtc_actions.squeeze(0).cpu() if len(rtc_actions.shape) == 3 else rtc_actions.cpu()
+        no_rtc_actions_t = (
+            no_rtc_actions.squeeze(0).cpu() if len(no_rtc_actions.shape) == 3 else no_rtc_actions.cpu()
+        )
+        prev_chunk = prev_chunk_left_over.cpu()
 
-        # Convert to numpy for comparison (remove batch dimension if present)
-        rtc_actions_np = (
-            rtc_actions.squeeze(0).cpu().numpy() if len(rtc_actions.shape) == 3 else rtc_actions.cpu().numpy()
-        )
-        no_rtc_actions_np = (
-            no_rtc_actions.squeeze(0).cpu().numpy()
-            if len(no_rtc_actions.shape) == 3
-            else no_rtc_actions.cpu().numpy()
-        )
-        prev_chunk = prev_chunk_left_over.cpu().numpy()
+        logging.info(f"  rtc_actions shape: {rtc_actions_t.shape}")
+        logging.info(f"  no_rtc_actions shape: {no_rtc_actions_t.shape}")
+        logging.info(f"  prev_chunk shape: {prev_chunk.shape}")
 
         # Determine chunk length for comparison
-        chunk_len = min(rtc_actions_np.shape[0], no_rtc_actions_np.shape[0], prev_chunk.shape[0])
+        chunk_len = min(rtc_actions_t.shape[0], no_rtc_actions_t.shape[0], prev_chunk.shape[0])
         inference_delay = self.cfg.inference_delay
         execution_horizon = self.cfg.rtc.execution_horizon
 
         # Tolerance for floating point comparison
-        rtol = 1e-3  # Relative tolerance
-        atol = 1e-3  # Absolute tolerance
+        rtol = 1e-2  # Relative tolerance
 
         validation_passed = True
         warnings = []
@@ -558,19 +564,26 @@ class RTCEvaluator:
         logging.info(f"    Chunk length: {chunk_len}")
         logging.info(f"    Inference delay: {inference_delay}")
         logging.info(f"    Execution horizon: {execution_horizon}")
-        logging.info(f"    Tolerance: rtol={rtol}, atol={atol}")
+        logging.info(f"    Tolerance: rtol={rtol}")
 
         # ============================================================================
         # Rule 1: During delay [0:inference_delay], RTC should equal prev_chunk
         # ============================================================================
         if inference_delay > 0:
             delay_end = min(inference_delay, chunk_len)
-            rtc_delay = rtc_actions_np[:delay_end]
+            rtc_delay = rtc_actions_t[:delay_end]
             prev_delay = prev_chunk[:delay_end]
 
-            if not np.allclose(rtc_delay, prev_delay, rtol=rtol, atol=atol):
-                max_diff = np.max(np.abs(rtc_delay - prev_delay))
-                mean_diff = np.mean(np.abs(rtc_delay - prev_delay))
+            logging.info(f"  rtc_delay: {rtc_delay.shape}")
+            logging.info(f"  prev_delay: {prev_delay.shape}")
+
+            if not torch.allclose(rtc_delay, prev_delay, rtol=rtol):
+                max_diff = torch.max(torch.abs(rtc_delay - prev_delay)).item()
+                mean_diff = torch.mean(torch.abs(rtc_delay - prev_delay)).item()
+                logging.info(f"  rtc_delay: {rtc_delay}")
+                logging.info(f"  prev_delay: {prev_delay}")
+                logging.info(f"  max_diff: {max_diff}")
+                logging.info(f"  mean_diff: {mean_diff}")
                 warnings.append(
                     f"    ⚠ VALIDATION FAILED: During delay [0:{delay_end}], "
                     f"RTC does NOT equal prev_chunk!\n"
@@ -589,26 +602,26 @@ class RTCEvaluator:
         blend_end = min(execution_horizon, chunk_len)
 
         if blend_end > blend_start:
-            rtc_blend = rtc_actions_np[blend_start:blend_end]
+            rtc_blend = rtc_actions_t[blend_start:blend_end]
             prev_blend = prev_chunk[blend_start:blend_end]
-            no_rtc_blend = no_rtc_actions_np[blend_start:blend_end]
+            no_rtc_blend = no_rtc_actions_t[blend_start:blend_end]
 
             # Check if RTC is between prev_chunk and no_rtc (element-wise)
             # For each element, check if it's between the min and max of prev_chunk and no_rtc
-            min_bound = np.minimum(prev_blend, no_rtc_blend) - atol
-            max_bound = np.maximum(prev_blend, no_rtc_blend) + atol
+            min_bound = torch.minimum(prev_blend, no_rtc_blend)
+            max_bound = torch.maximum(prev_blend, no_rtc_blend)
 
-            within_bounds = np.logical_and(rtc_blend >= min_bound, rtc_blend <= max_bound)
+            within_bounds = torch.logical_and(rtc_blend >= min_bound, rtc_blend <= max_bound)
 
-            if not np.all(within_bounds):
-                violations = np.sum(~within_bounds)
-                total_elements = within_bounds.size
+            if not torch.all(within_bounds):
+                violations = torch.sum(~within_bounds).item()
+                total_elements = within_bounds.numel()
                 violation_pct = 100.0 * violations / total_elements
 
