feat(perception): add autonomous vegetation shadow lab

2026-08-27 23:26:35 +03:00
parent 7594c71dd1
commit 57204b3b0b
26 changed files with 2494 additions and 5 deletions
@@ -0,0 +1,230 @@
+[CmdletBinding()]
+param(
+    [ValidateSet("Build", "Probe", "Validate", "Ravnoves", "Status")]
+    [string]$Mode = "Status",
+
+    [ValidateSet("Ddrnet", "Ppliteseg")]
+    [string]$Candidate = "Ddrnet",
+
+    [string]$AssetRoot = "D:\NDC_MISSIONCORE\datasets\vegetation-v1\observed-2026-08-27",
+
+    [string]$ToolRoot = "D:\NDC_MISSIONCORE\datasets\tooling\lab-v1-vegetation-goose",
+
+    [string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\experiments\lab-v1-vegetation",
+
+    [string]$RavnovesVideo = "D:\NDC_MISSIONCORE\runtime\experiments\e46e\inputs\right-cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8.mp4"
+)
+
+Set-StrictMode -Version Latest
+$ErrorActionPreference = "Stop"
+
+$datasetPrefix = "D:\NDC_MISSIONCORE\datasets\"
+$runtimePrefix = "D:\NDC_MISSIONCORE\runtime\experiments\"
+if (-not $AssetRoot.StartsWith($datasetPrefix, [StringComparison]::OrdinalIgnoreCase)) {
+    throw "AssetRoot must stay under $datasetPrefix"
+}
+if (-not $ToolRoot.StartsWith($datasetPrefix, [StringComparison]::OrdinalIgnoreCase)) {
+    throw "ToolRoot must stay under $datasetPrefix"
+}
+if (-not $OutputRoot.StartsWith($runtimePrefix, [StringComparison]::OrdinalIgnoreCase)) {
+    throw "OutputRoot must stay under $runtimePrefix"
+}
+
+$image = "ndc/mission-core-lab-v1-goose:sg3.2.0-cu117-v1"
+$canonicalContainer = "ndc-mission-core-triton"
+$candidateKey = $Candidate.ToLowerInvariant()
+$contextRoot = Join-Path $ToolRoot "context"
+$configRoot = Join-Path $ToolRoot "config"
+$benchmarkConfig = Join-Path $configRoot "lab-v1-goose-vegetation-benchmark-v1.json"
+$policyConfig = Join-Path $configRoot "lab-v1-vegetation-mission-policy-v1.json"
+$providerMapConfig = Join-Path $configRoot "lab-v1-vegetation-provider-label-map-v1.json"
+$datasetRoot = Join-Path $AssetRoot "goose-2d\validation"
+$checkpointRelative = if ($candidateKey -eq "ddrnet") {
+    "models\goose\ddrnet_class_512.pth"
+} else {
+    "models\goose\ppliteseg_class_512.pth"
+}
+$checkpoint = Join-Path $AssetRoot $checkpointRelative
+$expectedCheckpointSha256 = if ($candidateKey -eq "ddrnet") {
+    "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6"
+} else {
+    "6dd412c0c99115e359896c4cab43a8e6bce9e09b843e7fa885fe597b0a6121cd"
+}
+$expectedCheckpointBytes = if ($candidateKey -eq "ddrnet") { 259419077 } else { 98208249 }
+$ravnovesSha256 = "cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8"
+$frameIndices = @(0, 253, 512, 768, 1024, 1536, 2048, 2560, 3072, 3584, 4096, 4488)
+$dockerConfig = "D:\NDC_MISSIONCORE\datasets\state\lab-v1-vegetation\docker-config"
+
+function Get-CanonicalTritonIdentity {
+    $identity = & docker inspect $canonicalContainer --format "{{.Id}}|{{.Config.Image}}|{{.State.Status}}|{{if .State.Health}}{{.State.Health.Status}}{{end}}"
+    if ($LASTEXITCODE -ne 0 -or [string]::IsNullOrWhiteSpace($identity)) {
+        throw "Canonical Triton is unavailable"
+    }
+    $parts = $identity.Split("|")
+    if ($parts.Count -ne 4 -or $parts[2] -ne "running" -or $parts[3] -ne "healthy") {
+        throw "Canonical Triton is not running and healthy: $identity"
+    }
+    return $identity
+}
+
+function Assert-FileIdentity {
+    param([string]$Path, [long]$ExpectedBytes, [string]$ExpectedSha256)
+    $file = Get-Item -LiteralPath $Path -ErrorAction SilentlyContinue
+    if ($null -eq $file -or $file.Length -ne $ExpectedBytes) {
+        throw "File identity changed: $Path"
+    }
+    $actualSha256 = (Get-FileHash -LiteralPath $Path -Algorithm SHA256).Hash.ToLowerInvariant()
+    if ($actualSha256 -ne $ExpectedSha256) {
+        throw "File digest changed: $Path"
+    }
+}
+
+function Assert-RunnerInputs {
+    foreach ($path in @($benchmarkConfig, $policyConfig, $providerMapConfig)) {
+        if (-not (Test-Path -LiteralPath $path -PathType Leaf)) {
+            throw "Runner config is unavailable: $path"
+        }
+    }
+    if (-not (Test-Path -LiteralPath (Join-Path $contextRoot "Dockerfile") -PathType Leaf)) {
+        throw "Runner Dockerfile is unavailable"
+    }
+    if (-not (Test-Path -LiteralPath (Join-Path $contextRoot "run_goose_vegetation_benchmark.py") -PathType Leaf)) {
+        throw "Runner source is unavailable"
+    }
+    Assert-FileIdentity -Path $checkpoint -ExpectedBytes $expectedCheckpointBytes -ExpectedSha256 $expectedCheckpointSha256
+}
+
+function New-RunRoot {
+    param([string]$Kind)
+    $stamp = [DateTime]::UtcNow.ToString("yyyyMMddTHHmmssfffZ")
+    $path = Join-Path $OutputRoot ("{0}-{1}-{2}" -f $Kind, $candidateKey, $stamp)
+    New-Item -ItemType Directory -Path $path | Out-Null
+    return $path
+}
+
+function Invoke-IsolatedRun {
+    param(
+        [ValidateSet("goose", "ravnoves")][string]$RunMode,
+        [string]$RunRoot,
+        [int]$Limit,
+        [string]$FramesRoot = ""
+    )
+    $containerName = "ndc-lab-v1-goose-$candidateKey-$([Guid]::NewGuid().ToString('N').Substring(0, 10))"
+    $arguments = @(
+        "run", "--rm", "--name", $containerName,
+        "--gpus", "all",
+        "--network", "none",
+        "--read-only",
+        "--cap-drop", "ALL",
+        "--security-opt", "no-new-privileges",
+        "--memory", "10g",
+        "--cpus", "8",
+        "--pids-limit", "512",
+        "--tmpfs", "/tmp:rw,noexec,nosuid,size=2g",
+        "--env", "HOME=/tmp",
+        "--mount", "type=bind,src=$datasetRoot,dst=/data/goose,readonly",
+        "--mount", "type=bind,src=$checkpoint,dst=/models/candidate.pth,readonly",
+        "--mount", "type=bind,src=$configRoot,dst=/config,readonly",
+        "--mount", "type=bind,src=$RunRoot,dst=/output",
+        $image,
+        "--mode", $RunMode,
+        "--candidate", $candidateKey,
+        "--config", "/config/lab-v1-goose-vegetation-benchmark-v1.json",
+        "--policy", "/config/lab-v1-vegetation-mission-policy-v1.json",
+        "--provider-map", "/config/lab-v1-vegetation-provider-label-map-v1.json",
+        "--checkpoint", "/models/candidate.pth",
+        "--dataset-root", "/data/goose",
+        "--output", "/output/result",
+        "--limit", $Limit.ToString(),
+        "--visual-count", "12"
+    )
+    if ($RunMode -eq "ravnoves") {
+        $arguments = @($arguments[0..($arguments.Count - 1)])
+        $arguments += @("--frames-root", "/input")
+        $mountIndex = [Array]::IndexOf($arguments, $image)
+        $head = @($arguments[0..($mountIndex - 1)])
+        $tail = @($arguments[$mountIndex..($arguments.Count - 1)])
+        $arguments = $head + @("--mount", "type=bind,src=$FramesRoot,dst=/input,readonly") + $tail
+    }
+    & docker @arguments
+    if ($LASTEXITCODE -ne 0) {
+        throw "LAB V1 container failed with exit code $LASTEXITCODE"
+    }
+}
+
+function Export-RavnovesFrames {
+    param([string]$Destination)
+    Assert-FileIdentity -Path $RavnovesVideo -ExpectedBytes (Get-Item -LiteralPath $RavnovesVideo).Length -ExpectedSha256 $ravnovesSha256
+    New-Item -ItemType Directory -Path $Destination | Out-Null
+    $expression = ($frameIndices | ForEach-Object { "eq(n\,$_ )" }) -join "+"
+    $temporaryPattern = Join-Path $Destination "selected-%03d.png"
+    & ffmpeg -hide_banner -loglevel error -i $RavnovesVideo -vf "select='$expression'" -fps_mode vfr $temporaryPattern
+    if ($LASTEXITCODE -ne 0) {
+        throw "RAVNOVES exact frame extraction failed"
+    }
+    $selected = @(Get-ChildItem -LiteralPath $Destination -Filter "selected-*.png" | Sort-Object Name)
+    if ($selected.Count -ne $frameIndices.Count) {
+        throw "RAVNOVES frame island changed: expected $($frameIndices.Count), got $($selected.Count)"
+    }
+    for ($index = 0; $index -lt $selected.Count; $index++) {
+        $target = Join-Path $Destination ("frame-{0:D6}.png" -f $frameIndices[$index])
+        Move-Item -LiteralPath $selected[$index].FullName -Destination $target
+    }
+}
+
+if ($Mode -eq "Status") {
+    $imageIdentity = & docker image inspect $image --format "{{.Id}}" 2>$null
+    [ordered]@{
+        schema_version = "missioncore.lab-v1-goose-runner-status/v1"
+        observed_at_utc = [DateTime]::UtcNow.ToString("o")
+        worker_id = "worker-006"
+        image = $image
+        image_id = if ($LASTEXITCODE -eq 0) { $imageIdentity } else { $null }
+        canonical_triton = Get-CanonicalTritonIdentity
+        asset_root = $AssetRoot
+        output_root = $OutputRoot
+        candidate = $candidateKey
+    } | ConvertTo-Json -Depth 6
+    exit 0
+}
+
+Assert-RunnerInputs
+$canonicalBefore = Get-CanonicalTritonIdentity
+try {
+    if ($Mode -eq "Build") {
+        if (-not (Test-Path -LiteralPath (Join-Path $dockerConfig "config.json") -PathType Leaf)) {
+            throw "Isolated Docker client configuration is unavailable"
+        }
+        $previousDockerConfig = $env:DOCKER_CONFIG
+        try {
+            $env:DOCKER_CONFIG = $dockerConfig
+            & docker build --pull=false --label "com.nodedc.component=mission-core-lab-v1-goose" --label "com.nodedc.authority=shadow-only" --tag $image $contextRoot
+            if ($LASTEXITCODE -ne 0) {
+                throw "LAB V1 image build failed with exit code $LASTEXITCODE"
+            }
+        }
+        finally {
+            $env:DOCKER_CONFIG = $previousDockerConfig
+        }
+    }
+    elseif ($Mode -eq "Probe") {
+        $runRoot = New-RunRoot -Kind "probe"
+        Invoke-IsolatedRun -RunMode "goose" -RunRoot $runRoot -Limit 8
+    }
+    elseif ($Mode -eq "Validate") {
+        $runRoot = New-RunRoot -Kind "validation"
+        Invoke-IsolatedRun -RunMode "goose" -RunRoot $runRoot -Limit 0
+    }
+    elseif ($Mode -eq "Ravnoves") {
+        $runRoot = New-RunRoot -Kind "ravnoves"
+        $framesRoot = Join-Path $runRoot "input-frames"
+        Export-RavnovesFrames -Destination $framesRoot
+        Invoke-IsolatedRun -RunMode "ravnoves" -RunRoot $runRoot -Limit 0 -FramesRoot $framesRoot
+    }
+}
+finally {
+    $canonicalAfter = Get-CanonicalTritonIdentity
+    if ($canonicalAfter -ne $canonicalBefore) {
+        throw "Canonical Triton identity changed during LAB V1 work"
+    }
+}