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feat(perception): evaluate fixed-class detector candidates

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DCCONSTRUCTIONS
2026-08-25 16:44:15 +03:00
parent 6276bbf324
commit 33cef2fdea
28 changed files with 4498 additions and 13 deletions
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config/perception/fixed-class-detector-tournament-v0.json
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{
"schema_version": "missioncore.fixed-class-detector-tournament-profile/v0",
"profile_id": "m48s-fixed-class-detector-tournament/v0",
"source": {
"slice_id": "m48s-risk-11-valid-fov-fill/v1",
"frame_count": 11,
"valid_fov_result_id": "valid-fov-mask-b4dd8ddf2b87c1d520ee8a0868c4fea062d7c14d1bae73ccabd3abe1f3acbac2",
"baseline_result_id": "m48s-yolox-all-coco-shadow-7dbe6043b3fc12c7ddb162f609f883d86b34a4f2dd3785a632795f257e192d06"
},
"candidates": [
{
"profile_id": "dfine-s-coco-640-fp16/v0",
"provider_id": "shadow-dfine-s-coco/v0",
"role": "fast",
"upstream": {
"repository": "https://github.com/Peterande/D-FINE",
"revision": "956d1709314c2c6a4df6f34de232054578a7449f",
"license": "Apache-2.0"
},
"checkpoint": {
"url": "https://github.com/Peterande/storage/releases/download/dfinev1.0/dfine_s_coco.pth",
"training_basis": "COCO-only",
"sha256": "48a6c8cc43eb57186843f752e2e8461ddd3326e0d3c575e71e6e960844683e89"
},
"model": {
"dataset_vocabulary": "COCO-80",
"input_width": 640,
"input_height": 640,
"published_coco_ap_50_95": 48.5,
"published_t4_tensorrt_fp16_ms": 3.49,
"published_parameter_count_millions": 10
},
"deployment_path": ["PyTorch qualification", "ONNX", "TensorRT FP16", "Triton"]
},
{
"profile_id": "rf-detr-large-coco-704-fp16/v0",
"provider_id": "shadow-rf-detr-large-coco/v0",
"role": "strong",
"upstream": {
"repository": "https://github.com/roboflow/rf-detr",
"version": "1.9.4",
"revision": "9b009fa928d6218320439803d1da01869a85c072",
"license": "Apache-2.0"
},
"checkpoint": {
"url": "https://storage.googleapis.com/rfdetr/rf-detr-large-2026.pth",
"training_basis": "Apache-designated COCO checkpoint",
"expected_md5": "5cb72153541cbcb9aa6efa26222acc75",
"sha256": "0f4e20e19a99c0f8a62b5685f57f6c8b5c371c59081feda6752a0561a79ccf38"
},
"model": {
"dataset_vocabulary": "COCO-80",
"input_width": 704,
"input_height": 704,
"published_coco_ap_50_95": 56.5,
"published_t4_tensorrt_fp16_ms": 6.8,
"published_parameter_count_millions": 33.9
},
"deployment_path": ["PyTorch qualification", "ONNX", "TensorRT FP16", "Triton"]
}
],
"emission": {
"class_vocabulary": "COCO-80",
"qualification_score_thresholds": [0.25, 0.5],
"geometry_owns_occupancy": true,
"static_object_names_have_behavior_authority": false,
"inference_passes_per_frame": 1
},
"risk_policy": {
"classified_groups": ["person", "animal", "light-road-user", "vehicle"],
"unknown_moving_response": "conservative-risk",
"unknown_stationary_response": "route-around"
},
"promotion_gates": {
"minimum_recorded_source_fps": 9.5,
"maximum_world_state_p95_ms": 175,
"maximum_worker_vram_gib": 20,
"sustained_gpu_utilization_below_percent": 100,
"queue_policy": "bounded-latest-wins",
"full_load_duration_minutes": [30, 60]
},
"authority": {
"ground_truth": false,
"candidate_accepted": false,
"commands_enabled": false,
"actuation_allowed": false,
"navigation_or_safety_accepted": false
}
}
config/perception/rf-detr-large-risk-shadow-v0.json
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{
"schema_version": "missioncore.rf-detr-risk-shadow-profile/v0",
"profile_id": "rf-detr-large-coco-704-trt11-fp16-risk-shadow/v0",
"provider_id": "triton-rf-detr-large-coco-risk-fp16-shadow/v0",
"model": {
"model_id": "rf_detr_large",
"model_version": 1,
"upstream_version": "1.9.4",
