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perf(perception): phase vegetation behind safety

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DCCONSTRUCTIONS
2026-08-28 13:14:35 +03:00
parent 7a3b0b84d0
commit 7fcfecd063
6 changed files with 152 additions and 18 deletions
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experiments/perception/worker/Invoke-M49TgsIntegratedGraphShadow.ps1
+5 -4
View File
@@ -148,12 +148,12 @@ foreach ($directory in @("bin", "control", "graph", "tgs", "vegetation")) {
$releaseDocument = Get-Content -LiteralPath (Join-Path $payload "release.json") -Raw | ConvertFrom-Json
$expectedReleaseSchema = if ($VegetationLoadGate) {
"missioncore.lab-v1-vegetation-integrated-worker-release/v2"
"missioncore.lab-v1-vegetation-integrated-worker-release/v3"
} else {
"missioncore.m49-tgs-integrated-graph-worker-release/v1"
}
$expectedTransition = if ($VegetationLoadGate) {
"lab-v1-vegetation-m49-integrated-multirate-shadow/v2"
"lab-v1-vegetation-m49-integrated-multirate-phased-shadow/v3"
} else {
"m49-tgs-native-risk-integrated-shadow/v1"
}
@@ -413,6 +413,7 @@ try {
--runtime-video-cache /tmp/vegetation-right.mp4 `
--source-rate-hz $rate `
--inference-stride 2 `
--inference-phase-offset-ms 40.0 `
--minimum-effective-timeline-fps 11.209069 `
--minimum-effective-inference-fps 5.604534 `
--maximum-inference-completion-p95-ms 125.0 `
@@ -562,7 +563,7 @@ try {
--volume ($dockerRelease + ":/release:ro") `
--volume ($dockerRun + ":/shared:rw") `
$ParityImageTag /release/build_vegetation_integrated_graph_evidence.py `
--profile /release/lab-v1-vegetation-integrated-multirate-shadow-v2.json `
--profile /release/lab-v1-vegetation-integrated-multirate-phased-shadow-v3.json `
--m49-result /shared/m49-result.json `
--graph-frames /shared/graph/frames.jsonl `
--tgs-timing /shared/tgs/tgs-full-timing.tsv `
@@ -591,7 +592,7 @@ if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) {
$result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
$summary = [ordered]@{
schema_version = if ($VegetationLoadGate) {
"missioncore.lab-v1-vegetation-integrated-worker-summary/v2"
"missioncore.lab-v1-vegetation-integrated-worker-summary/v3"
} else {
"missioncore.m49-tgs-integrated-graph-worker-summary/v1"
}
experiments/perception/worker/lab_v1_vegetation_goose/run_vegetation_integrated_load.py
+20 -3
View File
@@ -28,7 +28,7 @@ from run_goose_vegetation_benchmark import (
validate_contracts,
)
SCHEMA = "missioncore.lab-v1-vegetation-integrated-load/v2"
SCHEMA = "missioncore.lab-v1-vegetation-integrated-load/v3"
FRAME_SCHEMA = "missioncore.lab-v1-vegetation-integrated-frame/v2"
FRAME_COUNT = 4_489
AUTHORITY = {
@@ -58,6 +58,7 @@ def parse_args() -> argparse.Namespace:
parser.add_argument("--runtime-video-cache", type=Path, required=True)
parser.add_argument("--source-rate-hz", type=float, required=True)
parser.add_argument("--inference-stride", type=int, required=True)
parser.add_argument("--inference-phase-offset-ms", type=float, required=True)
parser.add_argument("--minimum-effective-timeline-fps", type=float, required=True)
parser.add_argument("--minimum-effective-inference-fps", type=float, required=True)
parser.add_argument("--maximum-inference-completion-p95-ms", type=float, required=True)
@@ -154,6 +155,12 @@ def run() -> int:
not math.isfinite(value) or value <= 0 for value in positive_finite_values
):
raise IntegratedLoadError("integrated-load thresholds must be positive and finite")
if (
not math.isfinite(args.inference_phase_offset_ms)
or args.inference_phase_offset_ms < 0
or args.inference_phase_offset_ms >= 1000.0 / args.source_rate_hz
):
raise IntegratedLoadError("inference phase offset must fit inside one source interval")
validate_sha256(args.release_sha256, "release")
validate_sha256(args.video_sha256, "video")
if args.output.exists() or args.frame_ledger.exists():
@@ -210,12 +217,15 @@ def run() -> int:
with args.frame_ledger.open("x", encoding="utf-8") as ledger:
for sequence in range(FRAME_COUNT):
scheduled_ns = start_ns + round(sequence * interval_ns)
remaining_ns = scheduled_ns - time.monotonic_ns()
inference_executed = sequence % args.inference_stride == 0
execution_target_ns = scheduled_ns
if inference_executed:
execution_target_ns += round(args.inference_phase_offset_ms * 1_000_000.0)
remaining_ns = execution_target_ns - time.monotonic_ns()
if remaining_ns > 0:
time.sleep(remaining_ns / 1_000_000_000.0)
admitted_ns = time.monotonic_ns()
source = decode_source(source_capture, expected_size)
inference_executed = sequence % args.inference_stride == 0
inference_ms: float | None = None
if inference_executed:
tensor, _ = preprocess(source)
@@ -253,6 +263,9 @@ def run() -> int:
"completion_age_ms": round(completion_age_ms, 6),
"stage_ms": round(stage_ms, 6),
"inference_executed": inference_executed,
