feat(lab): visualize M4.8R3 system occupancy
This commit is contained in:
DCCONSTRUCTIONS
@@ -45,6 +45,7 @@ import { M47ReferenceGraphResultView } from "./M47ReferenceGraphResult";
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import { M48ObjectCentricQualityResultView } from "./M48ObjectCentricQualityResult";
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import { M48SmallStaticPassageRegressionResultView } from "./M48SmallStaticPassageRegressionResult";
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import { M48StaticOccupancyQualificationResultView } from "./M48StaticOccupancyQualificationResult";
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import { M48R3StaticOccupancyShadowResultView } from "./M48R3StaticOccupancyShadowResult";
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import { M48SFixedClassDetectorResultView } from "./M48SFixedClassDetectorResult";
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import { M48TRiskQualityResultView } from "./M48TRiskQualityResult";
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@@ -98,6 +99,9 @@ export function AdvancedLaboratoryResult({
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if (workId === "m48-static-occupancy-qualification" && results.m48StaticOccupancy) {
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return <M48StaticOccupancyQualificationResultView rigLabel={rigLabel} result={results.m48StaticOccupancy} />;
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}
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if (workId === "m48r3-static-occupancy-shadow" && results.m48r3StaticOccupancy) {
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return <M48R3StaticOccupancyShadowResultView rigLabel={rigLabel} result={results.m48r3StaticOccupancy} />;
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}
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if (workId === "m48s-fixed-class-detector" && results.m48s) {
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return <M48SFixedClassDetectorResultView rigLabel={rigLabel} result={results.m48s} />;
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}
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@@ -0,0 +1,81 @@
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import { useEffect, useMemo, useState } from "react";
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import { Icon } from "@nodedc/ui-react";
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import {
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fetchM48R3StaticOccupancyCases,
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type M48R3StaticOccupancyCase,
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type M48R3StaticOccupancyShadowResult,
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} from "../../core/laboratory/m48r3StaticOccupancyShadow";
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import {
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M4ReplayThreatVisual,
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type M4ReplayThreatReviewAnchor,
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} from "./M4ReplayThreatVisual";
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function message(error: unknown): string {
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return error instanceof Error && error.message.trim()
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? error.message
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: "M4.8R3 timeline недоступен.";
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}
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export function M48R3StaticOccupancyShadowEvidence({
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result,
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}: {
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result: M48R3StaticOccupancyShadowResult;
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}) {
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const [cases, setCases] = useState<readonly M48R3StaticOccupancyCase[]>([]);
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const [loading, setLoading] = useState(true);
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const [error, setError] = useState<string | null>(null);
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useEffect(() => {
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const controller = new AbortController();
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setLoading(true);
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setError(null);
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void fetchM48R3StaticOccupancyCases(result.resultId, { signal: controller.signal })
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.then((nextCases) => {
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if (!controller.signal.aborted) setCases(nextCases);
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})
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.catch((caught: unknown) => {
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if (!controller.signal.aborted) setError(message(caught));
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})
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.finally(() => {
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if (!controller.signal.aborted) setLoading(false);
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});
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return () => controller.abort();
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}, [result.resultId]);
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const reviewAnchors = useMemo<readonly M4ReplayThreatReviewAnchor[]>(() => (
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cases.map((item) => ({
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id: item.anchorId,
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sourceSequence: item.sourceSequence,
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extentXyxyNormalized: item.extentXyxy,
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matchedAtThreshold: item.matched,
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}))
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), [cases]);
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if (loading) {
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return (
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<div className="l3-visual-audit__state" role="status">
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<span className="busy-indicator" aria-hidden="true" />
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<span>Открываем полный M4.8R3 Worker timeline</span>
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</div>
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);
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}
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if (error) {
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return (
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<div className="l3-visual-audit__state" role="alert">
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<Icon name="alert" size={18} />
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<span>{error}</span>
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</div>
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);
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}
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return (
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<M4ReplayThreatVisual
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resultId={result.resultId}
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reviewAnchors={reviewAnchors}
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showReviewAnchorBoxes={false}
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reviewLabel="Контрольные кадры M4.8R3 · без ручных рамок"
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timelineEndpointRoot="/api/v1/laboratory/m48r3/static-occupancy"
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evidenceLabel="M4.8R3"
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/>
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);
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}
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@@ -0,0 +1,101 @@
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import {
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LaboratoryEvidence,
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LaboratoryResultSummary,
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LaboratorySummary,
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LaboratoryWorkTemplate,
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} from "../../components/laboratory/LaboratoryPresentation";
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import type { M48R3StaticOccupancyShadowResult } from "../../core/laboratory/m48r3StaticOccupancyShadow";
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import { M48R3StaticOccupancyShadowEvidence } from "./M48R3StaticOccupancyShadowEvidence";
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function number(value: number, digits = 2): string {
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return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
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}
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function percent(value: number): string {
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return `${number(value * 100, 1)}%`;
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}
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export function M48R3StaticOccupancyShadowResultView({
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rigLabel,
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result,
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}: {
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rigLabel: string;
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result: M48R3StaticOccupancyShadowResult;
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}) {
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const candidate = result.metrics.performance.candidate;
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const occupancy = result.metrics.occupancy;
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const separation = result.metrics.anchors.separation;
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const separated = separation.every((item) => item.passed);
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const status = result.accepted
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? "Полный Worker shadow принят: realtime и раздельные препятствия сохранены"
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: "Worker shadow не прошёл один или несколько предобъявленных gate";
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const separatedLabel = separation.length
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? separation.map((item) => `${item.observedComponents}/${item.expectedMinimumComponents}`).join(" · ")
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: "—";
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return (
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<LaboratoryWorkTemplate
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summary={(
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<LaboratorySummary
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title="M4.8R3 · full Worker static occupancy shadow"
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description="Полный 4 489-кадровый прогон проверяет additive low-step occupied-only слой внутри штатного graph pipeline. Камера и RF-DETR не получают дополнительного inference; ручные прямоугольники используются только для перехода к контрольным кадрам и не рисуются как системный результат."
