fix(hpt): preserve non-registered batch keys through process_batch_for_training - #538
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fix(hpt): preserve non-registered batch keys through process_batch_for_training#538AnikethCheluva wants to merge 1 commit into
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…r_training zarr_key_to_keyname returns None for any batch key that isn't a registered action/proprio zarr key (intrinsics, episode_hash, image keys). The old 'if key is not None' guard checked the wrong variable — 'key' is a string from _batch.items() and never None, so the branch always fired and wrote every unregistered key under a single None dict slot. Later writes clobbered earlier ones, and 'intrinsics' was silently dropped. Downstream _intrinsics_from_batch(batch, i) then returned None, so Human.viz / Eva.viz fell back to the hardcoded class INTRINSICS constant. For episodes whose per-episode K disagrees with the aria default (mecka fx=fy≈251, cy≈184 vs ARIA cy=240), this projected the GT trajectory ~55px vertically offset — the visible wrist-vs-palm misalignment reported against arc_tests mecka fold_clothes val-videos. Fix: fall back to the original key when zarr_key_to_keyname is None so unregistered keys survive the rekey. Also fixes downstream access to episode_hash and per-episode image side-channel keys.
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zarr_key_to_keyname returns None for any batch key that isn't a registered action/proprio zarr key (intrinsics, episode_hash, image keys). The old 'if key is not None' guard checked the wrong variable — 'key' is a string from _batch.items() and never None, so the branch always fired and wrote every unregistered key under a single None dict slot. Later writes clobbered earlier ones, and 'intrinsics' was silently dropped.
Downstream _intrinsics_from_batch(batch, i) then returned None, so Human.viz / Eva.viz fell back to the hardcoded class INTRINSICS constant. For episodes whose per-episode K disagrees with the aria default (mecka fx=fy≈251, cy≈184 vs ARIA cy=240), this projected the GT trajectory ~55px vertically offset — the visible wrist-vs-palm misalignment reported against arc_tests mecka fold_clothes val-videos.
Fix: fall back to the original key when zarr_key_to_keyname is None so unregistered keys survive the rekey. Also fixes downstream access to episode_hash and per-episode image side-channel keys.