"inference_phase_offset_ms": args.inference_phase_offset_ms
if inference_executed
else 0.0,
"inference_ms": round(inference_ms, 6) if inference_ms is not None else None,
"semantic_source_sequence": last_inference_sequence,
"semantic_evidence_source_age_ms": round(evidence_source_age_ms, 6),
@@ -276,6 +289,8 @@ def run() -> int:
checks = {
"all_frames_accounted": len(completion_ages_ms) == FRAME_COUNT,
"exact_multirate_schedule": inference_frame_count == expected_inference_frames,
"inference_phase_offset_preserved": args.inference_phase_offset_ms
< 1000.0 / args.source_rate_hz,
"minimum_effective_timeline_fps": effective_timeline_fps
>= args.minimum_effective_timeline_fps,
"minimum_effective_inference_fps": effective_inference_fps
@@ -313,6 +328,7 @@ def run() -> int:
"effective_timeline_fps": round(effective_timeline_fps, 6),
"effective_inference_fps": round(effective_inference_fps, 6),
"inference_stride": args.inference_stride,
"inference_phase_offset_ms": args.inference_phase_offset_ms,
"inference_frame_count": inference_frame_count,
"held_evidence_frame_count": FRAME_COUNT - inference_frame_count,
"frame_count": FRAME_COUNT,
@@ -360,6 +376,7 @@ def run() -> int:
"predeclared_thresholds": {
"minimum_effective_timeline_fps": args.minimum_effective_timeline_fps,
"minimum_effective_inference_fps": args.minimum_effective_inference_fps,
"inference_phase_offset_ms": args.inference_phase_offset_ms,
"maximum_inference_completion_p95_ms": (
args.maximum_inference_completion_p95_ms
),
experiments/perception/worker/m49_t3_travel/build_vegetation_integrated_graph_evidence.py
+29 -4
View File
@@ -15,10 +15,10 @@ from typing import Any
import numpy as np
PROFILE_SCHEMA = "missioncore.lab-v1-vegetation-integrated-shadow-profile/v2"
PROFILE_SCHEMA = "missioncore.lab-v1-vegetation-integrated-shadow-profile/v3"
M49_SCHEMA = "missioncore.m49-tgs-integrated-graph-shadow-result/v1"
VEGETATION_SCHEMA = "missioncore.lab-v1-vegetation-integrated-load/v2"
RESULT_SCHEMA = "missioncore.lab-v1-vegetation-integrated-shadow-result/v2"
VEGETATION_SCHEMA = "missioncore.lab-v1-vegetation-integrated-load/v3"
RESULT_SCHEMA = "missioncore.lab-v1-vegetation-integrated-shadow-result/v3"
FRAME_COUNT = 4_489
@@ -93,7 +93,11 @@ def tgs_completion_ages(path: Path) -> list[float]:
def vegetation_frame_metrics(
path: Path, *, inference_stride: int, source_rate_hz: float
path: Path,
*,
inference_stride: int,
inference_phase_offset_ms: float,
source_rate_hz: float,
) -> dict[str, object]:
completion_ages: list[float] = []
evidence_source_ages: list[float] = []
@@ -112,6 +116,12 @@ def vegetation_frame_metrics(
expected_inference = expected % inference_stride == 0
if inference_executed is not expected_inference:
raise VegetationIntegratedError("vegetation inference schedule changed")
expected_phase = inference_phase_offset_ms if expected_inference else 0.0
phase = row.get("inference_phase_offset_ms")
if not isinstance(phase, (int, float)) or float(phase) != expected_phase:
raise VegetationIntegratedError("vegetation inference phase changed")
if expected_inference and float(age) + 0.001 < expected_phase:
raise VegetationIntegratedError("vegetation inference phase attribution changed")
expected_source = expected - (expected % inference_stride)
if row.get("semantic_source_sequence") != expected_source:
raise VegetationIntegratedError("vegetation evidence source changed")
@@ -231,11 +241,24 @@ def build(
source_rate_hz = float(profile["source"]["requested_source_rate_hz"])
inference_stride = int(profile["stages"]["vegetation"]["inference_stride"])
inference_phase_offset_ms = float(
profile["stages"]["vegetation"]["inference_phase_offset_ms"]
)
if (
not math.isfinite(source_rate_hz)
or source_rate_hz <= 0
or inference_stride <= 0
or not math.isfinite(inference_phase_offset_ms)
or inference_phase_offset_ms < 0
or inference_phase_offset_ms >= 1000.0 / source_rate_hz
):
raise VegetationIntegratedError("vegetation multirate schedule is invalid")
graph_ages = graph_completion_ages(graph_frames_path)
tgs_ages = tgs_completion_ages(tgs_timing_path)
vegetation_frames = vegetation_frame_metrics(
vegetation_frames_path,
inference_stride=inference_stride,
inference_phase_offset_ms=inference_phase_offset_ms,
source_rate_hz=source_rate_hz,
)
vegetation_ages = vegetation_frames["completion_ages"]
@@ -280,6 +303,8 @@ def build(
"vegetation_load_gate_passed": vegetation.get("integrated_load_gate_passed") is True,
"vegetation_multirate_schedule_frozen": (
vegetation_execution.get("inference_stride") == inference_stride
and vegetation_execution.get("inference_phase_offset_ms")
== inference_phase_offset_ms
and vegetation_execution.get("inference_frame_count")
== vegetation_frames["inference_count"]
and vegetation_execution.get("held_evidence_frame_count")