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status={status}
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statusTone={result.accepted ? "success" : "warning"}
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facts={[
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{ label: "Конфигурация", value: `${rigLabel} RIGHT · VIDEO/CAMERA/3D/PLAN · LOW-STEP provenance` },
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{ label: "Профиль", value: `${result.profile.id} · minimum points ${result.profile.minimumPoints}` },
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{ label: "Прогон", value: `${result.metrics.frames.candidateDelivered}/${result.metrics.frames.expected} · immutable ${result.resultId}` },
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{ label: "Нагрузка", value: `12 Hz source-paced · ${number(candidate.fps, 3)} effective FPS · +0 inference` },
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{ label: "Authority", value: "REPLAY-SIMULATED · production/navigation/actuation OFF" },
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]}
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brief={{
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question: "Можно ли добавить геометрическое обнаружение низких статических препятствий, не разрушив realtime и не склеив отдельные столбики/шары в один объект?",
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approach: `Кандидат сравнен покадрово с native baseline на всех ${result.metrics.frames.expected} кадрах. Проверены latency, FPS, рост occupancy, capacity drops, отсутствие потерянных baseline-ячеек и отдельные компоненты на кадре 1856.`,
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principalResult: `${number(candidate.fps, 3)} FPS; world-state p95 ${number(candidate.worldP95Ms, 2)} мс; geometry p95/p99 ${number(candidate.geometryP95Ms, 2)}/${number(candidate.geometryP99Ms, 2)} мс; разделение ${separatedLabel}.`,
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limitation: "Это воспроизводимый Worker shadow, а не доказательство физической проходимости. Просвет между компонентами сохраняется как геометрия, но допустимость проезда зависит от будущего габарита шасси и отдельного free-space контракта.",
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}}
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method={{
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completeness: "complete",
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executionClass: "deterministic",
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pipelineId: "m48r3-native-plus-low-step-reference-graph/v1",
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components: [
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{ kind: "source", name: "native reference graph baseline", version: "M4.7/M4.8R2", role: "immutable occupied/unknown baseline", identitySha256: null },
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{ kind: "algorithm", name: "additive low-step occupied-only", version: "v1", role: "CPU geometry; never clearing; no semantic class", identitySha256: result.profile.sha256 },
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{ kind: "runtime", name: "full source-paced Worker shadow", version: "4 489 frames", role: "predeclared realtime, growth, separation and safety gates", identitySha256: result.resultId.split("-").at(-1) ?? null },
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],
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}}
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/>
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)}
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evidence={(
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<LaboratoryEvidence
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eyebrow="M4.8R3 VISUAL EVIDENCE · SYSTEM COMPONENTS"
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title="Полный timeline; LOW-STEP показывает добавленные системой компоненты, ручные рамки скрыты"
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kind="recorded-replay"
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resizable
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>
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<M48R3StaticOccupancyShadowEvidence result={result} />
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</LaboratoryEvidence>
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)}
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result={(
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<LaboratoryResultSummary
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title="Что доказал прогон"
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status={status}
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statusTone={result.accepted ? "success" : "warning"}
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metrics={[
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{ label: "Realtime", value: `${number(candidate.fps, 3)} FPS`, hint: `p95 ${number(candidate.worldP95Ms, 2)} мс · gate ≥11,5 FPS / ≤60 мс` },
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{ label: "Geometry", value: `${number(candidate.geometryP95Ms, 2)} / ${number(candidate.geometryP99Ms, 2)} мс`, hint: "p95 / p99 · gates 9 / 16 мс" },
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{ label: "Occupancy delta", value: `+${occupancy.addedCellTotal.toLocaleString("ru-RU")}`, hint: `${percent(occupancy.meanCellGrowthFraction)} cells · ${percent(occupancy.meanComponentGrowthFraction)} components` },
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{ label: "Кадр 1856", value: separated ? `раздельно · ${separatedLabel}` : `не принят · ${separatedLabel}`, hint: "два столбика и две полусферы проверяются отдельными component gates" },
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{ label: "Потери / false free", value: `${occupancy.lostCellTotal} / ${result.metrics.falseFreeCount}`, hint: `capacity drops ${result.metrics.capacityDropCount}` },
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]}
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conclusion={{
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proved: `Система сама добавила ${result.metrics.provider.additiveObservationCount.toLocaleString("ru-RU")} low-step observations на ${result.metrics.provider.framesWithAdditions.toLocaleString("ru-RU")} кадрах, сохранила baseline без потерь и выдержала полный realtime shadow.`,
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notProved: "Не доказаны физический clearance, planner-authoritative free space, независимые precision/recall и безопасность движения на реальном шасси.",
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decision: result.accepted
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? "Worker-кандидат принят в ограниченном replay-shadow контуре. Следующий шаг — отдельное решение о cutover и регрессия на новых сценах; ручная разметка не становится runtime-зависимостью."
