feat(perception): build native raw RF-DETR engine
This commit is contained in:
DCCONSTRUCTIONS
@@ -0,0 +1,349 @@
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[CmdletBinding()]
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param(
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[Parameter(Mandatory = $true)]
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[string]$ReleaseRoot,
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[Parameter(Mandatory = $true)]
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[ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
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[string]$RunId,
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[string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\experiments\m48n-native-candidate"
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)
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$ErrorActionPreference = "Stop"
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$ProgressPreference = "SilentlyContinue"
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function Assert-LastExitCode([string]$Operation) {
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if ($LASTEXITCODE -ne 0) { throw "$Operation failed with exit code $LASTEXITCODE" }
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}
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function Get-Sha256([string]$Path) {
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return (Get-FileHash -LiteralPath $Path -Algorithm SHA256).Hash.ToLowerInvariant()
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}
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function Resolve-DDirectory([string]$Path, [string]$Label, [bool]$Create) {
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if ($Create -and -not (Test-Path -LiteralPath $Path)) {
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$null = New-Item -ItemType Directory -Path $Path
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}
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$item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
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if (
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-not $item.PSIsContainer -or
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($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
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[IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
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) {
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throw "$Label must be a real D: directory"
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}
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return $item.FullName
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}
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function Assert-RegularFile([string]$Path, [string]$Label) {
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$item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
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if ($item.PSIsContainer -or ($item.Attributes -band [IO.FileAttributes]::ReparsePoint)) {
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throw "$Label must be a regular file"
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}
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return $item.FullName
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}
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function Convert-ToDockerPath([string]$Path) { return $Path.Replace("\", "/") }
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function Get-Container([string]$Name) {
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$rows = @((& docker inspect $Name) | ConvertFrom-Json)
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Assert-LastExitCode "Docker inspection for $Name"
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if ($rows.Count -ne 1) { throw "Container identity for $Name is not unique" }
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return $rows[0]
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}
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if ($env:COMPUTERNAME -cne "DESKTOP-OPJ8J04") {
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throw "M48N native candidate build is pinned to DESKTOP-OPJ8J04"
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}
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$release = Resolve-DDirectory $ReleaseRoot "M48N release root" $false
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$output = Resolve-DDirectory $OutputRoot "M48N output root" $true
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$runOutput = Join-Path $output $RunId
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if (Test-Path -LiteralPath $runOutput) { throw "M48N run output already exists" }
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$null = New-Item -ItemType Directory -Path $runOutput
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$runOutput = Resolve-DDirectory $runOutput "M48N run output" $false
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$exporter = Assert-RegularFile (
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Join-Path $release "export_m48n_rf_detr_native_worker.py"
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) "native exporter"
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$converter = Assert-RegularFile (
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Join-Path $release "convert_m48n_rf_detr_native_onnx_fp16.py"
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) "native FP16 converter"
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$wrapper = Assert-RegularFile (
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Join-Path $release "wrap_m48n_rf_detr_native_uint8_onnx.py"
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) "native UINT8 wrapper"
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$checkpoint = Assert-RegularFile (
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"D:\NDC_MISSIONCORE\runtime\experiments\m48t-fixed-detector-20260825T095425Z" +
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"\weights\rf-detr-large-2026.pth"
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) "RF-DETR checkpoint"
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$checkpointSha256 = Get-Sha256 $checkpoint
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if ($checkpointSha256 -cne "0f4e20e19a99c0f8a62b5685f57f6c8b5c371c59081feda6752a0561a79ccf38") {
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throw "RF-DETR checkpoint SHA-256 changed"
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}
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$mask = Assert-RegularFile (
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"D:\NDC_MISSIONCORE\runtime\inputs\e2" +
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"\valid-fov-mask-b4dd8ddf2b87c1d520ee8a0868c4fea062d7c14d1bae73ccabd3abe1f3acbac2" +
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"\mask.png"
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) "valid-FOV mask"
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$maskSha256 = Get-Sha256 $mask
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if ($maskSha256 -cne "a40cee06b7c6f69b6a09a11563dcfd237f3de833b1ccd31459e66692e528ba63") {
