# External perception worker contract

The LiDAR-native extension is governed by
`missioncore.lidar-evidence-profile/v1` and
`docs/13_LIDAR_WORKER_PRODUCT_AND_ROADMAP.md`. A worker process starting
successfully is not evidence that its LiDAR assumptions are satisfied. In
particular, the accepted E10 replay pack v1 has no intensity, and the current K1
stream is a vendor map increment rather than an unregistered sensor sweep.

`missioncore.lidar-replay-pack/v2` closes the field-retention gap without
rewriting v1. Its manifest binds exact raw/metadata evidence, logical point/pose
content, an immutable scanner-quality report and a source-vs-persisted
equivalence report. The React surface reads those reports through the read-only
`/api/v1/lidar/replay-packs` boundary; CUDA/TensorRT and ROS do not move into the
browser.

`missioncore.lidar-ground-benchmark/v1` extends the same boundary for L2. It
keeps point-aligned ground/assigned masks for the current local-percentile
proposal and a candidate provider, exact provider/source/binary identities,
host latency and algorithm disagreement. The first official Patchwork++ v1.4.1
run is diagnostic-only: current K1 evidence is a vendor-map increment, not the
sensor-centric scan and physical-height contract Patchwork++ expects. The
read-only `/api/v1/lidar/ground-benchmarks` surface therefore publishes
`production_promotion=false` until an independent annotation generation or an
admitted raw scan closes the input gate.

The companion read-only
`/api/v1/lidar/ground-benchmarks/{benchmark_id}/frames/{frame_index}` endpoint
returns one bounded, path-free point-aligned frame. The Control Station renders
that evidence in Three.js with unrestricted orbit, pan and zoom plus
intensity/current/candidate/disagreement color modes. The browser never runs
Patchwork++, parses private firmware or receives a filesystem path.

`missioncore.lidar-field-review/v1` is the separate operator-readable field
surface. The read-only `/api/v1/lidar/field-reviews` catalog names the exact
RAVNOVES00 source, timeline and five central urban windows. The bounded
`/api/v1/lidar/field-reviews/{review_id}/windows/{window_index}` response
contains a deterministic accumulated map cloud plus masks that were computed
per original LiDAR sample before accumulation. Its sibling `/preview` endpoint
returns the content-bound camera JPEG for that window. No source path,
Patchwork++ binary, worker control or command authority crosses this boundary.
The legacy E10 source has no intensity, so the API declares it unavailable
instead of synthesizing a value.

Static K1 3.0.2 firmware evidence confirms that the appliance internally uses
a Livox MID-360 point/IMU path with richer timestamp/ring semantics and a
configured MQTT point-cloud downsample factor of four. This creates a concrete
next integration target—an admitted onboard export or bag contract—but does
not change the authority or input acceptance of existing `lio_pcl` recordings.
The 1.27 m operator-height profile is likewise explicit and reproducible, but
remains `operator-estimated` rather than runtime-calibrated.

## Boundary

```text
K1
  -> XGRIDS device plugin / Mission Core Edge
  -> authoritative raw session on Mac
  -> bounded missioncore.compute-job/v1
  -> replaceable GPU worker / Triton
  -> content-addressed missioncore.compute-result/v1
  -> optional validated Rerun derived layer
```

The GPU worker cannot discover, provision, start or stop a K1. It receives an
observation package and returns derived observations. The Mac archive is never
rewritten when a job is prepared or a result is received.

## Recorded camera job v1

`k1link compute prepare-camera-job` accepts a sealed cataloged session, one
camera source and one physical codec epoch. It performs the canonical camera
checks before and after copying into a private staging directory:

- summary schema/source/epoch and per-segment durability contract;
- exact ordered JSONL index and its summary SHA-256;
- init SHA-256, every segment length/SHA-256 and complete stream SHA-256;
- continuous ISO-BMFF decode timeline and finite media duration;
- source session-time mapping through the captured host clock origin.

Publication atomically renames this layout below ignored storage:

```text
<jobs>/<job-id>/
├── job.json
└── input/camera/<source-id>/epoch-N/
    ├── summary.json
    ├── index.jsonl
    ├── init.mp4
    └── segments/*.m4s
```

`input_sha256` is SHA-256 over canonical JSON for the complete path-free input
descriptor. `job_id` includes its first 96 bits and validators require the full
digest, so a prefix collision fails closed.