                 # Find max violation
-                lower_violations = np.maximum(0, min_bound - rtc_blend)
-                upper_violations = np.maximum(0, rtc_blend - max_bound)
-                max_violation = np.max(np.maximum(lower_violations, upper_violations))
+                lower_violations = torch.maximum(torch.tensor(0.0), min_bound - rtc_blend)
+                upper_violations = torch.maximum(torch.tensor(0.0), rtc_blend - max_bound)
+                max_violation = torch.max(torch.maximum(lower_violations, upper_violations)).item()
 
                 warnings.append(
                     f"    ⚠ VALIDATION FAILED: In blend region [{blend_start}:{blend_end}], "
@@ -626,12 +639,15 @@ class RTCEvaluator:
         # Rule 3: After execution horizon [execution_horizon:], RTC should equal no_rtc
         # ============================================================================
         if execution_horizon < chunk_len:
-            rtc_after = rtc_actions_np[execution_horizon:chunk_len]
-            no_rtc_after = no_rtc_actions_np[execution_horizon:chunk_len]
+            rtc_after = rtc_actions_t[execution_horizon:chunk_len]
+            no_rtc_after = no_rtc_actions_t[execution_horizon:chunk_len]
 
-            if not np.allclose(rtc_after, no_rtc_after, rtol=rtol, atol=atol):
-                max_diff = np.max(np.abs(rtc_after - no_rtc_after))
-                mean_diff = np.mean(np.abs(rtc_after - no_rtc_after))
+            logging.info(f"  rtc_after: {rtc_after}")
+            logging.info(f"  no_rtc_after: {no_rtc_after}")
+
+            if not torch.allclose(rtc_after, no_rtc_after, rtol=rtol):
+                max_diff = torch.max(torch.abs(rtc_after - no_rtc_after)).item()
+                mean_diff = torch.mean(torch.abs(rtc_after - no_rtc_after)).item()
                 warnings.append(
                     f"    ⚠ VALIDATION FAILED: After execution horizon [{execution_horizon}:{chunk_len}], "
                     f"RTC does NOT equal no_rtc!\n"
@@ -661,6 +677,103 @@ class RTCEvaluator:
             logging.error("")
             logging.error("  Please check the implementation of RTC guidance.")
 
+    def plot_final_actions_comparison(self, rtc_actions, no_rtc_actions, prev_chunk_left_over):
+        """Plot final action predictions comparison on a single chart.
+
+        Args:
+            rtc_actions: Final actions from RTC policy
+            no_rtc_actions: Final actions from non-RTC policy
+            prev_chunk_left_over: Previous chunk used as ground truth
+        """
+        # Remove batch dimension if present
+        rtc_actions_plot = rtc_actions.squeeze(0).cpu() if len(rtc_actions.shape) == 3 else rtc_actions.cpu()
+        no_rtc_actions_plot = (
+            no_rtc_actions.squeeze(0).cpu() if len(no_rtc_actions.shape) == 3 else no_rtc_actions.cpu()
+        )
+        prev_chunk_plot = prev_chunk_left_over.cpu()
+
+        # Create figure with 6 subplots (one per action dimension)
+        fig, axes = plt.subplots(6, 1, figsize=(16, 12))
+        fig.suptitle("Final Action Predictions Comparison (Raw)", fontsize=16)
+
+        # Plot each action dimension
+        for dim_idx, ax in enumerate(axes):
+            # Plot previous chunk (ground truth) in red
+            RTCDebugVisualizer.plot_waypoints(
+                [ax],
+                prev_chunk_plot[:, dim_idx : dim_idx + 1],
+                start_from=0,
+                color="red",
+                label="Previous Chunk (Ground Truth)",
+                linewidth=2.5,
+                alpha=0.8,
+            )
+
+            # Plot no-RTC actions in blue
+            RTCDebugVisualizer.plot_waypoints(
+                [ax],
+                no_rtc_actions_plot[:, dim_idx : dim_idx + 1],
+                start_from=0,
+                color="blue",
+                label="No RTC",
+                linewidth=2,
+                alpha=0.7,
+            )
+
+            # Plot RTC actions in green
+            RTCDebugVisualizer.plot_waypoints(
+                [ax],
+                rtc_actions_plot[:, dim_idx : dim_idx + 1],
+                start_from=0,
+                color="green",
+                label="RTC",
+                linewidth=2,
+                alpha=0.7,
+            )
+
+            # Add vertical lines for inference delay and execution horizon
+            inference_delay = self.cfg.inference_delay
+            execution_horizon = self.cfg.rtc.execution_horizon
+
+            if inference_delay > 0:
+                ax.axvline(
+                    x=inference_delay - 1,
+                    color="orange",
+                    linestyle="--",
+                    alpha=0.5,
+                    label=f"Inference Delay ({inference_delay})",
+                )
+
+            if execution_horizon > 0:
+                ax.axvline(
+                    x=execution_horizon,
+                    color="purple",
+                    linestyle="--",
+                    alpha=0.5,
+                    label=f"Execution Horizon ({execution_horizon})",
+                )
+
+            ax.set_ylabel(f"Dim {dim_idx}", fontsize=10)
+            ax.grid(True, alpha=0.3)
+
+            # Set x-axis ticks to show all integer values
+            max_len = max(rtc_actions_plot.shape[0], no_rtc_actions_plot.shape[0], prev_chunk_plot.shape[0])
+            ax.set_xticks(range(0, max_len, max(1, max_len // 20)))  # Show ~20 ticks
+            ax.set_xlim(-0.5, max_len - 0.5)
+
+            # Add legend only to first subplot
+            if dim_idx == 0:
+                ax.legend(loc="best", fontsize=9)
+
+        axes[-1].set_xlabel("Step", fontsize=10)
+
+        # Save figure
+        output_path = os.path.join(self.cfg.output_dir, "final_actions_comparison.png")
+        fig.tight_layout()
+        fig.savefig(output_path, dpi=150)
+        logging.info(f"Saved final actions comparison to {output_path}")
+        plt.close(fig)
+
     def plot_tracked_data(self, rtc_tracked_steps, no_rtc_tracked_steps, prev_chunk_left_over, num_steps):
         # Create side-by-side figures for denoising visualization
         fig_xt, axs_xt = self._create_figure("x_t Denoising: No RTC (left) vs RTC (right)")
@@ -828,6 +941,13 @@ class RTCEvaluator:
                 margin = y_range * 0.1
                 ax.set_ylim(ylim[0] - margin, ylim[1] + margin)
 
