fixup! Fixup eval with real robot

examples/rtc/eval_dataset.py

@@ -83,10 +83,17 @@ import os
 import random
 from dataclasses import dataclass, field
 
-import matplotlib.pyplot as plt
 import numpy as np
 import torch
 
+try:
+    import matplotlib.pyplot as plt
+
+    MATPLOTLIB_AVAILABLE = True
+except ImportError:
+    MATPLOTLIB_AVAILABLE = False
+    plt = None
+
 from lerobot.configs import parser
 from lerobot.configs.default import DatasetConfig
 from lerobot.configs.policies import PreTrainedConfig
@@ -114,6 +121,16 @@ def set_seed(seed: int):
     torch.backends.cudnn.benchmark = False
 
 
+def _check_matplotlib_available():
+    """Check if matplotlib is available, raise helpful error if not."""
+    if not MATPLOTLIB_AVAILABLE:
+        raise ImportError(
+            "matplotlib is required for RTC debug visualizations. "
+            "Please install it by running:\n"
+            "  uv pip install -e '.[matplotlib-dep]'"
+        )
+
+
 @dataclass
 class RTCEvalConfig(HubMixin):
     """Configuration for RTC evaluation."""
@@ -686,6 +703,8 @@ class RTCEvaluator:
             no_rtc_actions: Final actions from non-RTC policy
             prev_chunk_left_over: Previous chunk used as ground truth
         """
+        _check_matplotlib_available()
+
         # 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 = (
@@ -776,6 +795,8 @@ class RTCEvaluator:
         plt.close(fig)
 
     def plot_tracked_data(self, rtc_tracked_steps, no_rtc_tracked_steps, prev_chunk_left_over, num_steps):
+        _check_matplotlib_available()
+
         # Create side-by-side figures for denoising visualization
         fig_xt, axs_xt = self._create_figure("x_t Denoising: No RTC (left) vs RTC (right)")
         fig_vt, axs_vt = self._create_figure("v_t Denoising: No RTC (left) vs RTC (right)")

examples/rtc/eval_with_real_robot.py

@@ -573,7 +573,7 @@ def demo_cli(cfg: RTCDemoConfig):
     # The processor won't be created
     policy.init_rtc_processor()
 
-    assert policy.name in ["smolvla"], "Only smolvla are supported for RTC"
+    assert policy.name in ["smolvla", "pi05", "pi0"], "Only smolvla, pi05, and pi0 are supported for RTC"
 
     policy = policy.to(cfg.device)
     policy.eval()

pyproject.toml

@@ -98,6 +98,7 @@ pygame-dep = ["pygame>=2.5.1,<2.7.0"]
 placo-dep = ["placo>=0.9.6,<0.10.0"]
 transformers-dep = ["transformers>=4.53.0,<5.0.0"]
 grpcio-dep = ["grpcio==1.73.1", "protobuf==6.31.0"] # TODO: Bumb dependency (compatible with wandb)
+matplotlib-dep = ["matplotlib>=3.10.3,<4.0.0"]
 
 # Motors
 feetech = ["feetech-servo-sdk>=1.0.0,<2.0.0"]
@@ -132,10 +133,10 @@ groot = [
 hilserl = ["lerobot[transformers-dep]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
 
 # Features
-async = ["lerobot[grpcio-dep]", "matplotlib>=3.10.3,<4.0.0"]
+async = ["lerobot[grpcio-dep]", "lerobot[matplotlib-dep]"]
 
 # Development
-dev = ["pre-commit>=3.7.0,<5.0.0", "debugpy>=1.8.1,<1.9.0", "lerobot[grpcio-dep]", "grpcio-tools==1.73.1", "matplotlib>=3.10.3,<4.0.0"]
+dev = ["pre-commit>=3.7.0,<5.0.0", "debugpy>=1.8.1,<1.9.0", "lerobot[grpcio-dep]", "grpcio-tools==1.73.1"]
 test = ["pytest>=8.1.0,<9.0.0", "pytest-timeout>=2.4.0,<3.0.0", "pytest-cov>=5.0.0,<8.0.0", "mock-serial>=0.0.1,<0.1.0 ; sys_platform != 'win32'"]
 video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]