From d20ef2e46e2936bd4cee1c1ec5e83c6e7e75807e Mon Sep 17 00:00:00 2001 From: Eugene Mironov Date: Mon, 3 Nov 2025 18:20:41 +0700 Subject: [PATCH] Rename track_debug method to track MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 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 Co-Authored-By: Claude --- src/lerobot/policies/rtc/modeling_rtc.py | 4 ++-- src/lerobot/policies/smolvla/modeling_smolvla.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/lerobot/policies/rtc/modeling_rtc.py b/src/lerobot/policies/rtc/modeling_rtc.py index 041ef7e1e..17db3762d 100644 --- a/src/lerobot/policies/rtc/modeling_rtc.py +++ b/src/lerobot/policies/rtc/modeling_rtc.py @@ -53,7 +53,7 @@ class RTCProcessor: ) # ====================== Tracker Proxy Methods ====================== - def track_debug( + def track( self, time: float | Tensor, x_t: Tensor | None = None, @@ -261,7 +261,7 @@ class RTCProcessor: err = err.squeeze(0) # Record debug information (all params except x_t which is recorded externally) - self.track_debug( + self.track( time=time, v_t=v_t, x1_t=x1_t, diff --git a/src/lerobot/policies/smolvla/modeling_smolvla.py b/src/lerobot/policies/smolvla/modeling_smolvla.py index a9cdbf7a0..0842062d3 100644 --- a/src/lerobot/policies/smolvla/modeling_smolvla.py +++ b/src/lerobot/policies/smolvla/modeling_smolvla.py @@ -831,7 +831,7 @@ class VLAFlowMatching(nn.Module): # Record x_t after Euler step (other params are recorded in rtc_processor.denoise_step) if self._rtc_enabled() and correction is not None: - self.rtc_processor.track_debug(time=time, x_t=x_t) + self.rtc_processor.track(time=time, x_t=x_t) # Visualize x_t using plot_waypoints - accumulate all denoise steps # Use provided axes or create new ones