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chore(perception): freeze vegetation candidates

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DCCONSTRUCTIONS
2026-08-27 21:46:02 +03:00
parent 7c0fd81b2f
commit 92aa796c9d
2 changed files with 204 additions and 0 deletions
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config/perception/lab-v1-vegetation-candidate-manifest-v1.json
+174
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@@ -0,0 +1,174 @@
{
"schema_version": "missioncore.vegetation-candidate-manifest/v1",
"lab_id": "LAB-V1",
"ops_issue_id": "88aff22a-43aa-48fb-b7eb-ac424d987d37",
"frozen_utc": "2026-08-27T18:39:00Z",
"worker": {
"worker_id": "worker-006",
"candidate_root": "D:\\NDC_MISSIONCORE\\datasets\\vegetation-v1\\observed-2026-08-27",
"canonical_runtime_mutation_allowed": false
},
"upstream_sources": [
{
"source_id": "wildscenes",
"repository": "https://github.com/csiro-robotics/WildScenes.git",
"revision": "9eb4e10b4483a634159e2b371be0437e465fe218",
"worker_relative_path": "sources/wildscenes"
},
{
"source_id": "rellis-3d",
"repository": "https://github.com/unmannedlab/RELLIS-3D.git",
"revision": "c17a118fcaed1559f03cc32cc3a91dedc557f8b8",
"worker_relative_path": "sources/rellis-3d"
},
{
"source_id": "orfd-offnet",
"repository": "https://github.com/chaytonmin/Off-Road-Freespace-Detection.git",
"revision": "50e63d24836198e8fb5af707e521f414104b4876",
"worker_relative_path": "sources/orfd"
}
],
"candidate_assets": [
{
"candidate_id": "goose-ppliteseg-category-512",
"modality": "camera-2d",
"family": "ppliteseg",
"output_contract": "goose-category-12",
"input_resolution": [512, 512],
"relative_path": "models/goose/ppliteseg_category_512.pth",
"size_bytes": 98180357,
"sha256": "87bf55a1ae994a4bdf3a4d30c8f0dec2916994b37d433f0b5b694d63157ee0ab",
"asset_status": "accepted",
"runner_status": "super-gradients-compatibility-probe-required"
},
{
"candidate_id": "goose-ppliteseg-class-512",
"modality": "camera-2d",
"family": "ppliteseg",
"output_contract": "goose-class-64",
"input_resolution": [512, 512],
"relative_path": "models/goose/ppliteseg_class_512.pth",
"size_bytes": 98208249,
"sha256": "6dd412c0c99115e359896c4cab43a8e6bce9e09b843e7fa885fe597b0a6121cd",
"asset_status": "accepted",
"runner_status": "super-gradients-compatibility-probe-required"
},
{
"candidate_id": "goose-ddrnet-category-512",
"modality": "camera-2d",
"family": "ddrnet",
"output_contract": "goose-category-12",
"input_resolution": [512, 512],
"relative_path": "models/goose/ddrnet_category_512.pth",
"size_bytes": 259313579,
"sha256": "ddab58d3b27309e4e1545ecb0eafbe077f3ebd58fe7120defe44478424c2a20e",
"asset_status": "accepted",
"runner_status": "super-gradients-compatibility-probe-required"
},
{
"candidate_id": "goose-ddrnet-class-512",
"modality": "camera-2d",
"family": "ddrnet",
"output_contract": "goose-class-64",
"input_resolution": [512, 512],
"relative_path": "models/goose/ddrnet_class_512.pth",
"size_bytes": 259419077,
"sha256": "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6",
"asset_status": "accepted",
"runner_status": "super-gradients-compatibility-probe-required"
},
{
"candidate_id": "rellis-hrnet-ocr",
"modality": "camera-2d",
"family": "hrnet-ocr",
"output_contract": "rellis-20-class",
"relative_path": "models/rellis-3d/hrnet_best.zip",
"size_bytes": 788183119,
"sha256": "2842b7c427d9abb3f34725dea306b72422af5293cd8289da3035edff81deac27",
"asset_status": "accepted",
"runner_status": "upstream-validation-probe-required"
},
{
"candidate_id": "rellis-gscnn",
"modality": "camera-2d",
"family": "gscnn",
"output_contract": "rellis-20-class",
"relative_path": "models/rellis-3d/gscnn_best.pth",
"size_bytes": 1098515419,
"sha256": "d77a83032ff9b3dea74bdbdd9bb12c0810ddff0dce6a02d42264c592fbdc0b18",
"asset_status": "accepted-size-and-hash-legacy-pickle",
"runner_status": "upstream-validation-probe-required"
},
{
"candidate_id": "rellis-salsanext",
"modality": "lidar-3d",
"family": "salsanext",
"output_contract": "rellis-20-class",
"relative_path": "models/rellis-3d/salsanext_best.zip",
"size_bytes": 164312336,
"sha256": "6cab4f0c4ac556f9597d338692f2dee1a9e9438941f9d85159685616b948fafb",
"asset_status": "accepted",
"runner_status": "native-scan-compatibility-probe-required"
},
{
"candidate_id": "rellis-kpconv",
"modality": "lidar-3d",
"family": "kpconv",
"output_contract": "rellis-20-class",
"relative_path": "models/rellis-3d/kpconv_best.zip",
"size_bytes": 1522250650,
"sha256": "d2a11b7a66290cce3d592e830889c3bcb188c62ced83092a7201765621b8bfc3",
"asset_status": "accepted",
"runner_status": "native-scan-compatibility-probe-required"
},
{
"candidate_id": "wildscenes-model-bundle",
"modality": "camera-2d-and-lidar-3d",
"family": "mmsegmentation-and-mmdetection3d",
"output_contract": "wildscenes-natural-environment",
"bundle_entries": [
"spvcnn_wildscenes.pth",
"minkunet_wildscenes.pth",
"deeplabv3_wildscenes.pth",
"segformer_wildscenes.pth",
"cylinder3d_wildscenes.pth",
"mask2former_swin_wildscenes.pth",
"upernet_convnext_wildscenes.pth",
"mask2former_resnet_wildscenes.pth"
],
"relative_path": "models/wildscenes/WildScenes-Models.zip",
"size_bytes": 8637507567,
"sha256": "0b5040b157e928263bdbefeaffbd36414c2cb641ebc70713b3be3460c1feaf2b",
"asset_status": "accepted",
"runner_status": "upstream-docker-validation-probe-required"
},
{
"candidate_id": "orfd-offnet-roadseg",
"modality": "camera-lidar-fusion",
"family": "offnet",
"output_contract": "binary-freespace",
"relative_path": "models/orfd-offnet/OFF-Net/best_net_RoadSeg.pth",
"size_bytes": 100976531,
"sha256": "4d82a9ba1c5411a8159e1a262f1741a6a163c8bd9751d52a90fb10deb237650d",
"asset_status": "accepted",
"runner_status": "upstream-validation-probe-required"
}
],
"execution_sequence": [
"upstream-runner-reproduction",
"official-validation-sample",
"native-fisheye-or-lidar-compatibility",
"shared-vegetation-label-mapping",
"recorded-shadow-quality-and-resource-tournament",
"mission-policy-composition-without-actuation"
],
"invariants": {
"one_heavy_candidate_at_a_time": true,
"raw_fisheye_is_immutable": true,
"missing_or_unknown_is_free": false,
"semantic_label_can_clear_rigid_geometry": false,
"preset_can_override_explicit_mission_rule": false,
"navigation_authority": false,
"actuation_authority": false
}
}
tests/test_vegetation_mission_policy.py
+30
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@@ -1,5 +1,6 @@
from __future__ import annotations
import json
from pathlib import Path
import pytest
@@ -14,6 +15,12 @@ REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
POLICY_PATH = (
REPOSITORY_ROOT / "config" / "perception" / "lab-v1-vegetation-mission-policy-v1.json"
)
CANDIDATE_MANIFEST_PATH = (
REPOSITORY_ROOT
/ "config"
/ "perception"
/ "lab-v1-vegetation-candidate-manifest-v1.json"
)
def _policy() -> dict[str, object]:
@@ -117,3 +124,26 @@ def test_unknown_material_is_treated_as_unknown_vegetation() -> None:
assert decision.material_class == "vegetation_unknown"
assert decision.effective_action == "NO_GO"
assert decision.safety_reason == "hard_safety_interlock:vegetation_unknown"
def test_candidate_manifest_freezes_unique_assets_sources_and_no_authority() -> None:
manifest = json.loads(CANDIDATE_MANIFEST_PATH.read_text(encoding="utf-8"))
assert manifest["schema_version"] == "missioncore.vegetation-candidate-manifest/v1"
assert manifest["worker"]["canonical_runtime_mutation_allowed"] is False
sources = manifest["upstream_sources"]
assert {source["source_id"] for source in sources} == {
"wildscenes",
"rellis-3d",
"orfd-offnet",
}
assert all(len(source["revision"]) == 40 for source in sources)
candidates = manifest["candidate_assets"]
candidate_ids = [candidate["candidate_id"] for candidate in candidates]
assert len(candidate_ids) == len(set(candidate_ids)) == 10
assert all(candidate["size_bytes"] > 0 for candidate in candidates)
assert all(len(candidate["sha256"]) == 64 for candidate in candidates)
assert manifest["invariants"]["missing_or_unknown_is_free"] is False
assert manifest["invariants"]["navigation_authority"] is False
assert manifest["invariants"]["actuation_authority"] is False