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throw "valid-FOV mask SHA-256 changed"
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}
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$historical = Get-Container "ndc-mission-core-triton"
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if (-not $historical.State.Running -or $historical.State.Health.Status -cne "healthy") {
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throw "Historical Triton must remain healthy"
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}
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$historicalId = [string]$historical.Id
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$baseImage = (
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"nvcr.io/nvidia/tritonserver:26.06-py3@" +
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"sha256:58df7489c3f2276f9591d500a012dee03e23d35543ce3c390b4c001e6bf90794"
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)
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& docker image inspect $baseImage *> $null
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Assert-LastExitCode "pinned base image inspection"
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$baseImageId = (& docker image inspect $baseImage --format "{{.Id}}").Trim()
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Assert-LastExitCode "pinned base image identity"
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$runtimeVolume = "ndc-mission-core-m48t-upstream-parity-env"
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if (-not (& docker volume ls --quiet --filter "name=^$runtimeVolume$")) {
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throw "pinned RF-DETR dependency volume is unavailable"
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}
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$buildDepsVolume = "ndc-mission-core-m48n-native-build-deps"
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if (-not (& docker volume ls --quiet --filter "name=^$buildDepsVolume$")) {
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& docker volume create `
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--label "com.nodedc.product=mission-core" `
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--label "com.nodedc.stack=ndc-mission-core-compute" `
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--label "com.nodedc.role=bounded-rf-detr-native-build-dependencies" `
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--label "com.nodedc.managed-by=codex-bounded-experiment" `
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$buildDepsVolume *> $null
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Assert-LastExitCode "M48N build dependency volume creation"
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}
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$buildDepsReady = $false
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$strictErrorActionPreference = $ErrorActionPreference
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$ErrorActionPreference = "Continue"
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& docker run --rm `
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--read-only `
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--security-opt "no-new-privileges:true" `
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--cap-drop ALL `
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--tmpfs "/tmp:rw,noexec,nosuid,size=512m" `
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-e "PYTHONPATH=/opt/build-deps:/opt/parity" `
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-v ($buildDepsVolume + ":/opt/build-deps:ro") `
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-v ($runtimeVolume + ":/opt/parity:ro") `
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--entrypoint python3 `
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$baseImage `
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-c (
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"import importlib.metadata as m, onnx, onnxconverter_common; " +
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"assert m.version('onnx') == '1.22.0'; " +
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"assert m.version('onnxconverter-common') == '1.16.0'; " +
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"assert m.version('protobuf') == '6.33.6'"
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) *> $null
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if ($LASTEXITCODE -eq 0) { $buildDepsReady = $true }
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$ErrorActionPreference = $strictErrorActionPreference
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if (-not $buildDepsReady) {
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& docker run --rm `
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--name "ndc-mission-core-m48n-native-build-deps-init" `
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--read-only `
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--security-opt "no-new-privileges:true" `
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--cap-drop ALL `
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--pids-limit 256 `
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--tmpfs "/tmp:rw,noexec,nosuid,size=2g" `
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-e "PIP_DISABLE_PIP_VERSION_CHECK=1" `
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-v ($buildDepsVolume + ":/opt/build-deps:rw") `
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--entrypoint python3 `
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$baseImage `
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-m pip install --no-cache-dir --no-deps --upgrade --target /opt/build-deps `
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"onnx==1.22.0" "onnxconverter-common==1.16.0" "protobuf==6.33.6"
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Assert-LastExitCode "M48N build dependency initialization"
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}
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& docker run --rm `
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--read-only `
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--security-opt "no-new-privileges:true" `
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--cap-drop ALL `
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--tmpfs "/tmp:rw,noexec,nosuid,size=512m" `
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-e "PYTHONPATH=/opt/build-deps:/opt/parity" `
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-v ($buildDepsVolume + ":/opt/build-deps:ro") `
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-v ($runtimeVolume + ":/opt/parity:ro") `
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--entrypoint python3 `
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$baseImage `
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-c (
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"import importlib.metadata as m, onnx, onnxconverter_common; " +
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"assert m.version('onnx') == '1.22.0'; " +
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"assert m.version('onnxconverter-common') == '1.16.0'; " +
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"assert m.version('protobuf') == '6.33.6'"
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)
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Assert-LastExitCode "M48N build dependency verification"
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$releaseMount = (Convert-ToDockerPath $release) + ":/release:ro"
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$outputMount = (Convert-ToDockerPath $runOutput) + ":/output:rw"
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$checkpointMount = (Convert-ToDockerPath $checkpoint) + ":/model/rf-detr-large-2026.pth:ro"
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$maskMount = (Convert-ToDockerPath $mask) + ":/input/mask.png:ro"
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$common = @(
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"run", "--rm",
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"--read-only",
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"--security-opt", "no-new-privileges:true",
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"--cap-drop", "ALL",
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"--pids-limit", "512",
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"--gpus", "all",
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"--shm-size", "2g",
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"--tmpfs", "/tmp:rw,noexec,nosuid,size=8g",
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"-e", "PYTHONDONTWRITEBYTECODE=1",
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"-e", "PYTHONPATH=/opt/build-deps:/opt/parity",
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"-v", ($buildDepsVolume + ":/opt/build-deps:ro"),
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"-v", ($runtimeVolume + ":/opt/parity:ro"),
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"-v", $releaseMount,
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"-v", $outputMount,
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"-v", $checkpointMount,
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"-v", $maskMount
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)
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try {
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& docker @common `
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--name "ndc-mission-core-m48n-native-export" `
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--entrypoint python3 `
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$baseImage `
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/release/export_m48n_rf_detr_native_worker.py `
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--checkpoint /model/rf-detr-large-2026.pth `
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--expected-checkpoint-sha256 $checkpointSha256 `
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--output-root /output/core-export `
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--manifest /output/export-manifest.json `
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--upstream-revision 9b009fa928d6218320439803d1da01869a85c072
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Assert-LastExitCode "M48N native core export"
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$exportManifest = Get-Content -LiteralPath (
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Join-Path $runOutput "export-manifest.json"
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) -Raw | ConvertFrom-Json
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$corePath = [string]$exportManifest.onnx.path
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$coreLeaf = Split-Path -Leaf $corePath
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$coreHostPath = Assert-RegularFile (
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Join-Path (Join-Path $runOutput "core-export") $coreLeaf
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) "native core ONNX"
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if ((Get-Sha256 $coreHostPath) -cne [string]$exportManifest.onnx.sha256) {
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throw "native core ONNX hash does not match its manifest"
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}
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& docker @common `
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--name "ndc-mission-core-m48n-native-fp16" `
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--entrypoint python3 `
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$baseImage `
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/release/convert_m48n_rf_detr_native_onnx_fp16.py `
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--input ("/output/core-export/" + $coreLeaf) `
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--expected-input-sha256 ([string]$exportManifest.onnx.sha256) `
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--output /output/rf-detr-native-core-fp16.onnx `
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--manifest /output/fp16-manifest.json
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Assert-LastExitCode "M48N native FP16 conversion"
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$fp16Manifest = Get-Content -LiteralPath (
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Join-Path $runOutput "fp16-manifest.json"
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) -Raw | ConvertFrom-Json
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$fp16Path = Assert-RegularFile (
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Join-Path $runOutput "rf-detr-native-core-fp16.onnx"
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) "native FP16 ONNX"
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if ((Get-Sha256 $fp16Path) -cne [string]$fp16Manifest.output_onnx_sha256) {
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throw "native FP16 ONNX hash does not match its manifest"
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}
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& docker @common `
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--name "ndc-mission-core-m48n-native-wrapper" `
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--entrypoint python3 `
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$baseImage `
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/release/wrap_m48n_rf_detr_native_uint8_onnx.py `
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--input /output/rf-detr-native-core-fp16.onnx `
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--expected-input-sha256 ([string]$fp16Manifest.output_onnx_sha256) `
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--mask /input/mask.png `
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--expected-mask-sha256 $maskSha256 `
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--output /output/rf-detr-native-uint8.onnx `
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--manifest /output/wrapper-manifest.json
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Assert-LastExitCode "M48N native UINT8 wrapper"
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$wrapperManifest = Get-Content -LiteralPath (
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Join-Path $runOutput "wrapper-manifest.json"
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) -Raw | ConvertFrom-Json
