docs(perception): record GSeg3D qualification rejection
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DCCONSTRUCTIONS
@@ -279,6 +279,13 @@ failure.
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- Run upstream sample/demo data first to prove the unmodified components.
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- Measure component latency and memory before adding Mission Core adapters.
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T1 completed on `2026-08-26` with an upstream candidate rejection. The pinned
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sources build, but the Ground Consistency suite passes only `11/12` gtests;
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`testBoundsReflectFootprint` fails because the test fixture has no configured
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footprint. The sealed evidence and complete run ledger are recorded in
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[`experiments/perception/M49_T1_GSEG3D_UPSTREAM_QUALIFICATION_2026-08-26.md`](../experiments/perception/M49_T1_GSEG3D_UPSTREAM_QUALIFICATION_2026-08-26.md).
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Candidate A receives no replay or runtime authority in this revision set.
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### T2 — Candidate A RAVNOVES00 replay
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- Feed the bounded causal local cloud with exact pose lineage.
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@@ -314,7 +321,7 @@ failure.
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## Immediate next action
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Resume T1 for Candidate A only after the Worker resource gate in the T0 report
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passes. No LOW-STEP tuning, new object model, camera resize, fisheye
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rectification, manual dataset or parallel heavy Worker job is authorized by
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this decision.
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Run the isolated upstream qualification for Candidate B, TRAVEL. Candidate A
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T2 replay is blocked by the failed unmodified T1 gate. No LOW-STEP tuning, new
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object model, camera resize, fisheye rectification, manual dataset or parallel
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heavy Worker job is authorized by this decision.
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@@ -0,0 +1,93 @@
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# M4.9 T1 GSeg3D upstream qualification — 2026-08-26
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Status: **rejected as an unmodified Candidate A stack**; RAVNOVES00 replay and
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all navigation or actuation authority remain disabled
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## Decision
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The pinned GSeg3D, ROS 2 wrapper and Nav2 Ground Consistency sources build in
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an isolated Worker 006 container. The unmodified Ground Consistency test suite
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does not pass: `11/12` gtests pass and
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`GroundConsistencyLayerTest.testBoundsReflectFootprint` fails.
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The failure is inside the pinned upstream candidate rather than the Mission
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Core replay adapter. The layer logs that no footprint is configured, skips
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footprint clearing and leaves `max_x/max_y` at `0`, while its own test requires
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both bounds to be at least `1.0`.
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Mission Core therefore does not call this revision set plug-and-play ready,
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does not patch upstream silently and does not start Candidate A RAVNOVES00
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replay. This result does not prove that the GSeg3D algorithm is unusable. It
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proves that the exact unmodified stack frozen for T1 fails its admission gate.
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## Frozen identity
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| Component | Revision |
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| --- | --- |
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| DFKI `ground_segmentation` | `116f510485ea5b4707e2b476958d34a5a067f647` |
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| DFKI `ground_segmentation_ros2` | `5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95` |
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| DFKI `nav2_ground_consistency_costmap_plugin` | `41cec620efba6c370dccfc59a6ec1134775ff48a` |
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| Final Mission Core qualification source | `316f0d7f8582f47cdd2a05e7e7404cfe33a40d6d` |
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| Final deterministic Worker artifact | `f681ba58aa3c69b7cd3572fda4abc1c4303bf73d62262fb1c534e220f7136801` |
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| Worker image | `sha256:57a481faa9ad50d69a5aae537ed24c1770867413b38e91399060c5dd448b3471` |
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The final artifact was built twice locally with identical SHA-256, copied to a
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new immutable Worker release directory, verified again before extraction and
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run through the interactive Worker executor. The image size is
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`1,172,862,313` bytes.
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## Run ledger
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| Run | Outcome | Interpretation |
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| --- | --- | --- |
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| `upstream-001` | pre-build failure | Non-interactive Docker credential helper; no candidate result |
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| `upstream-002` | pre-build failure | Isolated Docker config was still evaluated in the non-interactive SSH context; no candidate result |
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| `upstream-003` | harness failure | Image built; strict shell nounset conflicted with the standard ROS 2 setup hook |
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| `upstream-004` | harness failure | Test command omitted the merged-install layout used during the image build |
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| `upstream-005` | **candidate test failure** | Harness reached the pinned upstream gtests; `11/12` passed and footprint-bound test failed |
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The two harness failures were corrected in new content-addressed artifacts and
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were never presented as candidate failures. No identical failed artifact was
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retried.
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## Sealed final evidence
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Worker output root:
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`D:\NDC_MISSIONCORE\runtime\results\m49-t1-gseg3d\upstream-005`
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| File | Bytes | SHA-256 |
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| --- | ---: | --- |
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| `result.json` | `640` | `6ff189d7c160fe98063672a848ced205199e7bd3ed3de568b1638b7e325848ac` |
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| `qualification.log` | `37,813` | `ffafad5cc09ec3d46302111ed0fe9ec6c02d0dbd982bc7307c28b44db071abba` |
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| `resource.txt` | `772` | `5955b1eb01a7f587efaeb3f9d547b80e44c1d6651f4b2c9906b47d11e8a5f894` |
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The GSeg3D core checkout exposes no CTest tests in the selected build, so its
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`ctest` step reports `No tests were found` and returns success. The decisive
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executable evidence is the Ground Consistency suite, which does contain twelve
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tests and returns one failure.
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## Resource and isolation result
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- Worker 006 remained the only execution host.
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- The candidate build/test used CPU and did not request CUDA, Vulkan or a GPU
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lease.
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- The concurrent approximately `47–51%` GPU utilization and roughly `9 GiB`
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VRAM belonged to `sentinel-frigate`, not GAUSS or this qualification.
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- Canonical `ndc-mission-core-triton` remained `running/healthy` after the
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final run.
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- Temporary candidate containers and the one-shot scheduled task were removed
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after evidence capture.
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- No Mission Core source evidence, GAUSS process, Frigate process or canonical
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Triton image was stopped, rebuilt or replaced.
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## Authority boundary and next action
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Candidate A has no RAVNOVES00 quality, realtime, navigation, collision-safety
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or actuation authority. T2 is blocked for this exact unmodified revision set.
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The next sequential action is an isolated upstream qualification of Candidate
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B, TRAVEL, at its frozen revision. Its GPL-3.0 license limits it to evaluation
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until a separate distribution decision is made. Camera/LiDAR vegetation
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arbitration remains an independent product requirement and is not waived by
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any terrain candidate.
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