From 5983883ffe13ab97b713f082c3d942811e042be7 Mon Sep 17 00:00:00 2001 From: DCCONSTRUCTIONS Date: Wed, 26 Aug 2026 11:52:09 +0300 Subject: [PATCH] docs(perception): record M4.8R2 occupancy gate --- docs/13_LIDAR_WORKER_PRODUCT_AND_ROADMAP.md | 11 +++++++ ...7_PRODUCT_UI_AND_LAB_PRESENTATION_CANON.md | 7 +++++ ...E_4_OBJECT_CENTRIC_RECORDED_REALTIME_CV.md | 29 +++++++++++++++++++ 3 files changed, 47 insertions(+) diff --git a/docs/13_LIDAR_WORKER_PRODUCT_AND_ROADMAP.md b/docs/13_LIDAR_WORKER_PRODUCT_AND_ROADMAP.md index 090f30c..2b3587d 100644 --- a/docs/13_LIDAR_WORKER_PRODUCT_AND_ROADMAP.md +++ b/docs/13_LIDAR_WORKER_PRODUCT_AND_ROADMAP.md @@ -912,6 +912,17 @@ authority. Exit: local collision-space quality and deadline gates pass in replay and shadow. This still does not authorize control. +M4.8R2 now supplies the bounded pre-shadow qualification for the first item. +On eleven operator-assisted static passage anchors, the accepted current/rolling +graph covers `6/11`, while the additive sealed low-step signal covers `10/11`; +the critical `0–8 m` subset is `9/9`, four canonical engineering anchors remain +matched and false-free count is zero. The item remains unchecked because this +is not independent truth and the candidate is not yet part of the Worker +pipeline. Its next gate is a full `4,489`-frame occupied-only Worker 006 shadow +with FPS, latency, occupancy growth, component-count and capacity-drop bounds. +Dynamic decay, Nav2 publication and planner-authoritative free space remain +separate later work. + ### L6 — alternative odometry/mapping This stage starts only when a source supplies unregistered sensor scans. Add diff --git a/docs/17_PRODUCT_UI_AND_LAB_PRESENTATION_CANON.md b/docs/17_PRODUCT_UI_AND_LAB_PRESENTATION_CANON.md index 2952373..6a4dc85 100644 --- a/docs/17_PRODUCT_UI_AND_LAB_PRESENTATION_CANON.md +++ b/docs/17_PRODUCT_UI_AND_LAB_PRESENTATION_CANON.md @@ -179,6 +179,13 @@ only on the annotated frame unless a separately evidenced and reviewable tracking result exists; ordinary model proposals and graph layers continue on their own full recorded timeline. +M4.8R2 is the canonical static-occupancy example of this rule. Its report and +eleven typed anchors bind to the accepted M4.7 LAB identity, use the same +`VIDEO/CAMERA/3D/PLAN/SEMANTICS` timeline and add no renderer or transport. A +qualified anchor means the additive occupied-only candidate has LiDAR support +inside that exact reviewed camera extent; it does not turn the extent into a 3D +collider or grant clearance, free-space, navigation or safety authority. + A third perception instrument is a product-surface change. It requires explicit product-owner agreement before implementation and cannot be introduced by a LAB adapter, result component or experiment configuration. 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 a6631c2..a2cb227 100644 --- a/docs/22_MILESTONE_4_OBJECT_CENTRIC_RECORDED_REALTIME_CV.md +++ b/docs/22_MILESTONE_4_OBJECT_CENTRIC_RECORDED_REALTIME_CV.md @@ -1475,6 +1475,35 @@ candidate acceptance, production acceptance, navigation, safety, commands and actuation authority remain false. The next action is operator adjudication in the existing M4.8 review instrument. +### 2026-08-26 — M4.8R2 conservative static-occupancy qualification + +M4.8R2 moves the small-static problem out of semantic detector tuning and into +the existing LiDAR occupancy boundary. RF-DETR, native fisheye input and its +risk taxonomy are unchanged. The deterministic qualification consumes the +accepted M4.7 current/rolling graph plus the frozen M4.8R1 operator-assisted +static anchors. It evaluates one already sealed local-surface signal, +`point_step_candidate`, only as additive occupied-or-unknown evidence. It never +clears a cell, claims free space, starts detector inference or uses the GPU. + +Immutable result +`m48-static-occupancy-qualification-568024554cff011332ff19ca4739f70555a6232c0607dec2a71be6db408ea69a` +contains `11` static passage anchors. The accepted graph qualifies `6/11`; the +additive low-step candidate qualifies `10/11`. In the critical `0–8 m` band the +change is `6/9 → 9/9`; in the `8–12 m` approach band it is `0/2 → 1/2`. All +four existing canonical engineering anchors remain matched and the result +contains zero false-free claims. One approach anchor remains explicitly +`unresolved-unknown-never-free`. + +This is candidate-visible development evidence, not independent truth or a +production cutover. The result accepts only a bounded next action: integrate +the low-step contribution as an occupied-only Worker shadow and replay all +`4,489` frames on Worker 006 while measuring effective FPS, stage latency, +occupancy/component growth, capacity drops and the same static anchors. The LAB +reuses the M4.7 `VIDEO/CAMERA/3D/PLAN/SEMANTICS` viewer and projects the eleven +anchors onto its immutable timeline; no third perception instrument exists. +Navigation, commands, actuation, physical clearance and collision-safety +authority remain false. + ## Implementation order The implementation sequence is intentionally strict: