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

experiments/perception/run_m48s_reference_graph_shadow_worker.py

@@ -383,6 +383,7 @@ def main() -> int:
     ):
         parser.add_argument(f"--{name}", type=Path, required=True)
     parser.add_argument("--triton-origin", default="http://127.0.0.1:8000")
+    parser.add_argument("--additive-low-step-profile", type=Path)
     parser.add_argument("--loops", type=int, default=1)
     parser.add_argument("--maximum-frames", type=int)
     parser.add_argument("--source-rate-hz", type=float)
@@ -477,6 +478,7 @@ def main() -> int:
                 decode_timing_observer=timing_store.observe_decode,
                 source_pacing_observer=timing_store.observe_pacing,
                 detector_timing_observer=timing_store.observe_detector,
+                additive_low_step_profile=arguments.additive_low_step_profile,
                 maximum_frames=arguments.maximum_frames,
                 source_rate_hz=arguments.source_rate_hz,
             ) as runtime:
@@ -685,7 +687,11 @@ def main() -> int:
             "worker_id": "worker-006",
             "graph_id": "reference-perception-graph/v2",
             "detector_provider_id": detector_provider_id,
-            "inputs": _input_digests(paths, arguments.detector_profile),
+            "inputs": _input_digests(
+                paths,
+                arguments.detector_profile,
+                arguments.additive_low_step_profile,
+            ),
             "runtime_artifact_sha256": arguments.runtime_artifact_sha256,
             "runner_sha256": arguments.runner_sha256,
         },
@@ -1105,12 +1111,15 @@ def _gc_telemetry_summary(events: list[dict[str, object]]) -> dict[str, object]:
 def _input_digests(
     paths: ReferenceGraphRuntimePaths,
     detector_profile: Path,
+    additive_low_step_profile: Path | None = None,
 ) -> dict[str, str]:
     values = {
         field.name: _sha256(getattr(paths, field.name))
         for field in fields(ReferenceGraphRuntimePaths)
     }
     values["detector_profile"] = _sha256(detector_profile)
+    if additive_low_step_profile is not None:
+        values["additive_low_step_profile"] = _sha256(additive_low_step_profile)
     return dict(sorted(values.items()))
 
 

experiments/perception/worker/Invoke-M48NNativeReferenceGraph.ps1

@@ -20,6 +20,7 @@ param(
     [double]$MinimumEffectiveWorldStateFps = 9.5,
     [ValidateRange(1.0, 10000.0)]
     [double]$MaximumWorldStateCompletionP95Ms = 125.0,
+    [switch]$AdditiveLowStep,
     [string]$OutputRoot = (
         "D:\NDC_MISSIONCORE\runtime\results\m48n-native-reference-graph-shadow"
     )
@@ -109,6 +110,15 @@ $expectedConfigs = [ordered]@{
         "8c3a5aa837da1f028f5998fb504a1381f9b2b68de6420a32160410b6dc0887c7"
     )
 }
+if ($AdditiveLowStep) {
+    $expectedConfigs.Remove("m48n-rf-detr-native-reference-graph-shadow-v0.json")
+    $expectedConfigs["m48r3-native-low-step-reference-graph-shadow-v1.json"] = (
+        "d5434825c3a73a9a070aea37927755771e07d38a017111d2014a8e8c88969227"
+    )
+    $expectedConfigs["m48r3-additive-low-step-occupancy-v1.json"] = (
+        "62dd41400169080e1a38f713b283b67cdf201078c4c7fd807783fe6c1838082c"
+    )
+}
 foreach ($entry in $expectedConfigs.GetEnumerator()) {
     $null = Assert-File (Join-Path $release $entry.Key) $entry.Value (
         "M48N config {0}" -f $entry.Key
@@ -203,8 +213,16 @@ if (-not $canonicalTriton.State.Running -or $canonicalTriton.State.Health.Status
     throw "Canonical Triton must remain healthy during M48N shadow"
 }
 $canonicalTritonId = [string]$canonicalTriton.Id
-$tritonName = "ndc-mission-core-m48n-native-reference-graph-triton"
-$graphName = "ndc-mission-core-m48n-native-reference-graph"
+$tritonName = if ($AdditiveLowStep) {
+    "ndc-mission-core-m48r3-low-step-triton"
+} else {
+    "ndc-mission-core-m48n-native-reference-graph-triton"
+}
+$graphName = if ($AdditiveLowStep) {
+    "ndc-mission-core-m48r3-low-step-reference-graph"
+} else {
+    "ndc-mission-core-m48n-native-reference-graph"
+}
 foreach ($name in @($tritonName, $graphName)) {
     if (& docker ps -a --format "{{.Names}}" --filter "name=^/$name$") {
         throw "M48N candidate container $name already exists"
@@ -263,6 +281,19 @@ try {
         throw "M48N Triton published a host port"
     }
 
+    $graphConfigName = if ($AdditiveLowStep) {
+        "m48r3-native-low-step-reference-graph-shadow-v1.json"
+    } else {
+        "m48n-rf-detr-native-reference-graph-shadow-v0.json"
+    }
+    $additiveArguments = if ($AdditiveLowStep) {
+        @(
+            "--additive-low-step-profile",
+            "/release/m48r3-additive-low-step-occupancy-v1.json"
+        )
+    } else {
+        @()
+    }
     $arguments = @(
         "run", "--name", $graphName,
         "--label", "com.nodedc.product=mission-core",
@@ -294,7 +325,7 @@ try {
         "--entrypoint", "python3",
         $image,
         "/release/run_m48s_reference_graph_shadow_worker.py",
-        "--graph-config", "/release/m48n-rf-detr-native-reference-graph-shadow-v0.json",
+        "--graph-config", ("/release/{0}" -f $graphConfigName),
         "--baseline-profile", "/release/m4-recorded-realtime-baseline-v1.json",
         "--detector-profile", "/release/rf-detr-large-native-kb4-risk-shadow-v0.json",
         "--geometry-profile", "/release/m4-geometry-association-v1.json",
@@ -331,7 +362,7 @@ try {
         "--output", "/output/result.json",
         "--progress", "/output/progress.jsonl",
         "--frame-ledger", "/output/frames.jsonl"
-    )
+    ) + $additiveArguments
     & docker @arguments
     Assert-LastExitCode "M48N native complete reference graph shadow"
     foreach ($name in @("result.json", "frames.jsonl", "progress.jsonl")) {