+            # Set x-axis ticks to show all integer values
+            xlim = ax.get_xlim()
+            max_len = int(xlim[1]) + 1
+            if max_len > 0:
+                ax.set_xticks(range(0, max_len, max(1, max_len // 20)))  # Show ~20 ticks
+                ax.set_xlim(-0.5, max_len - 0.5)
+
 
 @parser.wrap()
 def main(cfg: RTCEvalConfig):
diff --git a/src/lerobot/policies/rtc/README.md b/src/lerobot/policies/rtc/README.md
index 94ed41c5f..2b72b33ab 100644
--- a/src/lerobot/policies/rtc/README.md
+++ b/src/lerobot/policies/rtc/README.md
@@ -14,6 +14,7 @@ RTC can be integrated with any policy that supports flow mathicng for chunking:
 
 - **SmolVLA**: Vision-language-action model with RTC support
 - **Pi0**: Action prediction model with adaptive chunking
+- **Pi05**: Action prediction model with adaptive chunking
 
 ## Original Implementation
 
@@ -39,3 +40,10 @@ uv run python examples/rtc/eval_dataset.py \
 --device=mps \
 --seed=42
 ```
+
+This script will evaluate RTC on a data from a dataset and save the results to a file, u can check the results in the `rtc_debug_output` directory.
+
+The example output should look like this:
+![Flow Matching with RTC](./flow_matching.png)
+
+It shows how flow matching works with RTC and without it. The chart shows values of action predictions for each timestep. The colour shows the the generation progress. The blue ones - earlier timesteps, the yellow ones - later timesteps. The red line is the ground truth (previous action chunk).
diff --git a/src/lerobot/policies/rtc/flow_matching.png b/src/lerobot/policies/rtc/flow_matching.png
new file mode 100644
index 000000000..af7c7bf50
Binary files /dev/null and b/src/lerobot/policies/rtc/flow_matching.png differ
diff --git a/src/lerobot/policies/rtc/modeling_rtc.py b/src/lerobot/policies/rtc/modeling_rtc.py
index 0445aa982..280905adf 100644
--- a/src/lerobot/policies/rtc/modeling_rtc.py
+++ b/src/lerobot/policies/rtc/modeling_rtc.py
@@ -168,6 +168,8 @@ class RTCProcessor:
             v_t = original_denoise_step_partial(x_t)
             return v_t
 
+        x_t = x_t.clone().detach()
+
         squeezed = False
         if len(x_t.shape) < 3:
             # Add batch dimension
@@ -208,7 +210,6 @@ class RTCProcessor:
 
         with torch.enable_grad():
             v_t = original_denoise_step_partial(x_t)
-            x_t = x_t.clone().detach()
             x_t.requires_grad_(True)
 
             x1_t = x_t - time * v_t  # noqa: N806
diff --git a/tests/policies/rtc/test_configuration_rtc.py b/tests/policies/rtc/test_configuration_rtc.py
index 2251e007c..bb4550eaa 100644
--- a/tests/policies/rtc/test_configuration_rtc.py
+++ b/tests/policies/rtc/test_configuration_rtc.py
@@ -16,8 +16,6 @@
 
 """Tests for RTC configuration module."""
 
-import pytest
-
 from lerobot.configs.types import RTCAttentionSchedule
 from lerobot.policies.rtc.configuration_rtc import RTCConfig
 
@@ -65,259 +63,3 @@ def test_rtc_config_partial_initialization():
     assert config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR
     assert config.execution_horizon == 10
     assert config.debug is False
-
-
-# ====================== Validation Tests ======================
-
-
-def test_rtc_config_validates_positive_max_guidance_weight():
-    """Test RTCConfig validates max_guidance_weight is positive."""
-    with pytest.raises(ValueError, match="max_guidance_weight must be positive"):
-        RTCConfig(max_guidance_weight=0.0)
-
-    with pytest.raises(ValueError, match="max_guidance_weight must be positive"):
-        RTCConfig(max_guidance_weight=-1.0)
-
-
-def test_rtc_config_validates_positive_debug_maxlen():
-    """Test RTCConfig validates debug_maxlen is positive."""
-    with pytest.raises(ValueError, match="debug_maxlen must be positive"):
-        RTCConfig(debug_maxlen=0)
-
-    with pytest.raises(ValueError, match="debug_maxlen must be positive"):
-        RTCConfig(debug_maxlen=-10)
-
-
-def test_rtc_config_accepts_valid_max_guidance_weight():
-    """Test RTCConfig accepts valid positive max_guidance_weight."""
-    config1 = RTCConfig(max_guidance_weight=0.1)
-    assert config1.max_guidance_weight == 0.1
-
-    config2 = RTCConfig(max_guidance_weight=100.0)
-    assert config2.max_guidance_weight == 100.0
-
-
-def test_rtc_config_accepts_valid_debug_maxlen():
-    """Test RTCConfig accepts valid positive debug_maxlen."""
-    config1 = RTCConfig(debug_maxlen=1)
-    assert config1.debug_maxlen == 1
-
-    config2 = RTCConfig(debug_maxlen=10000)
-    assert config2.debug_maxlen == 10000
-
-
-# ====================== Attention Schedule Tests ======================
-
-
-def test_rtc_config_with_linear_schedule():
-    """Test RTCConfig with LINEAR attention schedule."""
-    config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.LINEAR)
-    assert config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR
-
-
-def test_rtc_config_with_exp_schedule():
-    """Test RTCConfig with EXP attention schedule."""
-    config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.EXP)
-    assert config.prefix_attention_schedule == RTCAttentionSchedule.EXP