## Recorded result v1

The accepted worker profile verifies every transferred file, reconstructs the
stream outside the job, decodes frames and preserves strictly increasing
best-effort timestamps in session seconds. Its result identity is canonical JSON
covering:

- job and full input generation;
- pipeline ID/version;
- model ID/version/weight SHA-256;
- score/NMS thresholds, tensor shape, color order and letterbox policy.

The identity's full SHA-256 names an immutable `result-<sha256>` directory.
The result manifest binds the detection artifact's length and SHA-256. A repeat
with the same identity validates the existing directory and returns it without
calling Triton.

## Full-epoch panoptic result v2

`missioncore.recorded-perception-result/v2` is the complete recorded-camera
profile. It is separate from the YOLOX detector proof and processes every
admitted frame without sampling. Its immutable identity binds the complete
compute job, factory-calibration generation and camera slot, exact model
revisions/weight files, thresholds, alpha values, runner SHA-256 and publication
encoder.

The current research configuration produces:

- TorchVision Mask R-CNN ResNet50-FPN v2 instance masks and COCO labels;
- Microsoft BEiT ADE20K-150 semantic masks at the original 800x600 frame size;
- a seekable H.264 MP4 with the two overlays combined for operator playback;
- lossless instance and semantic mask PNGs for later calibrated fusion;
- ordered per-frame JSONL and one-second GPU telemetry;
- a machine-readable run report with input/config/model identities, decode,
  inference, encode and end-to-end timing, latency percentiles, throughput,
  CUDA peak allocation/reservation, process peak RSS, system load and GPU
  utilization/VRAM/temperature/power samples.

The worker runs with `--network none` and cached model weights. A preflight
revalidates the complete transferred payload, CUDA execution and both cached
model generations before decoding a long epoch. The run then repeats payload
validation inside the inference container, requires exactly the declared frame
count and a strictly increasing session-time row for every frame, and publishes
only by atomic rename after every output digest is sealed.

There is no recorded-duration, frame-count or aggregate-video-byte admission
ceiling in this profile. Resource use therefore scales with the real input and
is reported, not hidden behind an arbitrary eight-minute laboratory limit.

## Native panoptic playback

Full raster masks are not copied into the RRD. That would turn a long video into
a multi-gigabyte browser-memory object. Instead Mission Core validates the v2
result and exposes its MP4 through the same generation-bound, seekable HTTP
Range contract as a recorded camera. Replay advertises an additional opaque
source such as `recorded.perception.right`; the Control Station opens it in a
native video window on the shared `session_time` timeline. A one-, three- or
ten-hour video remains disk/range streamed and does not have to fit in RAM.

The lossless masks remain private derived evidence. A host-side calibrated
fusion step samples them at K1 KB4 LiDAR projections and publishes compact
semantic `Points3D`, support-gated `Boxes3D` and diagnostic distances as a
separate replaceable generation. Missing or rejected v2/fusion results never
replace or invalidate the base raw point-cloud recording.

## RAVNOVES00 qualification · 2026-07-20

The first full recorded run admitted all 4,489 frames from
`sensor.camera.right` without sampling, failures or skips. The sealed input was
363,235,615 bytes over `35.421857292–484.144857292` session seconds. Its
immutable result is
`result-f4cebdea8a82698a5b8a65d2c3fbdb0428b88b9dc49fe45f8cb37d740ed83d02`.

Measured RTX 4090 worker results:

- inference: 2,674.722 s and 1.678 frames/s;
- end to end: 2,816.349 s and 1.594 frames/s;
- instance latency: 89.826 ms p50, 121.344 ms p95, 915.325 ms max;
- semantic latency: 249.678 ms p50, 284.826 ms p95, 406.594 ms max;
- GPU utilization: 67% p50, 82% p95, 90% max over 2,675 one-second samples;
- process CUDA peak: 2,230.8 MiB allocated and 2,872 MiB reserved;
- total GPU memory observed, including the worker's shared resident services:
  13,373 MiB p50 and 13,388 MiB max;
- GPU power/temperature: 182.46 W p50, 190.10 W p95 and 49 C p50, 54 C max;
- process peak RSS: 2,375.9 MiB;
- publication: 31.229 s decode, 3.397 s NVENC, 81,109,627-byte H.264 MP4,
  60,326,719-byte lossless mask archive.

The factory-calibrated full fusion generation
`fusion-0b1be23128ebd3d230562cffd96491169e99f0e839e56b812661c974e4fdc00b`
matched LiDAR and pose within the admitted 250 ms host-arrival window for 4,323
frames and declared 166 frames `depth-unavailable`. It produced 6,124,145
semantic points and 13,496 support-gated diagnostic boxes in 77.708 s. The
compact fusion payload is 43 MiB.

Native browser QA opened `RAVNOVES00`, played the raw and panoptic 800x600
videos together at ready-state 4, and measured approximately 12 ms between
their media clocks. The Rerun scene showed the synchronized semantic points and
distance-labeled diagnostic boxes. The current baseline is deliberately not an
accuracy or safety acceptance: generic perspective-trained models produce
large fisheye false positives in 916 frames, and timing/distance have not been
ground-truthed. The next A/B should compare an admitted undistort/ROI transform
before inference rather than silently hiding these observations.

## E1 valid-FOV preprocessing qualification · 2026-07-20

The first post-baseline A/B uses two immutable inputs derived from the same
RAVNOVES00 job and factory calibration:

- valid-FOV generation
  `valid-fov-mask-b4dd8ddf2b87c1d520ee8a0868c4fea062d7c14d1bae73ccabd3abe1f3acbac2`;
- qualification-slice generation
  `qualification-slice-2394070b4f3e38f1b8c483e878fcc11fd3c29f751f3d4cd7e3a2553304c5c142`.

The mask is not estimated from each image. It is bound to the exact calibration
SHA, `sensor.camera.right`, `camera_1`, the admitted 800x600 linear-resize
profile and the KB4 principal point `(396.319, 301.496)`. A four-pixel inner
margin produces a 293.504-pixel radius, 270,606 valid pixels (56.37625%) and an
exclusive crop rectangle `[103, 8, 690, 595]`. Repeated preparation reuses the
same content-addressed PNG and manifest.

The slice selects 256 exact frame indices uniformly across all 4,489 frames,
including both endpoints. The same loaded FP32 Mask R-CNN and BEiT generations
were interleaved per frame across three variants: unmodified baseline, fixed
valid-FOV fill, and valid-FOV crop remapped into the original pixel coordinates.
The sealed result is
`qualification-result-98a2fee3d22979f3e18847719667cc76bdeacf25904c0fd1da4c5202253b3940`.

The run completed in 318.969 s and emitted 12 preview frames per variant. GPU
telemetry recorded 319 one-second samples: utilization was 74% p50 and 82% p95,
power was 199.34 W p50 and 206.96 W p95, and temperature was 50 C p50 and 55 C
max. The qualification process peaked at 1,849.9 MiB CUDA allocated, 2,256 MiB
reserved and 2,298.2 MiB RSS.

Measured mean model paths, excluding the frame decode shared by all variants:

| Variant | Mask R-CNN path | BEiT path | Combined |
|---|---:|---:|---:|
| baseline | 106.292 ms | 278.064 ms | 384.356 ms |
| valid-FOV fill | 107.027 ms | 280.762 ms | 387.789 ms |
| valid-FOV crop | 104.055 ms | 282.840 ms | 386.895 ms |

The crop reduced Mask R-CNN forward time by 6.38%, but BEiT still receives its
fixed 640x640 tensor and became 1.18% slower. With mask/crop preprocessing
included, neither variant improved the combined path; fill was 0.89% slower and
crop was 0.66% slower than baseline. A binary mask improves admission quality,
but multiplying an unchanged tensor by it does not remove dense neural FLOPs.

The quality proxies are useful but are not ground truth. Baseline produced 58
instance masks and 58 boxes larger than half the admitted comparison area; both
masked variants produced zero. The fraction of raw predicted instance-mask
pixels outside the canonical FOV fell from 41.263% to 0.077% for fill and 0.911%
for crop before the final output clamp. Inside the valid circle, mean BEiT
disagreement with baseline was 8.713% for fill and 11.547% for crop. This is a
measure of change, not accuracy.

