# LAB E22 — Bounded temporal stability

Date: 2026-07-23
State: accepted diagnostic laboratory result
Authority: observation only; commands and navigation/safety acceptance disabled

## 1. Purpose

LAB E22 tests whether the perception output already qualified by LAB E21 can
be made materially calmer without losing the real-time envelope required for
an unmanned vehicle.

This is not another model-quality run in isolation. The experiment adds the
missing temporal output stage between AI inference and the operator/autonomy
consumer:

- stabilize tracked 2D boxes without future-frame lookahead;
- preserve short detector gaps with explicit, bounded holds;
- stabilize map-frame 3D cuboids and their orientation;
- reduce unsupported semantic label islands;
- retain immutable raw camera, LiDAR, calibration and E21 inference evidence;
- measure the added latency and memory bound.

## 2. Exact source

| Field | Value |
| --- | --- |
| Source LAB | `lab-e21-window2-d0201712` |
| Source display name | `LAB E21.3 · Real-time 1× · synchronized 60s · d0201712` |
| Physical source session | `20260720T065719Z_viewer_live` (`RAVNOVES00`) |
| Source result | `e10-integrated-perception-5cbba0b9839ae843c05607cec8448a2b43464eb81edeb11cf7c01cfec8464c75` |
| Camera source | `sensor.camera.right`, XGRIDS camera slot `camera_1` |
| Resolution | 800 × 600 |
| Window | 601 camera frames, 59.962 s |
| Semantic masks | 121 |
| Source detector | YOLOX-S, COCO-80 |
| Source semantic model | EoMT Cityscapes large, FP16 |
| Source inference hardware | NVIDIA GeForce RTX 4090 |
| Source detector throughput | 9.865 FPS |
| Source semantic throughput | 2.010 FPS |
| Source world-state age | P95 174.40 ms; P99 289.03 ms |

The E22 postprocessor ran locally over the immutable E21.3 result. Its
implementation is streaming-equivalent: one pass, no future-frame lookahead,
bounded state, and no repeated neural inference.

## 3. Configuration

Profile:
`experiments/perception/e22_temporal_stability_profile.json`

Profile SHA-256:
`3d61b29562a851ec41e504bb175e392be874c4509e6944834a449d2e347022d2`

### 3.1 2D tracking

- adaptive center EMA: alpha 0.32–0.78;
- adaptive size EMA: alpha 0.22–0.65;
- center-velocity EMA: alpha 0.35;
- large normalized innovation: reset, not forced smoothing;
- missing observation hold: at most two camera frames;
- class-consistent tracklet stitch: at most eight frames, IoU/center gated.

### 3.2 3D cuboids

- map-frame center EMA: alpha 0.28;
- half-size EMA: alpha 0.18;
- pi-periodic yaw EMA: alpha 0.18;
- velocity EMA: alpha 0.25;
- center innovation reset: above 2.0 m;
- yaw innovation reset: above 55°;
- last-supported cuboid hold: at most 350 ms.

The complete point cloud is not filtered or reduced by this stage. The ground
and all other points remain available to mapping, terrain and traversability
consumers.

### 3.3 Semantic output

The filter uses one previous mask and accepts a changed pixel immediately when
the new label has spatial support. Unsupported isolated changes retain the
previous label.

This is deliberately not called optical-flow propagation. It removes label
islands but does not interpolate semantic geometry between the source model's
2 FPS updates.

### 3.4 Hard bounds

- maximum track states: 128;
- observed peak track states: 19;
- semantic history: one 800 × 600 `uint8` mask;
- estimated upper state bound: 1,004,288 bytes;
- future-frame lookahead: zero.

## 4. Baseline versus E22

| Metric | E21.3 baseline | E22 | Change |
| --- | ---: | ---: | ---: |
| 2D normalized acceleration, P95 | 0.5232 | 0.3938 | −24.7% |
| 2D normalized size step, P95 | 0.2670 | 0.1520 | −43.1% |
| 2D track count | 165 | 160 | −5 stitched identities |
| Tracks lasting ≤2 frames | 34 | 0 | −34 |
| 3D center step, P95 | 0.8174 m | 0.5698 m | −30.3% |
| 3D half-size step, P95 | 0.0542 m | 0.0189 m | −65.1% |
| 3D yaw step, P95 | 15.51° | 5.26° | −66.1% |
| 3D discontinuity gaps | 174 | 87 | −50.0% |
| Unsupported semantic change, mean | 0.03284% | 0.00718% | −78.1% |
| Total semantic mask change, mean | 5.3658% | 5.3261% | −0.7% |

The distinction in the last two rows is important. E22 strongly reduces
unsupported semantic noise, but it does not yet solve the larger inter-frame
movement of semantic boundaries. That requires confidence-aware propagation
or optical flow in a later experiment.