-
-
-def test_rtc_config_with_zeros_schedule():
-    """Test RTCConfig with ZEROS attention schedule."""
-    config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.ZEROS)
-    assert config.prefix_attention_schedule == RTCAttentionSchedule.ZEROS
-
-
-def test_rtc_config_with_ones_schedule():
-    """Test RTCConfig with ONES attention schedule."""
-    config = RTCConfig(prefix_attention_schedule=RTCAttentionSchedule.ONES)
-    assert config.prefix_attention_schedule == RTCAttentionSchedule.ONES
-
-
-# ====================== Enabled/Disabled Tests ======================
-
-
-def test_rtc_config_enabled_true():
-    """Test RTCConfig with enabled=True."""
-    config = RTCConfig(enabled=True)
-    assert config.enabled is True
-
-
-def test_rtc_config_enabled_false():
-    """Test RTCConfig with enabled=False."""
-    config = RTCConfig(enabled=False)
-    assert config.enabled is False
-
-
-# ====================== Debug Tests ======================
-
-
-def test_rtc_config_debug_enabled():
-    """Test RTCConfig with debug enabled."""
-    config = RTCConfig(debug=True, debug_maxlen=500)
-    assert config.debug is True
-    assert config.debug_maxlen == 500
-
-
-def test_rtc_config_debug_disabled():
-    """Test RTCConfig with debug disabled."""
-    config = RTCConfig(debug=False)
-    assert config.debug is False
-
-
-# ====================== Execution Horizon Tests ======================
-
-
-def test_rtc_config_with_small_execution_horizon():
-    """Test RTCConfig with small execution horizon."""
-    config = RTCConfig(execution_horizon=1)
-    assert config.execution_horizon == 1
-
-
-def test_rtc_config_with_large_execution_horizon():
-    """Test RTCConfig with large execution horizon."""
-    config = RTCConfig(execution_horizon=100)
-    assert config.execution_horizon == 100
-
-
-def test_rtc_config_with_zero_execution_horizon():
-    """Test RTCConfig accepts zero execution horizon."""
-    # No validation on execution_horizon, so this should work
-    config = RTCConfig(execution_horizon=0)
-    assert config.execution_horizon == 0
-
-
-def test_rtc_config_with_negative_execution_horizon():
-    """Test RTCConfig accepts negative execution horizon."""
-    # No validation on execution_horizon, so this should work
-    config = RTCConfig(execution_horizon=-1)
-    assert config.execution_horizon == -1
-
-
-# ====================== Integration Tests ======================
-
-
-def test_rtc_config_typical_production_settings():
-    """Test RTCConfig with typical production settings."""
-    config = RTCConfig(
-        enabled=True,
-        prefix_attention_schedule=RTCAttentionSchedule.EXP,
-        max_guidance_weight=10.0,
-        execution_horizon=8,
-        debug=False,
-    )
-
-    assert config.enabled is True
-    assert config.prefix_attention_schedule == RTCAttentionSchedule.EXP
-    assert config.max_guidance_weight == 10.0
-    assert config.execution_horizon == 8
-    assert config.debug is False
-
-
-def test_rtc_config_typical_debug_settings():
-    """Test RTCConfig with typical debug settings."""
-    config = RTCConfig(
-        enabled=True,
-        prefix_attention_schedule=RTCAttentionSchedule.LINEAR,
-        max_guidance_weight=5.0,
-        execution_horizon=10,
-        debug=True,
-        debug_maxlen=1000,
-    )
-
-    assert config.enabled is True
-    assert config.debug is True
-    assert config.debug_maxlen == 1000
-
-
-def test_rtc_config_disabled_mode():
-    """Test RTCConfig in disabled mode."""
-    config = RTCConfig(enabled=False)
-
-    assert config.enabled is False
-    # Other settings still accessible even when disabled
-    assert config.max_guidance_weight == 10.0
-    assert config.execution_horizon == 10
-
-
-# ====================== Dataclass Tests ======================
-
-
-def test_rtc_config_is_dataclass():
-    """Test that RTCConfig is a dataclass."""
-    from dataclasses import is_dataclass
-
-    assert is_dataclass(RTCConfig)
-
-
-def test_rtc_config_equality():
-    """Test RTCConfig equality comparison."""
-    config1 = RTCConfig(enabled=True, max_guidance_weight=5.0)
-    config2 = RTCConfig(enabled=True, max_guidance_weight=5.0)
-    config3 = RTCConfig(enabled=False, max_guidance_weight=5.0)
-
-    assert config1 == config2
-    assert config1 != config3
-
-
-def test_rtc_config_repr():
-    """Test RTCConfig string representation."""
-    config = RTCConfig(enabled=True, execution_horizon=20)
-    repr_str = repr(config)
-
-    assert "RTCConfig" in repr_str
-    assert "enabled=True" in repr_str
-    assert "execution_horizon=20" in repr_str
-
-
-# ====================== Edge Cases Tests ======================
-
-
-def test_rtc_config_very_small_max_guidance_weight():
-    """Test RTCConfig with very small positive max_guidance_weight."""
-    config = RTCConfig(max_guidance_weight=1e-10)
-    assert config.max_guidance_weight == pytest.approx(1e-10)
-
-
-def test_rtc_config_very_large_max_guidance_weight():
-    """Test RTCConfig with very large max_guidance_weight."""
-    config = RTCConfig(max_guidance_weight=1e10)
-    assert config.max_guidance_weight == pytest.approx(1e10)
-
-
-def test_rtc_config_minimum_debug_maxlen():
-    """Test RTCConfig with minimum valid debug_maxlen."""
-    config = RTCConfig(debug_maxlen=1)
-    assert config.debug_maxlen == 1
-
-
-def test_rtc_config_float_max_guidance_weight():
-    """Test RTCConfig with float max_guidance_weight."""
-    config = RTCConfig(max_guidance_weight=3.14159)
-    assert config.max_guidance_weight == pytest.approx(3.14159)
-
-
-# ====================== Type Tests ======================
-
-
-def test_rtc_config_enabled_type():
-    """Test RTCConfig enabled field accepts boolean."""
-    config = RTCConfig(enabled=True)
-    assert isinstance(config.enabled, bool)
-
-
-def test_rtc_config_execution_horizon_type():
-    """Test RTCConfig execution_horizon field accepts integer."""
-    config = RTCConfig(execution_horizon=15)
-    assert isinstance(config.execution_horizon, int)
-
-
-def test_rtc_config_max_guidance_weight_type():
-    """Test RTCConfig max_guidance_weight field accepts float."""
-    config = RTCConfig(max_guidance_weight=7.5)
-    assert isinstance(config.max_guidance_weight, float)
-
-
-def test_rtc_config_debug_maxlen_type():
-    """Test RTCConfig debug_maxlen field accepts integer."""
-    config = RTCConfig(debug_maxlen=200)
-    assert isinstance(config.debug_maxlen, int)
diff --git a/tests/policies/rtc/test_debug_visualizer.py b/tests/policies/rtc/test_debug_visualizer.py
deleted file mode 100644
index 41b2926fe..000000000
--- a/tests/policies/rtc/test_debug_visualizer.py
+++ /dev/null
@@ -1,427 +0,0 @@
-#!/usr/bin/env python
-
-# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-"""Tests for RTC debug visualizer module."""
-
-from unittest.mock import MagicMock
-
-import numpy as np
-import pytest
-import torch
-
-from lerobot.policies.rtc.debug_visualizer import RTCDebugVisualizer
-
-# ====================== Fixtures ======================
-
-
-@pytest.fixture
-def mock_axes():
-    """Create mock matplotlib axes."""
-    axes = []
-    for _ in range(6):
-        ax = MagicMock()
-        ax.xaxis.get_label.return_value.get_text.return_value = ""
-        ax.yaxis.get_label.return_value.get_text.return_value = ""
-        axes.append(ax)
-    return axes
-
-
-@pytest.fixture
-def sample_tensor_2d():
-    """Create a 2D sample tensor (time_steps, num_dims)."""
-    return torch.randn(50, 6)
-
-
-@pytest.fixture
-def sample_tensor_3d():
-    """Create a 3D sample tensor (batch, time_steps, num_dims)."""
-    return torch.randn(1, 50, 6)
-
-
-@pytest.fixture
-def sample_numpy_2d():
-    """Create a 2D numpy array."""
-    return np.random.randn(50, 6)
-
-
-# ====================== Basic Plotting Tests ======================
-
-
-def test_plot_waypoints_with_2d_tensor(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints with 2D tensor."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d)
-
-    # Should call plot on each axis (6 dimensions)
-    for ax in mock_axes:
-        ax.plot.assert_called_once()
-
-
-def test_plot_waypoints_with_3d_tensor(mock_axes, sample_tensor_3d):
-    """Test plot_waypoints with 3D tensor (batch dimension)."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_3d)
-
-    # Should still plot 6 dimensions (batch dimension removed)
-    for ax in mock_axes:
-        ax.plot.assert_called_once()
-
-
-def test_plot_waypoints_with_numpy_array(mock_axes, sample_numpy_2d):
-    """Test plot_waypoints with numpy array."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_numpy_2d)
-
-    # Should work with numpy arrays
-    for ax in mock_axes:
-        ax.plot.assert_called_once()
-
-
-def test_plot_waypoints_with_none_tensor(mock_axes):
-    """Test plot_waypoints returns early when tensor is None."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, None)
-
-    # Should not call plot on any axis
-    for ax in mock_axes:
-        ax.plot.assert_not_called()
-
-
-# ====================== Parameter Tests ======================
-
-
-def test_plot_waypoints_with_custom_color(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints uses custom color."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d, color="red")
-
-    # Check that color was passed to plot
-    for ax in mock_axes:
-        call_kwargs = ax.plot.call_args[1]
-        assert call_kwargs["color"] == "red"
-
-
-def test_plot_waypoints_with_custom_label(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints uses custom label."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d, label="test_label")
-
-    # First axis should have label, others should not
-    first_ax_kwargs = mock_axes[0].plot.call_args[1]
-    assert first_ax_kwargs["label"] == "test_label"
-
-    # Other axes should have empty label
-    for ax in mock_axes[1:]:
-        call_kwargs = ax.plot.call_args[1]
-        assert call_kwargs["label"] == ""
-
-
-def test_plot_waypoints_with_custom_alpha(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints uses custom alpha."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d, alpha=0.5)
-
-    for ax in mock_axes:
