From 438e0ca263fc77ccec378143c3754837a76a61e8 Mon Sep 17 00:00:00 2001 From: DCCONSTRUCTIONS Date: Wed, 5 Aug 2026 16:56:25 +0300 Subject: [PATCH] docs(perception): record m4 geometry acceptance --- ...E_4_OBJECT_CENTRIC_RECORDED_REALTIME_CV.md | 55 ++++++++++++++++++- 1 file changed, 54 insertions(+), 1 deletion(-) diff --git a/docs/22_MILESTONE_4_OBJECT_CENTRIC_RECORDED_REALTIME_CV.md b/docs/22_MILESTONE_4_OBJECT_CENTRIC_RECORDED_REALTIME_CV.md index c411c64..ca19092 100644 --- a/docs/22_MILESTONE_4_OBJECT_CENTRIC_RECORDED_REALTIME_CV.md +++ b/docs/22_MILESTONE_4_OBJECT_CENTRIC_RECORDED_REALTIME_CV.md @@ -2,7 +2,7 @@ Date: 2026-08-05 -Status: in progress; M4.0–M4.3 accepted, M4.4 geometry/range is next +Status: in progress; M4.0–M4.4 accepted, M4.5 temporal/motion is next Audit base: `1b3e0b3` on `feat/simulation-polygon-s1` @@ -794,6 +794,59 @@ and healthy Triton retained their exact identities; no public port, cutover or Platform dependency was introduced. M4.3 is closed and M4.4 geometry/range may start. +### 2026-08-05 — M4.4 canonical geometry/range acceptance + +The accepted E29/E32 mathematics was extracted into the product-owned +`k1link.perception.geometry_math` module. The runtime provider imports neither +the eager legacy `k1link.compute` package nor device-plugin initialization. +Numerical parity of KB4 projection is tested against the accepted historical +primitive on the sealed RAVNOVES00 source pack. The versioned profile +`config/perception/m4-geometry-association-v1.json` binds the exact source pack, +local-surface model, projection and association thresholds by SHA-256. + +`Ravnoves00GeometryAssociationProvider` now enforces the product contract: + +- range is published only with exact current frame-local source-point IDs; +- overlapping camera claims use deterministic smallest-box, score and proposal + identity arbitration; +- a claim that loses all points remains camera-only with unavailable range; +- source-unavailable, local-surface-unavailable, outside-overlap, sparse, + conflict and ownership-collision outcomes remain distinct; +- unclaimed current occupied components are published without semantic class; +- total and eligible range coverage use separate denominators; +- missing points never create free-space evidence or physical authority. + +The provider consumed the immutable M4.3 Worker 006 proposal ledger and sealed a +fresh full-source local Mission Core replay: + +- result ID: + `m4-geometry-replay-8daf3109e3cf30b960b4b376032ff3b5ec58ca42a1e5899b841cf29fbcf14ad8`; +- frame ledger SHA-256: + `b4db5d0ebaba4d6268a1006707dc313c229f3dbdfd73b1d863cad5d853be8ac4`; +- `4,489 / 4,489` frames, `0` failed; +- exact source accounting: `3,928` LiDAR-available and `561` unavailable + frames, matching accepted E32 and E53; +- `15,499` detector proposals: `5,341` with current metric range, `10,071` + camera-only and `87` explicit conflicts; +- `13,298` proposals were eligible for range; total coverage is `34.4603%` + and eligible coverage is `40.1639%`; +- camera-only reasons include `2,044` source-unavailable, `157` + outside-overlap, `7,724` sparse and `146` ownership-collision cases; +- `21,958` independent geometry-only occupied observations, all classless; +- `2,164,767` exclusively owned source-point rows and `4,482` overlapping + claims removed; +- local provider latency p50 `2.733 ms`, p95 `3.693 ms`, max `16.872 ms`. + +An independent second execution produced the same frame-ledger SHA-256. Runtime +latency remains a separate report metric and cannot perturb the canonical +observation bytes. + +All ten M4.4 acceptance requirements in the immutable result are true. This is +algorithmic and contract acceptance on the recorded source, not a physical-live +claim and not a Worker 006 cutover. No class name participates in association or +range. M4.4 is closed; M4.5 temporal retention and class-independent motion is +the next implementation phase. + ## Implementation order The implementation sequence is intentionally strict: