lerobot

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Eugene Mironov 26db4b64d8 Move plotting logic from modeling_smolvla to eval_dataset script

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>

2025-11-15 00:09:01 +07:00

backward_compatibility

chore: replace hard-coded action values with constants throughout all the source code (#2055 )

2025-09-26 13:33:18 +02:00

dataset

Fix: check_cached_episodes doesn't check if the requested episode video were downloaded (#2296 )

2025-10-23 17:34:03 +02:00

lekiwi

Add missing finalize calls in example (#2175 )

2025-10-11 21:15:43 +02:00

phone_to_so100

Add missing finalize calls in example (#2175 )