diff --git a/src/lerobot/policies/smolvla/modeling_smolvla.py b/src/lerobot/policies/smolvla/modeling_smolvla.py
index 98158db67..f30141acc 100644
--- a/src/lerobot/policies/smolvla/modeling_smolvla.py
+++ b/src/lerobot/policies/smolvla/modeling_smolvla.py
@@ -789,9 +789,6 @@ class VLAFlowMatching(nn.Module):
 
         x_t = noise
         time = torch.tensor(1.0, dtype=torch.float32, device=device)
-        correction = None
-        x1_t = None
-        error = None
         use_provided_axes = viz_xt_axs is not None and viz_vt_axs is not None
 
         while time >= -dt / 2:
@@ -828,9 +825,21 @@ class VLAFlowMatching(nn.Module):
             time += dt
 
             # Record x_t after Euler step (other params are recorded in rtc_processor.denoise_step)
-            if self._rtc_enabled() and correction is not None:
+            if self._rtc_enabled() and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t)
 
+            # Retrieve data from tracker for plotting
+            correction = None
+            x1_t = None
+            error = None
+            if self._rtc_enabled() and self.rtc_processor.is_debug_enabled():
+                recent_steps = self.rtc_processor.get_recent_debug_steps(n=1)
+                if recent_steps:
+                    debug_step = recent_steps[0]
+                    correction = debug_step.correction
+                    x1_t = debug_step.x1_t
+                    error = debug_step.err
+
             # Visualize x_t using plot_waypoints - accumulate all denoise steps
             # Use provided axes or create new ones
             if not use_provided_axes: