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>
Refactor to improve separation of concerns:
modeling_smolvla.py changes:
- Remove all plotting logic from sample_actions method
- Remove viz_xt_axs, viz_vt_axs, viz_x1t_axs parameters
- Remove matplotlib and RTCDebugVisualizer imports
- Remove viz_fig, viz_axs, denoise_step_counter instance variables
- Simplify denoising loop to only track data in rtc_processor
eval_dataset.py changes:
- Add _plot_denoising_steps_from_tracker helper method
- Retrieve debug steps from tracker after inference
- Plot x_t, v_t, x1_t, correction, and error from tracker data
- Enable debug tracking (cfg.rtc.debug = True) for visualization
- Remove viz axes parameters from predict_action_chunk calls
modeling_rtc.py changes:
- Remove v_t from track() call (handled by user change)
Benefits:
- Cleaner modeling code focused on inference
- Evaluation script owns all visualization logic
- Better separation of concerns
- Tracker is single source of truth for debug data
🤖 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>
Remove local tracking variables (correction, x1_t, error) from the
denoising loop and instead retrieve plotting data from the RTC tracker
after each denoise step. This makes the code cleaner and uses the
tracker as the single source of truth for debug/visualization data.
Changes:
- Remove initialization of correction, x1_t, error before denoising loop
- After each Euler step, retrieve most recent debug step from tracker
- Extract correction, x1_t, err from debug step for plotting
- Update tracking condition to use is_debug_enabled() method
🤖 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>
- Add force=True to logging.basicConfig to override existing configuration
- Enable line buffering for stdout/stderr for real-time log output
- Modify init_rtc_processor to create processor when rtc_config exists
even if RTC is disabled, allowing tracking of denoising data
🤖 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>
Update eval_dataset.py to save all comparison images to the
configured output_dir instead of the current directory. This provides
better organization and allows users to specify where outputs should be
saved.
Changes:
- Add os import at top level
- Create output_dir at start of run_evaluation()
- Save all comparison images to output_dir
- Remove duplicate os imports
- Update init_rtc_processor() docstring to be more concise
🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Alexander Soare <alexander.soare159@gmail.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Simplify the method name from track_debug to just track for better
readability and consistency. The method already has clear documentation
about its debug tracking purpose.
Changes:
- Rename RTCProcessor.track_debug() to track()
- Update all call sites in modeling_smolvla.py and modeling_rtc.py
🤖 Generated with [Claude Code](https://claude.com/claude-code)
Co-Authored-By: Alexander Soare <alexander.soare159@gmail.com>
Co-Authored-By: Claude <noreply@anthropic.com>
Eugene Mironov