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$wrappedPath = Assert-RegularFile (
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Join-Path $runOutput "rf-detr-native-uint8.onnx"
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) "native UINT8 ONNX"
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if ((Get-Sha256 $wrappedPath) -cne [string]$wrapperManifest.output_onnx_sha256) {
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throw "native UINT8 ONNX hash does not match its manifest"
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}
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& docker @common `
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--name "ndc-mission-core-m48n-native-trt-build" `
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--entrypoint /usr/src/tensorrt/bin/trtexec `
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$baseImage `
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--onnx=/output/rf-detr-native-uint8.onnx `
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--saveEngine=/output/rf-detr-native-uint8.plan `
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--stronglyTyped `
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--builderOptimizationLevel=5 `
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--memPoolSize=workspace:8192 `
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--skipInference
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Assert-LastExitCode "M48N native TensorRT engine build"
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$enginePath = Assert-RegularFile (
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Join-Path $runOutput "rf-detr-native-uint8.plan"
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) "native TensorRT engine"
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$receipt = [ordered]@{
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schema_version = "missioncore.m48n-native-candidate-build/v0"
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run_id = $RunId
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completed = $true
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worker = [ordered]@{
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id = "worker-006"
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node = $env:COMPUTERNAME
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base_image = $baseImage
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base_image_id = $baseImageId
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dependency_volume = $runtimeVolume
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build_dependency_volume = $buildDepsVolume
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}
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artifacts = [ordered]@{
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export_manifest_sha256 = Get-Sha256 (
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Join-Path $runOutput "export-manifest.json"
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)
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core_onnx_sha256 = Get-Sha256 $coreHostPath
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fp16_manifest_sha256 = Get-Sha256 (
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Join-Path $runOutput "fp16-manifest.json"
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)
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fp16_onnx_sha256 = Get-Sha256 $fp16Path
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wrapper_manifest_sha256 = Get-Sha256 (
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Join-Path $runOutput "wrapper-manifest.json"
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)
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wrapped_onnx_sha256 = Get-Sha256 $wrappedPath
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engine_sha256 = Get-Sha256 $enginePath
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engine_size_bytes = (Get-Item -LiteralPath $enginePath).Length
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}
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historical_triton = [ordered]@{
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container_id = $historicalId
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action = "none"
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}
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authority = [ordered]@{
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ground_truth = $false
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candidate_accepted = $false
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commands_enabled = $false
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actuation_allowed = $false
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navigation_or_safety_accepted = $false
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}
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}
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$receipt | ConvertTo-Json -Depth 8 -Compress | Set-Content -LiteralPath (
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Join-Path $runOutput "build-receipt.json"
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) -Encoding UTF8
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} finally {
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foreach ($name in @(
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"ndc-mission-core-m48n-native-export",
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"ndc-mission-core-m48n-native-fp16",
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"ndc-mission-core-m48n-native-wrapper",
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"ndc-mission-core-m48n-native-trt-build"
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)) {
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if (& docker ps -a --format "{{.Names}}" --filter "name=^/$name$") {
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& docker rm -f $name *> $null
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}
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}
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$historicalAfter = Get-Container "ndc-mission-core-triton"
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if (
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$historicalAfter.Id -cne $historicalId -or
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-not $historicalAfter.State.Running -or
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$historicalAfter.State.Health.Status -cne "healthy"
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) {
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throw "Historical Triton changed during M48N candidate build"
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}
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}
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Write-Output ("M48N_NATIVE_BUILD_RECEIPT={0}" -f (
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Join-Path $runOutput "build-receipt.json"
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))
|
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Write-Output "HISTORICAL_TRITON_ACTION=none"
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Write-Output "SEMANTIC_AUTHORITY_CHANGED=false"
|
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