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docs(perception): record gravity-aligned TGS evidence

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DCCONSTRUCTIONS
2026-08-26 19:51:50 +03:00
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docs/23_TRAVERSABILITY_AND_STATIC_OBSTACLE_STACK_DECISION.md
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@@ -320,6 +320,14 @@ ground/non-ground adapter that retains the exact unreturned complement as
unknown evidence. GPL runtime, visual quality and full-source realtime remain
open gates.
The gravity-aligned TGS-only adapter completed on the same ten anchors with all
eligible input points accounted as ground, non-ground or rejected and no AOS
invocation. It emits a deterministic `0.45 m`, `12 m` local evidence grid while
preserving unobserved cells. See
[`experiments/perception/M49_TGS_FAIL_CLOSED_EVIDENCE_2026-08-26.md`](../experiments/perception/M49_TGS_FAIL_CLOSED_EVIDENCE_2026-08-26.md).
Representation/accounting is accepted for the visual gate; obstacle and
traversability quality are not yet accepted.
### T4 — Candidate C occupancy/ESDF probe
- Run nvblox separately with RF-DETR disabled for the isolated probe.
@@ -337,11 +345,12 @@ open gates.
## Immediate next action
Build the TGS-only recorded adapter over the bounded causal RAVNOVES00
representation. Preserve `GROUND_SUPPORT`, `NONGROUND_OCCUPIED`, the exact
`UNKNOWN_REJECTED` complement and `UNOBSERVED` as separate products; do not use
AOS or infer free cells from absent republication. Review the ten anchors in
metric 3D/costmap space before adding diagnostic camera projection. 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.
Import the sealed gravity-aligned TGS evidence pack into one laboratory review
surface and review the ten anchors in metric 3D/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. 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.