"upstream_revision": "9b009fa928d6218320439803d1da01869a85c072",
"checkpoint_sha256": "0f4e20e19a99c0f8a62b5685f57f6c8b5c371c59081feda6752a0561a79ccf38",
"exported_onnx_sha256": "9c1948e56bbb6ff03349012b8bb334cacaf8ae480f22caa0704ee70de9a72300",
"strongly_typed_fp16_onnx_sha256": "9015fcc1317f268ce866bed6b5a33132c24963e1502b02f145fa184e11de5ecb",
"worker_006_rtx4090_tensorrt_11_engine_sha256": "986399ce706b7380472cf5e473232249fed6e628971d8007f6609e83128d46b8",
"input": {
"name": "input",
"datatype": "FP32",
"shape": [1, 3, 704, 704]
},
"outputs": [
{"name": "dets", "datatype": "FP16", "shape": [1, 300, 4]},
{"name": "labels", "datatype": "FP16", "shape": [1, 300, 91]}
]
},
"preprocessing": {
"source_raster": [800, 600],
"source_color": "BGR",
"model_color": "RGB",
"valid_fov_fill_value": 114,
"resize": "704x704-bilinear-antialias-false",
"normalization_mean": [0.485, 0.456, 0.406],
"normalization_std": [0.229, 0.224, 0.225]
},
"emission": {
"single_inference_per_source_frame": true,
"minimum_score": 0.25,
"maximum_topk_query_class_pairs": 300,
"behavior_relevant_classes": [
"person",
"bicycle",
"car",
"motorcycle",
"bus",
"truck",
"bird",
"cat",
"dog",
"horse",
"sheep",
"cow",
"elephant",
"bear",
"zebra",
"giraffe",
"skateboard"
],
"geometry_owns_static_occupancy": true,
"unlisted_semantic_classes_emitted": false,
"minimum_box_area_pixels": 64,
"maximum_box_area_fraction": 0.5,
"minimum_valid_fov_fraction": 0.5,
"require_center_inside_valid_fov": true
},
"queue": {
"policy": "bounded-latest-wins",
"capacity": 2
},
"status": {
"tournament_finalist": true,
"tensorrt_parity_passed": true,
"detector_load_gate_passed": true,
"integrated_world_state_gate_passed": false,
"production_accepted": false
},
"authority": {
"ground_truth": false,
"candidate_accepted": false,
"commands_enabled": false,
"actuation_allowed": false,
"navigation_or_safety_accepted": false
}
}
config/perception/yolox-s-all-coco-shadow-v2.json
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{
"schema_version": "missioncore.yolox-detector-profile/v2",
"profile_id": "yolox-s-raw-kb4-all-coco-shadow/v2",
"provider_id": "triton-yolox-s-raw-kb4-all-coco/v2",
"model": {
"model_id": "yolox_s:1",
"model_sha256": "c5c2d13e59ae883e6af3b45daea64af4833a4951c92d116ec270d9ddbe998063",
"dataset_vocabulary": "COCO-80",
"additional_inference_passes": 0
},
"preprocess": {
"source_width": 800,
"source_height": 600,
"input_width": 640,
"input_height": 640,
"fill_value": 114,
"valid_fov_mask_sha256": "a40cee06b7c6f69b6a09a11563dcfd237f3de833b1ccd31459e66692e528ba63"
},
"postprocess": {
"minimum_score": 0.5,
"nms_iou_threshold": 0.45,
"target_class_ids": [
0, 1, 2, 3, 4, 5, 6, 7, 8, 9,
10, 11, 12, 13, 14, 15, 16, 17, 18, 19,
20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
30, 31, 32, 33, 34, 35, 36, 37, 38, 39,
40, 41, 42, 43, 44, 45, 46, 47, 48, 49,
50, 51, 52, 53, 54, 55, 56, 57, 58, 59,
60, 61, 62, 63, 64, 65, 66, 67, 68, 69,
70, 71, 72, 73, 74, 75, 76, 77, 78, 79
],
"minimum_box_area_pixels": 64.0,
"maximum_box_area_fraction": 0.5,
"minimum_valid_fov_fraction": 0.5,
"require_center_inside_valid_fov": true
},
"class_policy": {
"emission": "all-qualified-coco-classes",
"behavior_authority": "separate-risk-policy-only",
"risk_groups": {
"person": ["person"],
"animal": [
"bird", "cat", "dog", "horse", "sheep", "cow", "elephant", "bear",
"zebra", "giraffe"
],
"light-road-user": ["bicycle", "motorcycle", "skateboard"],
"vehicle": ["car", "bus", "truck"]
},
"unmapped_label_response": "advisory-only",
"unknown_moving_response": "conservative-risk",
"unknown_stationary_response": "route-around"
},
"authority": {
"ground_truth": false,
"candidate_accepted": false,
"commands_enabled": false,
"actuation_allowed": false,
"navigation_or_safety_accepted": false
}
}