Improve visualization: separate correction plot and fix axis scaling

Changes:
- Create separate figure for correction data instead of overlaying on v_t
- Add _rescale_axes helper method to properly scale all axes
- Add 10% margin to y-axis for better visualization
- Fix v_t chart vertical compression issue

Benefits:
- Clearer v_t plot without correction overlay
- Better axis scaling with proper margins
- Separate correction figure for focused analysis
- Improved readability of all denoising visualizations

Output files:
- denoising_xt_comparison.png (x_t trajectories)
- denoising_vt_comparison.png (v_t velocity - now cleaner)
- denoising_correction_comparison.png (NEW - separate corrections)
- denoising_x1t_comparison.png (x1_t state with error)

🤖 Generated with [Claude Code](https://claude.com/claude-code)

Co-Authored-By: Claude <noreply@anthropic.com>
Co-Authored-By: Alexander Soare <alexander.soare159@gmail.com>

examples/rtc/eval_dataset.py

@@ -222,6 +222,7 @@ class RTCEvaluator:
         # 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)")
+        fig_corr, axs_corr = self._create_figure("Correction: No RTC (left) vs RTC (right)")
         fig_x1t, axs_x1t = self._create_figure(
             "x1_t Predicted State & Error: No RTC (left - empty) vs RTC (right)"
         )
@@ -231,6 +232,7 @@ class RTCEvaluator:
             rtc_tracked_steps,
             axs_xt[:, 1],  # Right column for x_t
             axs_vt[:, 1],  # Right column for v_t
+            axs_corr[:, 1],  # Right column for correction
             axs_x1t[:, 1],  # Right column for x1_t
             num_steps,
         )
@@ -239,6 +241,7 @@ class RTCEvaluator:
             no_rtc_tracked_steps,
             axs_xt[:, 0],  # Left column for x_t
             axs_vt[:, 0],  # Left column for v_t
+            axs_corr[:, 0],  # Left column for correction
             axs_x1t[:, 0],  # Left column for x1_t
             num_steps,
         )
@@ -265,6 +268,7 @@ class RTCEvaluator:
         # 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"))
+        self._save_figure(fig_corr, os.path.join(self.cfg.output_dir, "denoising_correction_comparison.png"))
         self._save_figure(fig_x1t, os.path.join(self.cfg.output_dir, "denoising_x1t_comparison.png"))
 
     def _create_figure(self, title):
@@ -284,13 +288,14 @@ class RTCEvaluator:
         logging.info(f"Saved figure to {path}")
         plt.close(fig)
 
-    def _plot_denoising_steps_from_tracker(self, tracked_steps, xt_axs, vt_axs, x1t_axs, num_steps):
+    def _plot_denoising_steps_from_tracker(self, tracked_steps, xt_axs, vt_axs, corr_axs, x1t_axs, num_steps):
         """Plot denoising steps from tracker data.
 
         Args:
             tracked_steps: List of DebugStep objects containing debug steps
             xt_axs: Matplotlib axes for x_t plots (array of 6 axes)
             vt_axs: Matplotlib axes for v_t plots (array of 6 axes)
+            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
         """
@@ -317,14 +322,14 @@ class RTCEvaluator:
                     vt_axs, debug_step.v_t, start_from=0, color=color, label=f"Step {step_idx}"
                 )
 
-            # Plot correction in red
+            # Plot correction on separate axes
             if debug_step.correction is not None:
                 RTCDebugVisualizer.plot_waypoints(
-                    vt_axs,
+                    corr_axs,
                     debug_step.correction,
                     start_from=0,
-                    color="red",
-                    label=f"Step corr {step_idx}",
+                    color=color,
+                    label=f"Step {step_idx}",
                 )
 
             # Plot x1_t (predicted state)
@@ -356,6 +361,29 @@ class RTCEvaluator:
                         label=f"error Step {step_idx}",
                     )
 
+        # Recalculate axis limits after plotting to ensure proper scaling
+        self._rescale_axes(xt_axs)
+        self._rescale_axes(vt_axs)
+        self._rescale_axes(corr_axs)
+        self._rescale_axes(x1t_axs)
+
+    def _rescale_axes(self, axes):
+        """Rescale axes to show all data with proper margins.
+
+        Args:
+            axes: Array of matplotlib axes to rescale
+        """
+        for ax in axes:
+            ax.relim()
+            ax.autoscale_view()
+
+            # Add 10% margin to y-axis for better visualization
+            ylim = ax.get_ylim()
+            y_range = ylim[1] - ylim[0]
+            if y_range > 0:  # Avoid division by zero
+                margin = y_range * 0.1
+                ax.set_ylim(ylim[0] - margin, ylim[1] + margin)
+
 
 @parser.wrap()
 def main(cfg: RTCEvalConfig):