docs(perception): define traversability evaluation sequence

2026-08-26 16:56:15 +03:00
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+# M4.9 T0 traversability candidate preflight — 2026-08-26
+
+Status: source and revision preflight complete; Candidate A build not started
+because the Worker resource-admission gate was closed
+
+## Purpose
+
+T0 verifies that the first terrain-relative candidate can be evaluated against
+the immutable Mission Core source without colliding with another heavy Worker
+job. It does not qualify obstacle quality, realtime performance, navigation or
+actuation.
+
+The governing decision is
+[`docs/23_TRAVERSABILITY_AND_STATIC_OBSTACLE_STACK_DECISION.md`](../../docs/23_TRAVERSABILITY_AND_STATIC_OBSTACLE_STACK_DECISION.md).
+The exact upstream revisions are frozen in
+[`config/perception/m49-traversability-candidate-manifest-v1.json`](../../config/perception/m49-traversability-candidate-manifest-v1.json).
+
+## Read-only Worker snapshot
+
+Observed at `2026-08-26T13:53:55Z` on Worker 006
+(`DESKTOP-OPJ8J04`):
+
+| Item | Observation |
+| --- | --- |
+| OS | Windows 11 Pro, version `10.0.26200`, build `26200` |
+| CPU | Intel Core i9-13900KF, 24 cores / 32 logical processors |
+| Physical memory | `100,502,708 KiB` visible; `685,344 KiB` free at the final snapshot |
+| GPU | NVIDIA GeForce RTX 4090, driver `610.47`, `24,564 MiB` total VRAM |
+| GPU snapshot | `9,131 MiB` used, `47%` utilization, `44 C` |
+| WSL | `docker-desktop` running; Ubuntu 24.04, MissionCore-Sim and MissionCore-CVAT stopped |
+| Mission Core inference | Canonical `ndc-mission-core-triton` remained healthy |
+| Parallel work | GAUSS gateway and builder containers were healthy and active |
+
+No container, WSL distribution, service or source file was started, stopped,
+rebuilt or modified during this inspection.
+
+## Source and baseline evidence
+
+The canonical RAVNOVES00 camera index, LiDAR pack, local-surface pack and native
+fisheye video are present on the Worker at their existing content-addressed
+paths. The accepted raw M4.8R3 full run is present at:
+
+`D:\NDC_MISSIONCORE\runtime\results\m48r3-static-occupancy-shadow\ravnoves00-full-exact6-near8-12fps-v1`
+
+Its `result.json` SHA-256 is
+`0fe50546801d1284eb7af7ffcee0fbfc98985094c678256007b10eade0e54488`.
+The raw result reports:
+
+- source `RAVNOVES00`, `4,489` frames at requested `12 Hz`;
+- integrated runtime gate passed;
+- graph completion p95 `56.74324 ms`;
+- geometry p95/p99 `8.420913/13.732692 ms`;
+- GPU utilization p95/maximum `54%/58%`;
+- maximum GPU memory `9,743 MiB`.
+
+The separately sealed Mission Core product identity remains
+`m48r3-static-occupancy-shadow-d1577870b098bcd0b67cc51798234f224b348ad3954ead72f3ce6df414875a29`.
+This T0 check does not reopen or alter that evidence.
+
+## Frozen candidates
+
+| Order | Candidate | Exact revision | Admission role |
+| ---: | --- | --- | --- |
+| 1 | DFKI GSeg3D | `5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95` | Primary terrain-relative ground/non-ground provider |
+| 1 | DFKI Nav2 Ground Consistency | `41cec620efba6c370dccfc59a6ec1134775ff48a` | Primary temporal costmap evidence layer |
+| 2 | TRAVEL | `95dc2fbd66a343efd9060c45a5711b6307a950a4` | Class-free challenger |
+| 3 | Isaac ROS nvblox `v4.6-0` | `ef47346399c71a4342c03bdbec2136ec735da4b8` | Separate GPU occupancy/ESDF probe |
+
+These SHAs were resolved directly from the official upstream repositories. A
+moving branch name is not an executable test identity.
+
+## Resource-admission result
+
+**T1 was intentionally not started.** Free physical memory fell from roughly
+`3.3 GiB` during the first inventory to `669 MiB` at the final snapshot while
+the parallel GAUSS contour was active. Starting a ROS 2 image build or another
+replay in that state would make the measurement invalid and could destabilize
+unrelated work.
+
+Candidate A may start only when all of the following are true:
+
+1. no unrelated heavy Worker build or replay is active;
+2. free physical memory is at least `16 GiB` before the build;
+3. GPU utilization is at most `10%` before an integrated replay, unless the
+   active GPU process is an explicitly admitted part of that replay;
+4. canonical Mission Core Triton is healthy and is not stopped or replaced;
+5. the candidate uses a new `ndc-` isolated build/runtime contour.
+
+## Next command boundary
+
+The next authorized action is T1 Candidate A upstream qualification: build the
+pinned GSeg3D and Ground Consistency revisions in an isolated ROS 2 contour,
+run their upstream sample path, and record build identity, latency and memory.
+RAVNOVES00 replay begins only after that unmodified upstream qualification
+passes.