-        call_kwargs = ax.plot.call_args[1]
-        assert call_kwargs["alpha"] == 0.5
-
-
-def test_plot_waypoints_with_custom_linewidth(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints uses custom linewidth."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d, linewidth=3)
-
-    for ax in mock_axes:
-        call_kwargs = ax.plot.call_args[1]
-        assert call_kwargs["linewidth"] == 3
-
-
-def test_plot_waypoints_with_marker(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints with marker style."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d, marker="o", markersize=5)
-
-    for ax in mock_axes:
-        call_kwargs = ax.plot.call_args[1]
-        assert call_kwargs["marker"] == "o"
-        assert call_kwargs["markersize"] == 5
-
-
-def test_plot_waypoints_without_marker(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints without marker (default)."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d, marker=None)
-
-    # Marker should not be in kwargs when None
-    for ax in mock_axes:
-        call_kwargs = ax.plot.call_args[1]
-        assert "marker" not in call_kwargs
-        assert "markersize" not in call_kwargs
-
-
-# ====================== start_from Parameter Tests ======================
-
-
-def test_plot_waypoints_with_start_from_zero(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints with start_from=0."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d, start_from=0)
-
-    # X indices should start from 0
-    for ax in mock_axes:
-        call_args = ax.plot.call_args[0]
-        x_indices = call_args[0]
-        assert x_indices[0] == 0
-        assert len(x_indices) == 50
-
-
-def test_plot_waypoints_with_start_from_nonzero(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints with start_from > 0."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d, start_from=10)
-
-    # X indices should start from 10
-    for ax in mock_axes:
-        call_args = ax.plot.call_args[0]
-        x_indices = call_args[0]
-        assert x_indices[0] == 10
-        assert x_indices[-1] == 59  # 10 + 50 - 1
-
-
-# ====================== Tensor Shape Tests ======================
-
-
-def test_plot_waypoints_with_1d_tensor(mock_axes):
-    """Test plot_waypoints with 1D tensor."""
-    tensor_1d = torch.randn(50)
-    RTCDebugVisualizer.plot_waypoints(mock_axes, tensor_1d)
-
-    # Should reshape to (50, 1) and plot on first axis only
-    mock_axes[0].plot.assert_called_once()
-    for ax in mock_axes[1:]:
-        ax.plot.assert_not_called()
-
-
-def test_plot_waypoints_with_fewer_dims_than_axes(sample_tensor_2d):
-    """Test plot_waypoints when tensor has fewer dims than axes."""
-    # Create tensor with only 3 dimensions
-    tensor_3d = sample_tensor_2d[:, :3]
-
-    # Create 6 axes but tensor only has 3 dims
-    mock_axes = [MagicMock() for _ in range(6)]
-    for ax in mock_axes:
-        ax.xaxis.get_label.return_value.get_text.return_value = ""
-        ax.yaxis.get_label.return_value.get_text.return_value = ""
-
-    RTCDebugVisualizer.plot_waypoints(mock_axes, tensor_3d)
-
-    # Should only plot on first 3 axes
-    for i in range(3):
-        mock_axes[i].plot.assert_called_once()
-    for i in range(3, 6):
-        mock_axes[i].plot.assert_not_called()
-
-
-# ====================== Axis Labeling Tests ======================
-
-
-def test_plot_waypoints_sets_xlabel(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints sets x-axis label."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d)
-
-    for ax in mock_axes:
-        ax.set_xlabel.assert_called_once_with("Step", fontsize=10)
-
-
-def test_plot_waypoints_sets_ylabel(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints sets y-axis label."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d)
-
-    for i, ax in enumerate(mock_axes):
-        ax.set_ylabel.assert_called_once_with(f"Dim {i}", fontsize=10)
-
-
-def test_plot_waypoints_skips_label_if_exists(sample_tensor_2d):
-    """Test plot_waypoints doesn't set labels if they already exist."""
-    mock_axes_with_labels = []
-    for _ in range(6):
-        ax = MagicMock()
-        # Simulate existing labels
-        ax.xaxis.get_label.return_value.get_text.return_value = "Existing X Label"
-        ax.yaxis.get_label.return_value.get_text.return_value = "Existing Y Label"
-        mock_axes_with_labels.append(ax)
-
-    RTCDebugVisualizer.plot_waypoints(mock_axes_with_labels, sample_tensor_2d)
-
-    # Should not set labels when they already exist
-    for ax in mock_axes_with_labels:
-        ax.set_xlabel.assert_not_called()
-        ax.set_ylabel.assert_not_called()
-
-
-# ====================== Grid Tests ======================
-
-
-def test_plot_waypoints_enables_grid(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints enables grid on all axes."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d)
-
-    for ax in mock_axes:
-        ax.grid.assert_called_once_with(True, alpha=0.3)
-
-
-# ====================== Legend Tests ======================
-
-
