feat(perception): define stream-first profile and qualification contracts

2026-09-02 00:59:47 +03:00
parent 5a78c997ac
commit 4e04d06191
4 changed files with 1043 additions and 0 deletions
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+{
+  "schema_version": "missioncore.perception-profile-candidate/v1",
+  "profile_id": "k1-perception-ddrnet39-rfdetr-tgs-prototype/v1",
+  "display_name": "K1 Perception — DDRNet-39 + RF-DETR + TGS",
+  "status": "stage-1-candidate-not-installed-not-qualified",
+  "experiment_policy": {
+    "bounded_lab_overload_allowed": true,
+    "retain_profiles_that_fail_current_hardware_realtime": true,
+    "realtime_failure_blocks_experimental_packaging": false,
+    "qualification_scope": ["profile-version", "effective-config", "hardware", "source", "transport"],
+    "preserve_original_source_clock": true,
+    "report_drops_and_staleness": true,
+    "overload_is_realtime_pass": false,
+    "future_onboard_placement_requires_new_measurement": true
+  },
+  "packaging": {
+    "image": "ndc-k1-perception-ddrnet39-rfdetr-tgs:prototype-v1",
+    "image_sha256": null,
+    "single_container": true,
+    "external_model_server_required": false,
+    "host_model_cache_required": false,
+    "runtime_model_download_allowed": false,
+    "model_environment_isolation": "supervised-processes-one-gpu-scheduler",
+    "common_interpreter_required": false
+  },
+  "hardware_baseline": {
+    "gpu": "NVIDIA GeForce RTX 4090",
+    "active_profiles_per_worker": 1,
+    "sources_per_worker": 1,
+    "gpu_inference_policy": "serialized",
+    "other_gpu_workloads_allowed": false
+  },
+  "cpu_execution_policy": {
+    "OPENBLAS_NUM_THREADS": 1,
+    "OMP_NUM_THREADS": 1,
+    "MKL_NUM_THREADS": 1,
+    "reason": "bounded-single-thread-numeric-libraries-before-whole-graph-qualification"
+  },
+  "input_contract": {
+    "schema_version": "missioncore.perception-stream-start/v1",
+    "channels": ["camera", "point-cloud", "pose"],
+    "camera": {
+      "width": 800,
+      "height": 600,
+      "projection": "KB4",
+      "decoded_pixel_format": "bgr8",
+      "calibration_sha256": "05f3ad9b38b3a4fc95388a8ec83da83c745e217709e51787b3d5aad0969f6fa9",
+      "valid_fov_sha256": "a40cee06b7c6f69b6a09a11563dcfd237f3de833b1ccd31459e66692e528ba63"
+    },
+    "point_cloud": {
+      "representation": "vendor-registered-current-increment",
+      "coordinate_frame": "map",
+      "units": "metres",
+      "scalar_type": "float32-little-endian",
+      "raw_fields_retained": true
+    },
+    "pose": {"parent_frame": "map", "child_frame": "sensor"},
+    "clock_mapping_required": true,
+    "source_end_or_duration_required": false,
+    "full_source_transfer_required": false,
+    "full_source_hash_pass_required": false,
+    "full_decode_or_png_cache_required": false,
+    "previous_perception_artifacts_allowed": false
+  },
+  "stream_policy": {
+    "replay_speed": 1.0,
+    "release_clock": "original-source-timestamps",
+    "inference_stride": 1,
+    "sampling_status": "strict-every-frame-initial-baseline-no-silent-multirate",
+    "first_result_requires_eof": false,
+    "lookahead_allowed": false,
+    "reconnect": "new-epoch-drop-old-backlog-reacquire-codec-keyframe",
+    "overflow": "bounded-drop-with-ledger-degraded-and-failed-runtime-gate",
+    "archive_export_on_critical_path": false,
+    "transport_candidate": "grpc-bidirectional-protobuf-binary-payloads",
+    "transport_qualified": false
+  },
+  "components": {
+    "segmentation": {
+      "model": "ddrnet_39-goose-fine-64",
+      "checkpoint_sha256": "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6",
+      "precision": "existing-fp32-baseline",
+      "preprocessing": "center-600-square-to-512-rgb-tensor-0-1",
+      "outside_crop": "undefined-not-free",
+      "class_count": 64,
+      "runtime": "python-3.9-pytorch-1.13.1-cu117-super-gradients-3.2.0"
+    },
+    "objects": {
+      "model": "rf_detr_large_native_kb4",
+      "checkpoint_sha256": "0f4e20e19a99c0f8a62b5685f57f6c8b5c371c59081feda6752a0561a79ccf38",
+      "engine_sha256": "b8a40b3580edff001ec9680de68707242294ff590ab296000fae371f1083f695",
+      "runtime": "tensorrt-11-fp16-native-uint8",
