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docs(perception): record full TGS shadow acceptance

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DCCONSTRUCTIONS
2026-08-26 23:07:16 +03:00
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@@ -332,6 +332,18 @@ in the canonical LAB as
linked to the current M4 v3 recorded timeline. Publication adds no navigation
or actuation authority.
The subsequent complete source-paced TGS-only shadow passed on `2026-08-26`.
It accounted for all `4,489` timeline frames and all `63,646,163` eligible
points, emitted the `561` missing-LiDAR frames as explicit all-cell
`UNOBSERVED`, sustained `10.003945 FPS`, measured TGS `p95/p99` at
`1.694/2.08973 ms`, completion-age `p99` at `41.42845548 ms`, and recorded zero
capacity drops. The immutable result and canonical LAB acceptance are recorded
in
[`experiments/perception/M49_TGS_FULL_SHADOW_ACCEPTANCE_2026-08-26.md`](../experiments/perception/M49_TGS_FULL_SHADOW_ACCEPTANCE_2026-08-26.md).
This accepts the CPU source-paced shadow and retains the candidate. It does not
accept visual traversability quality, integrated graph performance, navigation
or actuation.
### T4 — Candidate C occupancy/ESDF probe
- Run nvblox separately with RF-DETR disabled for the isolated probe.
@@ -349,14 +361,15 @@ or actuation authority.
## Immediate next action
Review the published gravity-aligned TGS evidence pack across all ten anchors
in metric 3D/costmap space. Preserve
Review the published full gravity-aligned TGS timeline in camera, metric 3D and
costmap space. Preserve
`GROUND_SUPPORT`, `NONGROUND_OCCUPIED`, `UNKNOWN_REJECTED` and `UNOBSERVED` as
separate products; do not use AOS or infer free cells from absent
republication. Add diagnostic camera projection only after the metric evidence
is accepted. If occupied evidence carpets the route, soft traversable
vegetation or usable gaps, reject TGS without tuning it against the review
anchors; otherwise advance it to a full recorded-source shadow. Candidate A T2
replay remains blocked by the failed unmodified T1 gate. No LOW-STEP tuning,
new object model, camera resize, fisheye rectification, manual dataset or
parallel heavy Worker job is authorized by this decision.
republication. Attach the unchanged candidate to the realtime world-state graph
in non-authoritative shadow mode and measure complete-graph FPS, latency,
resource use and queue drops. If occupied evidence carpets the route, soft
traversable vegetation or usable gaps, reject TGS without tuning it against the
review evidence. Candidate A T2 replay remains blocked by the failed unmodified
T1 gate. No LOW-STEP tuning, new object model, camera resize, fisheye
rectification, manual dataset or parallel heavy Worker job is authorized by
this decision.