E1 therefore accepts the immutable valid-FOV artifact and the 256-frame gate.
Fixed fill is the conservative next accuracy baseline because it preserves the
800x600 geometry, removes the exterior lens region and changes the semantic
result less than crop. Crop remains an experimental model-specific option, not
a general speed optimization. The next run needs human labels/ground truth and
must compare native KB4 input, calibrated virtual views and fisheye-trained
models before promoting any preprocessing profile to a full-epoch result.

## E2 evaluation pack and annotation gate · 2026-07-20

LAB E2 starts from the same immutable RAVNOVES00 compute job, E1 qualification
slice and factory-calibrated valid-FOV generation. All eight contact sheets,
covering the 256 uniformly distributed E1 candidates, were reviewed before
selection. The sealed evaluation generation is
`evaluation-pack-7a983bba75d46c7c260252cb2d461e1384dcb92cda9e164397e841e6ebb37789`.

The pack contains 64 exact 800x600 images: 48 reviewed full-epoch anchors from
the E1 slice and four four-frame consecutive clips for temporal measurements.
The clips cover a person with a stroller, a close moving car, vehicle
occlusion/relative motion and a near building/terrace scene with a partially
visible carried laptop. The anchors retain the recording's road, sidewalk,
ground, grass, woody vegetation, buildings, sky, people, cars, trucks, lens
boundary and hard-negative diversity.

Every image is stored both as the raw decoded RGB frame and as the accepted E1
fixed-valid-FOV-fill input. The identity binds the job/input SHA, source, codec
epoch, selected segment SHA, decoded session timestamp, E1 qualification,
valid-FOV generation, calibration SHA, camera slot, FFmpeg 7.1.1 generation and
the raw/fill RGB pixel hashes. It also binds the reviewed selection-document
SHA and both producer-code hashes. The pack has 130 hashed payload artifacts
plus its manifest and occupies approximately 67 MiB locally.

One earlier local preparation generation, `evaluation-pack-b6d9215a…`, was not
promoted because its identity omitted the producer-code and selection-document
hashes. It remains a superseded diagnostic artifact and is not an accepted E2
input.

The immutable pack is deliberately `unannotated`. Its annotation contract
defines 15 robotics-oriented thing/stuff classes, label 0 for the excluded lens
exterior, label 255 for genuinely unresolved pixels, two-pass human review and
required semantic, instance, safety-proxy and temporal metrics. The empty
annotation template must be copied to a review workspace; it must never be
edited inside the sealed pack. Model-generated prelabels may accelerate review
but are not accepted as ground truth without a human pass.

No AP, mIoU or model-ranking claim is attached to E2 yet. The next gate is to
complete and seal the reviewed annotations. Only then may candidate models be
ranked on this pack; a full 4,489-frame run remains prohibited until one
configuration passes both the accuracy and throughput gates.

The first model-assisted draft is sealed separately as
`evaluation-prelabels-4ba26bbf6eb8a49631f5caf984267e0445958540aeda2b5b0d82ca6440835cf1`.
It reuses the exact E0 Mask R-CNN and BEiT weights and maps their COCO/ADE
classes into the E2 taxonomy. It is explicitly marked
`unreviewed-model-draft`; it never mutates the evaluation pack or annotation
template.

The isolated RTX 4090 run processed 64/64 frames in 31.551 s. Mean forward time
was 57.539 ms for Mask R-CNN, 215.164 ms for BEiT and 272.703 ms combined. The
process peaked at 1,842.8 MiB CUDA allocated, 2,768 MiB reserved and 2,239.9 MiB
RSS. Across 32 one-second samples, GPU utilization was 51% p50 / 71% p95, power
167.73 W p50 / 186.89 W p95 and temperature 42 C p50 / 47 C max. Shared Triton,
Frigate and Ollama services remained running and healthy.

The draft emitted 775 mapped instances: 640 car, 58 static obstacle, 45 person,
25 heavy vehicle, five bicycle and one each motorcycle/animal. Sixteen previews
were reviewed. They confirm that the fixed-FOV exterior stays clean and that
the draft is useful for annotation assistance, but also expose the expected E0
domain errors: duplicated/distant car boxes, unstable small instances, coarse
fisheye boundaries and excessive static-obstacle proposals on planters. These
counts are workload indicators for review, not precision or recall.

The first prelabel attempt stopped before model loading because the container
mountpoint `/evaluation-pack` was incorrectly required to equal the
content-addressed generation basename. The path-name check was removed while
all manifest, artifact and identity hashes remained mandatory. No failed result
was published; the second attempt completed and 147 payload artifacts were
reverified locally with zero digest/length mismatches.

The review handoff is sealed separately as
`annotation-workspace-9a950d1c37d56dc12cc285b13c5addd7795285879cbcb1fbb2d5811c3c69821a`.
It contains a deterministic 64-image upload, a 775-instance COCO RLE draft, a
dense CVAT Segmentation Mask archive, an exact frame/timestamp map, the fixed
valid-FOV mask, the 15-class label specification and an unreviewed two-pass
checklist. The three ZIP archives passed both the workspace validator and
independent ZIP integrity checks. The 11 payload artifacts occupy 31,861,798
bytes. This workspace remains `ground_truth=false`; the two synchronized CVAT
tasks must be reviewed and their accepted exports sealed as a separate
generation before any AP or mIoU claim is allowed.

The real prelabel generation also exposed one identity-serialization defect in
its producer: `target_categories` used integer dictionary keys while hashing,
but JSON reloads them as strings and changes their sorted order. The stored
artifact files and all 147 recorded payload hashes are unchanged. The workspace
validator admits only this exact reversible legacy representation and binds the
serialized `result.json` SHA separately. The worker producer now emits string
keys before hashing, so subsequent prelabel identities are stable across a JSON
round trip. The existing result was neither rewritten nor renamed.

Prepare or reproduce the review inputs with:

```console
.venv/bin/python experiments/perception/prepare_e2_evaluation_pack.py candidates \
  --job-root .runtime/compute-jobs/<job-id> \
  --qualification-root .runtime/compute-experiments/e1/qualification-slices/<generation> \
  --output-root .runtime/compute-experiments/e2/<candidate-review>

.venv/bin/python experiments/perception/prepare_e2_evaluation_pack.py seal \
  --job-root .runtime/compute-jobs/<job-id> \
  --qualification-root .runtime/compute-experiments/e1/qualification-slices/<generation> \
  --valid-fov-root .runtime/compute-experiments/e1/valid-fov/<generation> \
  --selection .runtime/compute-experiments/e2/selection-e2.json \
  --output-root .runtime/compute-experiments/e2/evaluation-packs

.venv/bin/python experiments/perception/prepare_e2_annotation_workspace.py prepare \
  --evaluation-pack .runtime/compute-experiments/e2/evaluation-packs/<generation> \
  --prelabels .runtime/compute-experiments/e2/prelabels/<generation> \
  --valid-fov-root .runtime/compute-experiments/e1/valid-fov/<generation> \
  --output-root .runtime/compute-experiments/e2/annotation-workspaces
```

## E4 full-session semantic playback · 2026-07-21

LAB E4 promotes the plain EoMT valid-FOV control from LAB E3 into the first
complete saved-session semantic playback. It consumed all 4,489 frames of
RAVNOVES00 (`20260720T065719Z_viewer_live`) from
`sensor.camera.right`, using factory calibration slot `camera_1`, FP16
autocast, batch size one and no sampling. CLAHE, five-view rectification and the
instance branch were deliberately disabled.

The immutable published result is
`result-793785170472c519486ccd666be102fb04d169d92383acda3fcc29eecf045d30`.
It contains an 800x600 H.264 semantic-overlay video, 4,489 semantic masks,
4,489 timestamp rows, one-second GPU telemetry and a run report. FFprobe and the
recorded-perception validator independently confirmed the exact frame count,
448.723-second timeline, artifact hashes and input/job/calibration binding.

The inference loop ran for 1,447.565 seconds at 3.101 FPS. Full extraction,
inference, publication, hashing and validation took 1,668.259 seconds at 2.691
FPS. GPU utilization was 73.05% mean / 89% p95, E4 process CUDA allocation
peaked at 2,099.8 MiB, process RSS at 2,009.3 MiB, power at 253.23 W and
temperature at 58 C. The exact configuration is about 3.72 times slower than
the source recording rate and is therefore an offline baseline, not a live
configuration.

All task-controlled worker paths remained under `D:\NDC_MISSIONCORE`. The
orchestrator enforced a 360 GiB free-space floor and a 17.195 GiB conservative
working-set reserve. Final free space after exact task-temporary cleanup was
379.395 GiB; C: was not used or mounted by the task.

Mission Core exposes the result in **Сохранённые сессии → RAVNOVES00 →
Источники данных сцены → Сегментация · камера right**. Browser acceptance
confirmed the exact result source, 800x600 dimensions, full duration, no media
error and advancing playback time. The detailed configuration, timing tables,
artifact hashes, disk checkpoints, limitations and next gates are recorded in
`experiments/perception/LAB_E4_REPORT_2026-07-21.md` and Ops card MISSIONCOR-18.

E4 remains `ground_truth=false` and semantic-only. It makes no claim about live
latency, instances, tracking, 3D cuboids, LiDAR association, distance accuracy,
point-cloud labels or safety fitness.

## Recorded Rerun projection

Mission Core discovers only results whose validated job names the opened
session. Before projection it revalidates the complete job/result binding,
artifact digests, ordered timestamps and result metrics. It then reconstructs
the exact fMP4 epoch, verifies decoded dimensions/frame count with `ffprobe`,
decodes exactly the admitted number of RGB frames and rejects boxes outside the
image.

The optional `perception.rrd` endpoint returns either HTTP 204 or one complete,
bounded RRF2 stream for the opened Rerun recording ID. The browser never splits
that stream and never replaces the base recording when the optional layer is
absent or rejected. Accepted frames are logged under `/perception/camera` on
the canonical zero-based `session_time` timeline; `Image` and `Boxes2D` rows
therefore seek with the point-cloud archive. Generated overlays are a private,
content-addressed cache and remain rebuildable from the immutable job/result.

In **Наблюдение → Пространственная сцена**, a **Распознавание** button appears
only after the layer has been admitted. It switches the active native Rerun view
between the camera/detections and the point cloud. TEST007's accepted fragment
occupies approximately `01:07.351–01:12.848`; Rerun's latest-at query retains
the last admitted frame after that short fragment.

## Accepted model profile

- YOLOX-S official ONNX from upstream release `0.1.1rc0`;
- Apache-2.0;
- SHA-256
  `c5c2d13e59ae883e6af3b45daea64af4833a4951c92d116ec270d9ddbe998063`;
- FP32 input `[1,3,640,640]`, BGR, bilinear top-left letterbox, pad 114;
- FP32 output `[1,8400,85]`, official grid/stride decode, COCO-80;
- Triton 2.70.0 / ONNX Runtime GPU backend in the pinned 26.06 image.

This generic model is useful for proving the contract and timing path. It is not
accepted for obstacle avoidance, free-space estimation or safety decisions.

## Open gates

1. Qualify TEST007's 206-second epoch and record throughput/resource telemetry.
2. Replace SSH/SCP with a reviewed authenticated worker transport.
3. Add bounded live queues, sampling/drop policy and acquisition-isolation
   tests.
4. Introduce tracking, segmentation/free-space, calibration and point-cloud
   models as separate versioned pipelines.

## E5 recorded instance tracking qualification · 2026-07-21

LAB E5 establishes the first measured temporal object-identity baseline on a
preselected 601-frame, 60.069-second RAVNOVES00 interval. It uses the official
Apache-2.0 YOLOX-S ONNX release through the existing Triton service, the
immutable `camera_1`-bound valid-FOV mask, and a ByteTrack-style two-stage IoU
tracker. The accepted profile, runner, model and configuration are pinned by
SHA-256; output remains `ground_truth=false` and qualification-only.