+      "minimum_score": 0.25,
+      "minimum_box_area_pixels": 64,
+      "maximum_box_area_fraction": 0.5,
+      "minimum_valid_fov_fraction": 0.5,
+      "require_center_inside_valid_fov": true,
+      "required_existing_classes": ["person", "cat", "dog"],
+      "fine_static_object_classifier_required": false,
+      "filter_quality_status": "existing-unchanged-near-large-and-small-object-risk-unqualified"
+    },
+    "geometry": {
+      "online_surface": "K1LocalSurfaceShadowEstimator",
+      "prepared_local_surface_allowed": false,
+      "generic_static_class": "static.unknown",
+      "detected_object_range": "median-camera-z-of-owned-current-points/v1",
+      "geometry_only_range": "nearest-euclidean-sensor-distance/v1",
+      "vehicle_clearance_claim": false,
+      "missing_support": "unavailable-not-zero-not-free"
+    },
+    "motion": {
+      "reuse": "BoundedSpatialTemporalProvider+ClassIndependentMotionEstimator",
+      "semantic_class_implies_motion": false
+    },
+    "costmap": {
+      "algorithm": "TRAVEL-TGS",
+      "revision": "95dc2fbd66a343efd9060c45a5711b6307a950a4",
+      "execution": "cpu",
+      "rolling_history_seconds": 1.0,
+      "states": ["UNOBSERVED", "GROUND_SUPPORT", "NONGROUND_OCCUPIED", "UNKNOWN_REJECTED"],
+      "policy_input": true
+    },
+    "policy": {
+      "scope": "rural-prototype-advisory-only",
+      "hard_surface": "ALLOW-candidate-subject-to-geometry-and-freshness",
+      "fine_road_sidewalk_bikeway_distinction_required": false,
+      "effective_material_rules_required": true,
+      "unknown_or_occupied_overrides_material_allowance": true,
+      "sensor_to_vehicle_mount": "simulation-only-until-measured"
+    }
+  },
+  "reference_files": [
+    {"path": "config/perception/rf-detr-large-native-kb4-risk-shadow-v0.json", "sha256": "dbf4da5dbad6c3c22b1280b46ffcad81719bd183c81c263a4859847d829019b6"},
+    {"path": "config/perception/lab-v1-goose-vegetation-benchmark-v1.json", "sha256": "96a427a8baae387b827ec9c0bf7ca42e3fb9114b8fa9a8671bbc9d10877670b9"},
+    {"path": "config/perception/lab-v1-vegetation-provider-label-map-v1.json", "sha256": "f2b69046b6a740fd9532d2d88e7fabae7c20fb662f783c9502adc9026406f352"},
+    {"path": "config/perception/lab-v1-vegetation-mission-policy-v1.json", "sha256": "b75c4ac841d7b4bcc57f7a9c8417ca2317d8ecfa499e72a9af8a8591a2ec0d35"},
+    {"path": "config/perception/m49-tgs-full-shadow-v1.json", "sha256": "c2e07010aaee78259d36c057962d6bfb885349251ff7356d867e5813e632881c"},
+    {"path": "config/perception/m4-geometry-association-v1.json", "sha256": "cc666c9389a5e221957faddec89584709b66918d14abaf646f1832e001421999"}
+  ],
+  "reference_usage": "reuse-model-parameters-and-algorithms-only-not-recording-ids-or-precomputed-results",
+  "realtime_contract": {
+    "schema_version": "missioncore.perception-realtime-contract/v1",
+    "budget_status": "engineering-targets-worker-pilot-measured-not-whole-path-qualified-not-safety-approved",
+    "budgets": {
+      "maximum_start_metadata_bytes": 65536,
+      "maximum_chunk_bytes": 1048576,
+      "maximum_inflight_bytes": 16777216,
+      "maximum_pending_camera_frames": 2,
+      "maximum_codec_preroll_ms": 500.0,
+      "maximum_pose_age_ms": 100.0,
+      "maximum_clock_uncertainty_ms": 5.0,
+      "maximum_release_lag_ms": 25.0,
+      "maximum_output_age_p95_ms": 125.0,
+      "maximum_output_age_p99_ms": 125.0,
+      "maximum_layer_age_ms": 250.0,
+      "maximum_first_result_ms": 1000.0,
+      "maximum_warmup_seconds": 120.0,
+      "maximum_stop_seconds": 5.0,
+      "maximum_vram_mib": 22000,
+      "maximum_rss_mib": 8192,
+      "maximum_backlog_growth_ms": 25.0
+    },
+    "budget_origin": "125ms-historical-envelope-retained-as-target-now-applied-to-whole-path; other-limits-explicit-initial-engineering-guards",
+    "capacity_drop_count_max": 0,
+    "unaccounted_input_count_max": 0,
+    "full_input_transfer_before_first_result_allowed": false,
+    "independent_quality_and_physical_live_status": "pending"
+  },
+  "authority": {
+    "commands_enabled": false,
+    "actuation_allowed": false,
+    "navigation_or_safety_accepted": false,
+    "production_accepted": false
+  }
+}