feat(perception): qualify conservative static occupancy

2026-08-26 11:51:56 +03:00
parent 932c5216dc
commit 3c81c39a1c
14 changed files with 1286 additions and 1 deletions
@@ -0,0 +1,10 @@
+{
+  "schema_version": "missioncore.laboratory-evidence-definition/v1",
+  "work_id": "m48-static-occupancy-qualification",
+  "evidence": {
+    "runtime_relative_root": "m48/static-occupancy-qualification-results",
+    "result_id_prefix": "m48-static-occupancy-qualification",
+    "document_name": "manifest.json",
+    "schema_version": "missioncore.m48-static-occupancy-qualification-result/v1"
+  }
+}
@@ -1,6 +1,26 @@
 {
  "schema_version": "missioncore.laboratory-execution-registry/v1",
  "definitions": [
+    {
+      "work_id": "m48-static-occupancy-qualification",
+      "lifecycle": "canonical",
+      "isolation": "core-adapter",
+      "adapter_id": "canonical.m48-static-occupancy-qualification/v1",
+      "input_roles": [
+        "repository_root",
+        "profile_path",
+        "m47_lab_root",
+        "graph_result_root",
+        "small_static_result_root"
+      ],
+      "contracts": {
+        "source": "missioncore.m48-static-occupancy-source-set/v1",
+        "provider": "missioncore.m48-additive-low-step-occupancy/v1",
+        "graph": "missioncore.m48-static-occupancy-case/v1",
+        "run": "missioncore.laboratory-run/v1",
+        "evidence": "missioncore.m48-static-occupancy-qualification-result/v1"
+      }
+    },
    {
      "work_id": "m48-small-static-passage-regression",
      "lifecycle": "canonical",
@@ -0,0 +1,56 @@
+{
+  "schema_version": "missioncore.m48-static-occupancy-qualification-profile/v1",
+  "profile_id": "m48-conservative-static-occupancy/v1",
+  "pipeline_id": "m4-current-rolling-plus-step-static-occupancy/v1",
+  "experiment_id": "m48-static-occupancy-qualification/v1",
+  "human_lab_id": "M4.8",
+  "run_label": "M4.8R2",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "source_session_id": "20260720T065719Z_viewer_live",
+    "m47_lab_result_id": "m47-reference-graph-lab-49678f0a7c628c7e991af0964fa57d005baa027d2d1eea19f38bbfe27ed39ce5",
+    "m47_graph_result_id": "m47-reference-graph-5f6a851cd655c7cf07c3025dacadbc188018b0afa97eda3a08802266e12da87d",
+    "m47_graph_frames_sha256": "d2cd53f8cff555410959600a79eb9a101aad4a8009ba87bdd0f3c5f122948071",
+    "small_static_result_id": "m48-small-static-passage-regression-3e3a2001f87fd3adcb736de52a65e42515044d83faa3515f892705b40915c084",
+    "small_static_anchors_sha256": "6a317aa75dde8204d5574a56166bebc9347e8797934dbc82f076a0abfdfaa95a"
+  },
+  "selection": {
+    "motion": "static",
+    "requires_avoidance_or_clearance": true,
+    "canonical_engineering_sequences": [1880, 2584],
+    "independent_truth": false
+  },
+  "distance_bands_m": {
+    "critical_near": [0.0, 8.0],
+    "approach": [8.0, 12.0]
+  },
+  "candidate": {
+    "point_sources": ["local-surface-occupied", "local-surface-step-candidate"],
+    "minimum_points": 2,
+    "minimum_voxels": 1,
+    "voxel_size_m": 0.35,
+    "depth_cluster_minimum_gap_m": 0.65,
+    "depth_cluster_gap_fraction": 0.08,
+    "spatial_cluster_radius_m": 0.75
+  },
+  "acceptance": {
+    "minimum_critical_near_candidate_recall": 1.0,
+    "minimum_approach_candidate_recall": 0.95,
+    "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,
+    "step_candidate_can_only_add_occupied_or_unknown": true,
+    "semantic_class_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
+  }
+}