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feat(perception): add occupied-only low-step shadow

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DCCONSTRUCTIONS
2026-08-26 12:39:54 +03:00
parent 5983883ffe
commit 343ddeac2d
8 changed files with 1124 additions and 7 deletions
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config/perception/m48r3-additive-low-step-occupancy-v1.json
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{
"schema_version": "missioncore.m48-additive-low-step-occupancy-profile/v1",
"profile_id": "m48r3-ravnoves00-additive-low-step/v1",
"provider_id": "ravnoves00-additive-low-step-geometry/v1",
"base_geometry": {
"profile_id": "m4-ravnoves00-e29-e32-geometry/v1",
"sha256": "cc666c9389a5e221957faddec89584709b66918d14abaf646f1832e001421999"
},
"source": {
"source_id": "RAVNOVES00",
"session_id": "20260720T065719Z_viewer_live",
"frame_count": 4489,
"point_count": 9207270,
"local_surface_model_id": "k1-local-surface-23762244c8bdb97de26fb721ac957d7a00bc9a63571ac4cfa4be19c4effc7d55",
"local_surface_sha256": "f57eb2485b6cef47f2a97a2d9ff1aa9fd9265fe1eb69cd5852d12f39e13b8bc6",
"m48r2_result_id": "m48-static-occupancy-qualification-568024554cff011332ff19ca4739f70555a6232c0607dec2a71be6db408ea69a",
"m48r2_cases_sha256": "249f58bf62973bfbcef8cd2f780013830fd4bf61ec342365a541963af96fa2ff"
},
"componentization": {
"voxel_size_m": 0.45,
"neighbor_radius_cells": 1,
"minimum_points": 2,
"minimum_voxels": 1,
"local_radius_m": 10.0,
"maximum_candidate_points_per_frame": 768,
"maximum_cells_per_component": 256,
"maximum_components_per_frame": 128,
"exclude_baseline_occupied_points": true,
"exclude_claimed_source_points": true
},
"separation_expectations": [
{
"anchor_id": "anchor-5e6e2a81e0667bdd9faf2a9e",
"sequence": 1856,
"expected_minimum_components": 2,
"interpretation": "two thin posts remain independent occupied components"
},
{
"anchor_id": "anchor-924a4623077fe5df18816b47",
"sequence": 1856,
"expected_minimum_components": 2,
"interpretation": "two concrete hemispheres remain independent occupied components"
}
],
"acceptance": {
"expected_frames": 4489,
"requested_source_rate_hz": 12.0,
"minimum_effective_world_state_fps": 11.5,
"maximum_world_state_completion_p95_ms": 60.0,
"maximum_geometry_stage_p95_ms": 9.0,
"maximum_geometry_stage_p99_ms": 16.0,
"maximum_fps_regression_fraction_vs_native_baseline": 0.05,
"maximum_world_state_p95_delta_ms_vs_native_baseline": 15.0,
"maximum_additive_component_mean_growth_fraction": 1.0,
"maximum_additive_cell_mean_growth_fraction": 1.0,
"maximum_capacity_drop_count": 0,
"minimum_critical_near_recall": 1.0,
"minimum_canonical_engineering_recall": 1.0,
"maximum_false_free_count": 0
},
"policy": {
"absence_of_points_means_free": false,
"absence_of_camera_detection_means_free": false,
"additive_only": true,
"semantic_class_used": false,
"ray_clearing_used": false,
"planner_authoritative_free_space_claimed": false
},
"authority": {
"mode": "replay-simulated",
"physical_live": false,
"commands_enabled": false,
"actuation_allowed": false,
"navigation_or_safety_accepted": false
}
}
config/perception/m48r3-native-low-step-reference-graph-shadow-v1.json
+95
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{
"schema_version": "missioncore.reference-perception-graph-config/v2",
"graph_id": "reference-perception-graph/v2",
"source_profile_id": "m4-ravnoves00-recorded-realtime/v1",
"providers": [
{
"role": "source",
"provider_id": "ravnoves00-recorded-source/v1",
"version": "1.0.0",
"revision": "m4-ravnoves00-recorded-realtime/v1",
"sha256": "ea10359339e6cce31b5780a2710299771cab7cc0c1c2a2b56a1621f786b31fa8"
},
{
"role": "detector",
"provider_id": "triton-rf-detr-large-coco-native-kb4-risk-fp16-shadow/v0",
"version": "0.1.0",
"revision": "rf-detr-large-coco-native-kb4-uint8-trt11-fp16-risk-shadow/v0",
"sha256": "dbf4da5dbad6c3c22b1280b46ffcad81719bd183c81c263a4859847d829019b6"
},
{
"role": "geometry",
"provider_id": "ravnoves00-additive-low-step-geometry/v1",
"version": "0.1.0",
"revision": "m48r3-ravnoves00-additive-low-step/v1",
"sha256": "62dd41400169080e1a38f713b283b67cdf201078c4c7fd807783fe6c1838082c"
},
{
"role": "temporal",
"provider_id": "bounded-spatial-temporal-layer/v1",
"version": "1.0.0",
"revision": "m4-bounded-temporal-motion/v1",
"sha256": "7130eaee24a95c7d888bf7598010e03e129e1c3ac5b34bcd8401015ff4244b39"
},
{
"role": "motion",
"provider_id": "class-independent-motion-estimator/v1",
"version": "1.0.0",
"revision": "m4-bounded-temporal-motion/v1",
"sha256": "7130eaee24a95c7d888bf7598010e03e129e1c3ac5b34bcd8401015ff4244b39"
},
{
"role": "rolling",
"provider_id": "rolling-local-obstacle-map/v1",
"version": "1.0.0",
"revision": "ravnoves00-rolling-local-obstacle-map/v1",
"sha256": "f7e3315eaf6ffaf3aee1e04913933812092cf82bbcc9984c1a6fa2d9250e6784"
},
{
"role": "threat",
"provider_id": "dual-evidence-replay-threat/v3",
"version": "3.0.0",
"revision": "m4-ravnoves00-virtual-corridor/v3",
"sha256": "8c3a5aa837da1f028f5998fb504a1381f9b2b68de6420a32160410b6dc0887c7"
}
],
"queues": [
{
"stage_id": "detector",
"capacity": 2,
"deadline_ns": 1000000000,
"terminal_timeout_ns": 90000000000
},
{
"stage_id": "geometry",
"capacity": 2,
"deadline_ns": 1500000000,
"terminal_timeout_ns": 90000000000
},
{
"stage_id": "temporal",
"capacity": 2,
"deadline_ns": 1750000000,
"terminal_timeout_ns": 90000000000
},
{
"stage_id": "rolling",
"capacity": 2,
"deadline_ns": 2000000000,
"terminal_timeout_ns": 90000000000
},
{
"stage_id": "threat",
"capacity": 2,
"deadline_ns": 2250000000,
"terminal_timeout_ns": 90000000000
}
],
"authority": {
"mode": "replay-simulated",
"physical_live": false,
"commands_enabled": false,
"actuation_allowed": false,
"navigation_or_safety_accepted": false
}
}