Update images

examples/rtc/eval_dataset.py

@@ -39,8 +39,9 @@ Usage:
     uv run python examples/rtc/eval_dataset.py \
         --policy.path=lerobot/pi05_libero_finetuned \
         --dataset.repo_id=HuggingFaceVLA/libero \
-        --rtc.execution_horizon=8 \
+        --rtc.execution_horizon=10 \
         --device=mps
+        --seed=10
 
     # Basic usage with pi0.5 policy with cuda device
     uv run python examples/rtc/eval_dataset.py \
@@ -795,16 +796,34 @@ class RTCEvaluator:
             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)
 
+        # Collect legend handles and labels from first subplot
+        handles, labels = axes[0].get_legend_handles_labels()
+        # Remove duplicates while preserving order
+        seen = set()
+        unique_handles = []
+        unique_labels = []
+        for handle, label in zip(handles, labels, strict=True):
+            if label not in seen:
+                seen.add(label)
+                unique_handles.append(handle)
+                unique_labels.append(label)
+
+        # Add legend outside the plot area (to the right)
+        fig.legend(
+            unique_handles,
+            unique_labels,
+            loc="center right",
+            fontsize=9,
+            bbox_to_anchor=(1.0, 0.5),
+            framealpha=0.9,
+        )
+
         # Save figure
         output_path = os.path.join(self.cfg.output_dir, "final_actions_comparison.png")
-        fig.tight_layout()
+        fig.tight_layout(rect=[0, 0, 0.85, 1])  # Leave space for legend on right
-        fig.savefig(output_path, dpi=150)
+        fig.savefig(output_path, dpi=150, bbox_inches="tight")
         logging.info(f"Saved final actions comparison to {output_path}")
         plt.close(fig)
 
@@ -825,6 +844,7 @@ class RTCEvaluator:
             axs_corr[:, 1],  # Right column for correction
             axs_x1t[:, 1],  # Right column for x1_t
             num_steps,
+            add_labels=True,  # Add labels for RTC (right column)
         )
 
         self._plot_denoising_steps_from_tracker(
@@ -834,6 +854,7 @@ class RTCEvaluator:
             axs_corr[:, 0],  # Left column for correction
             axs_x1t[:, 0],  # Left column for x1_t
             num_steps,
+            add_labels=False,  # No labels for No RTC (left column)
         )
 
         # Plot no-RTC x_t data on right chart as orange dashed line for comparison
@@ -849,15 +870,21 @@ class RTCEvaluator:
             axs_x1t[:, 1], prev_chunk_left_over, start_from=0, color="red", label="Ground truth"
         )
 
-        # Plot ground truth on x_t axes
+        # Plot ground truth on x_t axes (no labels for left column)
         RTCDebugVisualizer.plot_waypoints(
-            axs_xt[:, 0], prev_chunk_left_over, start_from=0, color="red", label="Ground truth"
+            axs_xt[:, 0], prev_chunk_left_over, start_from=0, color="red", label=None
         )
 
         RTCDebugVisualizer.plot_waypoints(
-            axs_x1t[:, 0], prev_chunk_left_over, start_from=0, color="red", label="Ground truth"
+            axs_x1t[:, 0], prev_chunk_left_over, start_from=0, color="red", label=None
         )
 
+        # Add legends outside the plot area for each figure
+        self._add_figure_legend(fig_xt, axs_xt)
+        self._add_figure_legend(fig_vt, axs_vt)
+        self._add_figure_legend(fig_corr, axs_corr)
+        self._add_figure_legend(fig_x1t, axs_x1t)
+
         # Save denoising plots
         self._save_figure(fig_xt, os.path.join(self.cfg.output_dir, "denoising_xt_comparison.png"))
         self._save_figure(fig_vt, os.path.join(self.cfg.output_dir, "denoising_vt_comparison.png"))
@@ -875,13 +902,47 @@ class RTCEvaluator:
 