The immutable result is
`e5-tracking-88aace13ef9963f8dc07f85228e530f9d28c2b49aca9192409f7975512b058f6`.
It contains an 800x600 H.264 ID-overlay video, exactly 601 timestamped detection
and track rows, one-second GPU telemetry, a contact sheet and the complete run
report. The result validator rehashed all artifacts and verified the exact job,
input, session, source, clip and timeline binding. FFprobe independently
confirmed 601 declared/read frames and 60.068948 seconds.

The frame loop ran for 88.093 seconds at 6.822 FPS; the complete worker run took
166.336 seconds at 3.613 FPS. Mean per-frame time was 12.359 ms in Triton,
0.247 ms in tracking, 30.132 ms decoding and 87.363 ms writing overlays. The
detector and tracker are therefore not the main live-rate bottleneck; artifact
I/O must be decoupled before a live path is admitted. GPU utilization was
51.65% mean / 56% max, power 144.78 W mean / 148.40 W max, temperature 43 C max
and process RSS 126.199 MiB.

The run admitted 4,049 detections and emitted 3,320 observations across 167
confirmed IDs. Useful clear-view persistence is proven, including vehicle
tracks lasting 100–212 frames. The result also exposes real limitations: an ID
fragments during the close woman/stroller occlusion, the stroller can be called
`motorcycle`, and parked vehicles can flicker between `car` and `truck`. There
is no identity ground truth, so IDF1, HOTA, MOTA and true ID-switch counts are
not claimed.

All task-controlled worker paths remained under `D:\NDC_MISSIONCORE`; the
orchestrator enforced the 360 GiB floor and a 4.402 GiB working-set reserve.
Free space after exact temporary cleanup was 380.595 GiB. The YOLOX model was
loaded only for the run and restored to its prior unloaded state. Detailed
provenance, pilot history, thresholds, timing tables, artifacts, hashes,
quality findings and the LAB E6 gate are in
`experiments/perception/LAB_E5_REPORT_2026-07-21.md` and Ops card
MISSIONCOR-19.

The next bounded gate is calibrated 2D-track/LiDAR association on the same
601-frame interval: robust point support, metric range, coarse 3D cuboids and a
qualification-only Rerun recording. Full-session and live promotion remain
blocked on measured identity quality and a bounded queue/drop design.

## E6 factory-calibrated tracked LiDAR fusion · 2026-07-21

LAB E6 closes the recorded 2D-track/LiDAR association gate on the exact E5
601-frame interval. It reuses the immutable E4 semantic masks, E5 track IDs,
raw K1 point/pose capture and the XGRIDS `camera_1` factory KB4 calibration.
Fused observations must satisfy 100 ms camera/point and pose/point gates.
Nearest-depth buffering, semantic support, depth splitting, 3D connected
components, robust range history and plausible-size gates prevent unsupported
image rectangles from becoming fabricated 3D boxes.

The immutable result is
`e6-fusion-b4e4226674a66f6196c033785eb307c255a7bdd8493ef9809dfb1d6e5bd68eaa`.
It processed 601/601 frames, fused 526, emitted 918 point-supported oriented
cuboids across 56 track IDs and failed closed for depth on 75 frames outside
the strict timing gate. LiDAR/camera absolute delta was 29.389 ms mean,
70.794 ms p95 and 96.107 ms maximum. Accepted range spans 1.239–37.749 m with a
10.189 m median.

The single-process local geometry/artifact path took 14.774 seconds, peaked at
240.469 MiB RSS and is faster than the source rate. This is not an end-to-end
live result because E4 and E5 were precomputed. The external worker and both
worker disks were untouched. The output includes an 800x600 H.264 overlay,
timestamped JSONL/NPZ data, a contact sheet and a standalone 60 MiB Rerun
recording with camera, map-frame cloud, support points and translucent
`Boxes3D`. Visual QA confirmed that these are real oriented Rerun primitives;
they remain visible-surface envelopes, not ground-truthed complete object
volumes.

Detailed provenance, profile freeze, pilot failures, thresholds, timing,
rejection counts, artifact hashes, limitations and the LAB E7 gate are in
`experiments/perception/LAB_E6_REPORT_2026-07-21.md`. Ops synchronization is
pending restoration of the direct `nodedc-ops-agent` tasker tools; the legacy
Ops API was not used.