-def test_plot_waypoints_adds_legend_with_label(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints adds legend when label is provided."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d, label="test_label")
-
-    # Should add legend to first axis only
-    mock_axes[0].legend.assert_called_once_with(loc="best", fontsize=8)
-
-    # Should not add legend to other axes
-    for ax in mock_axes[1:]:
-        ax.legend.assert_not_called()
-
-
-def test_plot_waypoints_no_legend_without_label(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints doesn't add legend when no label provided."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d, label="")
-
-    # Should not add legend to any axis
-    for ax in mock_axes:
-        ax.legend.assert_not_called()
-
-
-# ====================== Data Correctness Tests ======================
-
-
-def test_plot_waypoints_plots_correct_data(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints plots correct tensor values."""
-    RTCDebugVisualizer.plot_waypoints(mock_axes, sample_tensor_2d, start_from=0)
-
-    # Check first axis to verify data correctness
-    call_args = mock_axes[0].plot.call_args[0]
-    x_indices = call_args[0]
-    y_values = call_args[1]
-
-    # X indices should be 0 to 49
-    np.testing.assert_array_equal(x_indices, np.arange(50))
-
-    # Y values should match first dimension of tensor
-    expected_y = sample_tensor_2d[:, 0].cpu().numpy()
-    np.testing.assert_array_almost_equal(y_values, expected_y)
-
-
-def test_plot_waypoints_handles_gpu_tensor(mock_axes):
-    """Test plot_waypoints handles GPU tensors (if CUDA available)."""
-    if not torch.cuda.is_available():
-        pytest.skip("CUDA not available")
-
-    tensor_gpu = torch.randn(50, 6, device="cuda")
-    RTCDebugVisualizer.plot_waypoints(mock_axes, tensor_gpu)
-
-    # Should successfully plot without errors
-    for ax in mock_axes:
-        ax.plot.assert_called_once()
-
-
-# ====================== Edge Cases Tests ======================
-
-
-def test_plot_waypoints_with_empty_tensor(mock_axes):
-    """Test plot_waypoints with empty tensor."""
-    empty_tensor = torch.empty(0, 6)
-    RTCDebugVisualizer.plot_waypoints(mock_axes, empty_tensor)
-
-    # Should plot empty data
-    for ax in mock_axes:
-        call_args = ax.plot.call_args[0]
-        x_indices = call_args[0]
-        assert len(x_indices) == 0
-
-
-def test_plot_waypoints_with_single_timestep(mock_axes):
-    """Test plot_waypoints with single timestep."""
-    single_step_tensor = torch.randn(1, 6)
-    RTCDebugVisualizer.plot_waypoints(mock_axes, single_step_tensor)
-
-    # Should plot single point
-    for ax in mock_axes:
-        call_args = ax.plot.call_args[0]
-        x_indices = call_args[0]
-        assert len(x_indices) == 1
-
-
-def test_plot_waypoints_with_very_large_tensor(mock_axes):
-    """Test plot_waypoints with very large tensor."""
-    large_tensor = torch.randn(10000, 6)
-    RTCDebugVisualizer.plot_waypoints(mock_axes, large_tensor)
-
-    # Should handle large tensors
-    for ax in mock_axes:
-        call_args = ax.plot.call_args[0]
-        x_indices = call_args[0]
-        assert len(x_indices) == 10000
-
-
-# ====================== Multiple Calls Tests ======================
-
-
-def test_plot_waypoints_multiple_calls_on_same_axes(mock_axes, sample_tensor_2d):
-    """Test multiple plot_waypoints calls on same axes."""
-    tensor1 = sample_tensor_2d
-    tensor2 = torch.randn(50, 6)
-
-    RTCDebugVisualizer.plot_waypoints(mock_axes, tensor1, color="blue", label="Series 1")
-    RTCDebugVisualizer.plot_waypoints(mock_axes, tensor2, color="red", label="Series 2")
-
-    # Each axis should have been called twice
-    for ax in mock_axes:
-        assert ax.plot.call_count == 2
-
-
-# ====================== Integration Tests ======================
-
-
-def test_plot_waypoints_typical_usage(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints with typical usage pattern."""
-    RTCDebugVisualizer.plot_waypoints(
-        mock_axes, sample_tensor_2d, start_from=0, color="blue", label="Trajectory", alpha=0.7, linewidth=2
-    )
-
-    # Verify all expected calls were made
-    for ax in mock_axes:
-        ax.plot.assert_called_once()
-        ax.set_xlabel.assert_called_once()
-        ax.set_ylabel.assert_called_once()
-        ax.grid.assert_called_once()
-
-    # First axis should have legend
-    mock_axes[0].legend.assert_called_once()
-
-
-def test_plot_waypoints_with_all_parameters(mock_axes, sample_tensor_2d):
-    """Test plot_waypoints with all parameters specified."""
-    RTCDebugVisualizer.plot_waypoints(
-        axes=mock_axes,
-        tensor=sample_tensor_2d,
-        start_from=10,
-        color="green",
-        label="Full Test",
-        alpha=0.8,
-        linewidth=3,
-        marker="o",
-        markersize=6,
-    )
-
-    # Check first axis for all parameters
-    call_kwargs = mock_axes[0].plot.call_args[1]
-    assert call_kwargs["color"] == "green"
-    assert call_kwargs["label"] == "Full Test"
-    assert call_kwargs["alpha"] == 0.8
-    assert call_kwargs["linewidth"] == 3
-    assert call_kwargs["marker"] == "o"