         return fig, axs
 
+    def _add_figure_legend(self, fig, axs):
+        """Add a legend outside the plot area on the right side.
+
+        Args:
+            fig: Matplotlib figure to add legend to
+            axs: Array of axes to collect legend handles from
+        """
+        # Collect all handles and labels from the first row of axes (right column)
+        handles, labels = axs[0, 1].get_legend_handles_labels()
+
+        # Remove duplicates while preserving order
+        seen = set()
+        unique_handles = []
+        unique_labels = []
+        for handle, label in zip(handles, labels, strict=True):
+            if label not in seen:
+                seen.add(label)
+                unique_handles.append(handle)
+                unique_labels.append(label)
+
+        # Add legend outside the plot area (to the right, close to charts)
+        if unique_handles:
+            fig.legend(
+                unique_handles,
+                unique_labels,
+                loc="center left",
+                fontsize=8,
+                bbox_to_anchor=(0.87, 0.5),
+                framealpha=0.9,
+                ncol=1,
+            )
+
     def _save_figure(self, fig, path):
-        fig.tight_layout()
+        fig.tight_layout(rect=[0, 0, 0.85, 1])  # Leave space for legend/colorbar on right
-        fig.savefig(path, dpi=150)
+        fig.savefig(path, dpi=150, bbox_inches="tight")
         logging.info(f"Saved figure to {path}")
         plt.close(fig)
 
-    def _plot_denoising_steps_from_tracker(self, tracked_steps, xt_axs, vt_axs, corr_axs, x1t_axs, num_steps):
+    def _plot_denoising_steps_from_tracker(
+        self, tracked_steps, xt_axs, vt_axs, corr_axs, x1t_axs, num_steps, add_labels=True
+    ):
         """Plot denoising steps from tracker data.
 
         Args:
@@ -891,6 +952,7 @@ class RTCEvaluator:
             corr_axs: Matplotlib axes for correction plots (array of 6 axes)
             x1t_axs: Matplotlib axes for x1_t plots (array of 6 axes)
             num_steps: Total number of denoising steps for colormap
+            add_labels: Whether to add legend labels for the plots
         """
 
         logging.info("=" * 80)
@@ -905,17 +967,18 @@ class RTCEvaluator:
 
         for step_idx, debug_step in enumerate(debug_steps):
             color = colors[step_idx % len(colors)]
+            label = f"Step {step_idx}" if add_labels else None
 
             # Plot x_t
             if debug_step.x_t is not None:
                 RTCDebugVisualizer.plot_waypoints(
-                    xt_axs, debug_step.x_t, start_from=0, color=color, label=f"Step {step_idx}"
+                    xt_axs, debug_step.x_t, start_from=0, color=color, label=label
                 )
 
             # Plot v_t
             if debug_step.v_t is not None:
                 RTCDebugVisualizer.plot_waypoints(
-                    vt_axs, debug_step.v_t, start_from=0, color=color, label=f"Step {step_idx}"
+                    vt_axs, debug_step.v_t, start_from=0, color=color, label=label
                 )
 
             # Plot correction on separate axes
@@ -925,17 +988,18 @@ class RTCEvaluator:
                     debug_step.correction,
                     start_from=0,
                     color=color,
-                    label=f"Step {step_idx}",
+                    label=label,
                 )
 
             # Plot x1_t (predicted state)
             if x1t_axs is not None and debug_step.x1_t is not None:
+                x1t_label = f"x1_t Step {step_idx}" if add_labels else None
                 RTCDebugVisualizer.plot_waypoints(
                     x1t_axs,
                     debug_step.x1_t,
                     start_from=0,
                     color=color,
-                    label=f"x1_t Step {step_idx}",
+                    label=x1t_label,
                 )
 
             # Plot error in orange dashed
@@ -947,6 +1011,7 @@ class RTCEvaluator:
                 )
 
                 num_dims = min(error_chunk.shape[-1], 6)
+                error_label = f"error Step {step_idx}" if add_labels else None
                 for j in range(num_dims):
                     x1t_axs[j].plot(
                         np.arange(0, error_chunk.shape[0]),
@@ -954,7 +1019,7 @@ class RTCEvaluator:
                         color="orange",
                         linestyle="--",
                         alpha=0.7,
-                        label=f"error Step {step_idx}",
+                        label=error_label,
                     )
 
         # Recalculate axis limits after plotting to ensure proper scaling

src/lerobot/policies/rtc/debug_visualizer.py

@@ -111,7 +111,3 @@ class RTCDebugVisualizer:
             if not ax.yaxis.get_label().get_text():
                 ax.set_ylabel(f"Dim {dim_idx}", fontsize=10)
             ax.grid(True, alpha=0.3)
-
-            # Add legend if label provided and this is the first dimension
-            if label and dim_idx == 0:
-                ax.legend(loc="best", fontsize=8)