Fix traacking

examples/rtc/eval_dataset.py

@@ -68,7 +68,7 @@ class RTCEvalConfig(HubMixin):
         default_factory=lambda: RTCConfig(
             enabled=True,
             execution_horizon=20,
-            max_guidance_weight=5.0,
+            max_guidance_weight=10.0,
             prefix_attention_schedule=RTCAttentionSchedule.EXP,
             debug=True,
             debug_maxlen=1000,
@@ -184,6 +184,10 @@ class RTCEvaluator:
             preprocessed_first_sample,
         )[:, :25, :].squeeze(0)
 
+        self.policy.rtc_processor.reset_tracker()
+
+        logging.info("Resetting tracker")
+
         # Sample noise (use same noise for both RTC and non-RTC for fair comparison)
         noise_size = (1, self.policy.config.chunk_size, self.policy.config.max_action_dim)
         noise = self.policy.model.sample_noise(noise_size, self.device)
@@ -300,6 +304,9 @@ class RTCEvaluator:
             num_steps: Total number of denoising steps for colormap
         """
 
+        logging.info("=" * 80)
+        logging.info(f"Plotting {len(tracked_steps)} steps")
+
         debug_steps = tracked_steps
         if not debug_steps:
             return

src/lerobot/policies/rtc/configuration_rtc.py

@@ -40,7 +40,7 @@ class RTCConfig:
     # Core RTC settings
     # Todo change to exp
     prefix_attention_schedule: RTCAttentionSchedule = RTCAttentionSchedule.LINEAR
-    max_guidance_weight: float = 5.0
+    max_guidance_weight: float = 10.0
     execution_horizon: int = 10
 
     # Debug settings

src/lerobot/policies/rtc/modeling_rtc.py

@@ -260,7 +260,6 @@ class RTCProcessor:
             x1_t = x1_t.squeeze(0)
             err = err.squeeze(0)
 
-        # Record debug information (all params except x_t which is recorded externally)
         self.track(
             time=time,
             x1_t=x1_t,

src/lerobot/policies/smolvla/modeling_smolvla.py

@@ -798,12 +798,13 @@ class VLAFlowMatching(nn.Module):
 
             # Euler step
             x_t += dt * v_t
-            time += dt
 
             # Record x_t and v_t after Euler step (other params are recorded in rtc_processor.denoise_step)
             if self.rtc_processor is not None and self.rtc_processor.is_debug_enabled():
                 self.rtc_processor.track(time=time, x_t=x_t, v_t=v_t)
 
+            time += dt
+
         return x_t
 
     def denoise_step(