-    assert call_kwargs["markersize"] == 6
diff --git a/tests/policies/rtc/test_latency_tracker.py b/tests/policies/rtc/test_latency_tracker.py
index af6b89431..ee8ca9e11 100644
--- a/tests/policies/rtc/test_latency_tracker.py
+++ b/tests/policies/rtc/test_latency_tracker.py
@@ -184,74 +184,6 @@ def test_max_after_reset(tracker):
     assert tracker.max() == 0.0
 
 
-# ====================== percentile() Tests ======================
-
-
-def test_percentile_returns_zero_when_empty(tracker):
-    """Test percentile() returns 0.0 when tracker is empty."""
-    assert tracker.percentile(0.5) == 0.0
-    assert tracker.percentile(0.95) == 0.0
-
-
-def test_percentile_median(tracker):
-    """Test percentile(0.5) returns median."""
-    # Add sorted values for easier verification
-    values = [0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9]
-    for v in values:
-        tracker.add(v)
-
-    # Median should be around 0.5
-    median = tracker.percentile(0.5)
-    assert 0.45 <= median <= 0.55
-
-
-def test_percentile_minimum_with_zero(tracker):
-    """Test percentile(0.0) returns minimum."""
-    tracker.add(0.5)
-    tracker.add(0.2)
-    tracker.add(0.8)
-
-    assert tracker.percentile(0.0) == 0.2
-
-
-def test_percentile_maximum_with_one(tracker):
-    """Test percentile(1.0) returns maximum."""
-    tracker.add(0.5)
-    tracker.add(0.2)
-    tracker.add(0.8)
-
-    assert tracker.percentile(1.0) == 0.8
-
-
-def test_percentile_95(tracker):
-    """Test percentile(0.95) returns 95th percentile."""
-    # Add 100 values from 0.0 to 0.99
-    for i in range(100):
-        tracker.add(i / 100.0)
-
-    p95 = tracker.percentile(0.95)
-    # 95th percentile should be around 0.95
-    assert 0.93 <= p95 <= 0.96
-
-
-def test_percentile_negative_value_returns_min(tracker):
-    """Test percentile with negative q returns minimum."""
-    tracker.add(0.5)
-    tracker.add(0.2)
-    tracker.add(0.8)
-
-    assert tracker.percentile(-0.5) == 0.2
-
-
-def test_percentile_value_greater_than_one_returns_max(tracker):
-    """Test percentile with q > 1.0 returns maximum."""
-    tracker.add(0.5)
-    tracker.add(0.2)
-    tracker.add(0.8)
-
-    assert tracker.percentile(1.5) == 0.8
-
-
 # ====================== p95() Tests ======================
 
 
@@ -278,79 +210,6 @@ def test_p95_equals_percentile_95(tracker):
     assert tracker.p95() == tracker.percentile(0.95)
 
 
-# ====================== __len__() Tests ======================
-
-
-def test_len_returns_zero_initially(tracker):
-    """Test __len__ returns 0 for new tracker."""
-    assert len(tracker) == 0
-
-
-def test_len_increments_with_add(tracker):
-    """Test __len__ increments as values are added."""
-    assert len(tracker) == 0
-
-    tracker.add(0.1)
-    assert len(tracker) == 1
-
-    tracker.add(0.2)
-    assert len(tracker) == 2
-
-    tracker.add(0.3)
-    assert len(tracker) == 3
-
-
-def test_len_respects_maxlen(small_tracker):
-    """Test __len__ respects maxlen limit."""
-    # Add more than maxlen values
-    for i in range(10):
-        small_tracker.add(i / 10.0)
-
-    # Should only keep last 5
-    assert len(small_tracker) == 5
-
-
-def test_len_after_reset(tracker):
-    """Test __len__ returns 0 after reset."""
-    tracker.add(0.5)
-    tracker.add(0.3)
-    assert len(tracker) == 2
-
-    tracker.reset()
-    assert len(tracker) == 0
-
-
-# ====================== Sliding Window Tests ======================
-
-
-def test_sliding_window_removes_oldest(small_tracker):
-    """Test sliding window removes oldest values."""
-    # Add 7 values to tracker with maxlen=5
-    values = [0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7]
-    for v in values:
-        small_tracker.add(v)
-
-    # Should only have last 5: [0.3, 0.4, 0.5, 0.6, 0.7]
-    assert len(small_tracker) == 5
-
-    # Median should reflect last 5 values
-    median = small_tracker.percentile(0.5)
-    assert 0.45 <= median <= 0.55
-
-
-def test_sliding_window_maintains_max(small_tracker):
-    """Test sliding window maintains correct max even after overflow."""
-    small_tracker.add(0.1)
-    small_tracker.add(0.9)
-    small_tracker.add(0.2)
-    small_tracker.add(0.3)
-    small_tracker.add(0.4)
-    small_tracker.add(0.5)  # Pushes out 0.1
-
-    # Max should still be 0.9
-    assert small_tracker.max() == 0.9
-
-
 # ====================== Edge Cases Tests ======================
 
 
@@ -436,24 +295,6 @@ def test_reset_and_reuse(tracker):
     assert tracker.percentile(0.5) <= 0.8
 
 
-def test_continuous_monitoring(small_tracker):
-    """Test continuous monitoring with sliding window."""
-    # Simulate continuous latency monitoring
-    # First 5 latencies
-    for i in range(5):
-        small_tracker.add(0.1 * (i + 1))
-
-    max_before = small_tracker.max()
-
-    # Add 5 more (window slides)
-    for i in range(5, 10):
-        small_tracker.add(0.1 * (i + 1))
-
-    # Max should have increased
-    assert small_tracker.max() > max_before
-    assert len(small_tracker) == 5  # Window size maintained
-
-
 # ====================== Type Conversion Tests ======================