## 5. Temporal events and provenance

| Event | Count |
| --- | ---: |
| Tracklets stitched | 7 |
| 2D held presentations | 639 |
| 3D held cuboids | 472 |
| 2D large-innovation resets | 60 |
| 3D large-innovation resets | 69 |

The rise from 881 source accepted cuboids to 1,353 E22 presented cuboids does
not mean 472 new measurements were invented. Those 472 are explicitly marked
short holds of the last supported cuboid. Every hold is diagnostic and must
not be interpreted as a fresh LiDAR association.

## 6. Added runtime cost

Measured on the local deterministic postprocessor:

| Stage | Mean | P95 | P99 | Max |
| --- | ---: | ---: | ---: | ---: |
| Per camera frame, 2D/3D/world state | 0.468 ms | 0.821 ms | 0.959 ms | 1.244 ms |
| Per semantic frame | 3.463 ms | 3.650 ms | 3.815 ms | 4.054 ms |

At the source rates of approximately 10 camera frames/s and 2 semantic
frames/s, this temporal stage consumes far less than one frame interval. It
does not prove the complete live K1 path; it proves that this specific
stabilization stage is not the real-time bottleneck.

## 7. Acceptance

All gates passed:

- 2D acceleration P95 reduction ≥20%;
- 3D center-step P95 reduction ≥20%;
- 3D yaw-step P95 reduction ≥20%;
- unsupported semantic change reduction ≥10%;
- camera-frame postprocess P95 ≤5 ms;
- semantic-frame postprocess P95 ≤30 ms;
- track-state bound respected;
- source payloads immutable;
- diagnostic authority only.

## 8. Published operator result

| Field | Value |
| --- | --- |
| Session ID | `lab-e22-3d61b295` |
| Display name | `LAB E22 · Temporal stability · synchronized 60s · 3d61b295` |
| Result ID | `e10-integrated-perception-416e8b326ea36e7d534aa9e92b9136c916c7be8cd4e86a1df0feb97bd0d67c71` |
| Result size | approximately 7.0 MiB |
| Rerun perception overlay | 7,896,401 bytes |
| Catalog state | Ready |

UI acceptance on `http://127.0.0.1:8000/`:

- LAB E22 appears as a separate saved session;
- the replay duration is 59.962 s;
- AI overlay endpoint returns HTTP 200 and a valid `RRF2` payload;
- `Объекты 2D`, `Сегментация`, and `Кубы 3D` become enabled;
- all three layers can be enabled together;
- the original point cloud remains visible;
- the Mission Core server remained on PID 31145 throughout publication and
  acceptance.

## 9. Artifact hashes

| Artifact | SHA-256 |
| --- | --- |
| `result.json` | `00ebc409fd09faccd79cfff3342f109cbfba907880cc93cc834026e2ce104764` |
| `run-report.json` | `cc1d775ae52d8faa7388ddc0a0c8aba0e53ff3e90ace46b2a3749f02dfeeb912` |
| `fusion-frames.jsonl` | `456a7d8b1682b85856cbd036053e61be95a6d3fe18453277bcadde879bc9cb9c` |
| `semantic-frames.jsonl` | `d52dfbb03877ec1e50da073a221f20f8b57e5c9669a0de4b16505caa97720e5e` |
| `world-state.jsonl` | `281f26e5fd645ed995bf253bd0ff45bbc07476ef84a2c3df9b198bbc02ef44ca` |
| `transient-perception.npz` | `84609a59abb437ffabc8ca3769327450da5d5250b16c4e1b5e5f7f2e9f73e90f` |

Runtime artifacts remain outside Git under `.runtime/`.

## 10. Honest limitations

- No ground-truth identities are available; tracklet stitching is evaluated
  through continuity metrics, not IDF1/HOTA.
- Two-frame 2D and 350 ms 3D holds improve continuity but are not fresh sensor
  evidence.
- E22 does not improve detector recall, class taxonomy, fisheye model quality
  or LiDAR association correctness.
- Semantic boundaries are not optical-flow propagated.
- The temporal code is streaming-equivalent, but this run consumed a recorded
  E21 result rather than the physical live K1 transport.
- Navigation and safety authority remain disabled.

## 11. Next gate

The next experiment should move this exact bounded temporal state machine into
the warm worker's live result path and rerun the same 60-second 1× envelope.
The acceptance question is no longer “does it look calmer?” but:

1. does inline E22 preserve detector/semantic throughput and E21 age budgets;
2. do real latest-wins replacements remain bounded;
3. do operator-visible holds carry freshness state end to end;
4. does memory remain flat during a longer replay;
5. only after that, does a physical K1 shadow run reproduce the recorded gate.