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: "Cutover запрещён. Исправить провалившийся gate и повторить полный immutable shadow без ослабления порогов.",
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}}
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/>
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)}
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/>
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);
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}
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@@ -110,12 +110,16 @@ export function M4ReplayThreatVisual({
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resultId,
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semantic,
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reviewAnchors = EMPTY_REVIEW_ANCHORS,
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showReviewAnchorBoxes = true,
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reviewLabel = "Контрольные примеры M4.8R1",
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timelineEndpointRoot,
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evidenceLabel = "M4.6",
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}: {
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resultId: string;
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semantic?: M4ReplayThreatSemanticLayer;
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reviewAnchors?: readonly M4ReplayThreatReviewAnchor[];
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showReviewAnchorBoxes?: boolean;
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reviewLabel?: string;
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timelineEndpointRoot?: string;
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evidenceLabel?: string;
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}) {
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@@ -124,6 +128,7 @@ export function M4ReplayThreatVisual({
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const [showCurrentIncrement, setShowCurrentIncrement] = useState(true);
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const [showLocalSurface, setShowLocalSurface] = useState(true);
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const [showRollingMap, setShowRollingMap] = useState(true);
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const [showLowStep, setShowLowStep] = useState(true);
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const [showMediaSemantic, setShowMediaSemantic] = useState(true);
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const [showSpatialSemantic, setShowSpatialSemantic] = useState(true);
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const [showMediaPoints, setShowMediaPoints] = useState(false);
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@@ -262,7 +267,7 @@ export function M4ReplayThreatVisual({
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}, [metadata.timeline, resultId, reviewAnchorIdentity, reviewAnchors, seekPlayback, setPlaybackPlaying]);
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const reviewAnchorBoxes = useMemo<readonly RecordedEvidenceBox[]>(() => {
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const timeline = metadata.timeline;
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if (!frame || !timeline) return [];
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if (!frame || !timeline || !showReviewAnchorBoxes) return [];
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return reviewAnchors
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.filter((anchor) => anchor.sourceSequence === frame.sequence)
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.map((anchor) => {
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@@ -281,7 +286,7 @@ export function M4ReplayThreatVisual({
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dashed: true,
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};
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});
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}, [frame, metadata.timeline, reviewAnchors]);
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}, [frame, metadata.timeline, reviewAnchors, showReviewAnchorBoxes]);
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const activeBoxes = useMemo(
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() => [...boxes(frame?.cameraProposals ?? []), ...reviewAnchorBoxes],
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[frame, reviewAnchorBoxes],
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@@ -345,6 +350,7 @@ export function M4ReplayThreatVisual({
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state: obstacle.state,
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centroidBodyXyzM: obstacle.centroidBodyXyzM,
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cellCentersBodyXyzM: obstacle.cellCentersBodyXyzM,
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occupancySource: obstacle.occupancySource,
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})) ?? [], [spatialFrame]);
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const currentIncrementObstacles = spatialFrame?.metricObstacles.filter(
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(item) => item.state === "current",
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@@ -352,6 +358,9 @@ export function M4ReplayThreatVisual({
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const rollingMapObstacles = spatialFrame?.metricObstacles.filter(
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(item) => item.state === "retained",
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) ?? [];
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const lowStepObstacles = spatialFrame?.metricObstacles.filter(
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(item) => item.occupancySource !== "baseline",
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) ?? [];
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const nearest = spatialFrame?.metricObstacles
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.map((item) => item.assessment.closestApproachM)
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.filter((value): value is number => value !== null)
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@@ -513,6 +522,18 @@ export function M4ReplayThreatVisual({
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>
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ROLLING
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</Button>
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{metadata.timeline?.occupancyProvenanceDelivery ? (
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<Button
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size="compact"
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shape="pill"
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variant={showLowStep ? "primary" : "secondary"}
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aria-pressed={showLowStep}
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title="Добавочные occupied-only компоненты low-step; без ручных рамок"
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onClick={() => setShowLowStep((visible) => !visible)}
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>
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LOW-STEP
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</Button>
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) : null}
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{semantic ? (
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<Button
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size="compact"
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@@ -567,7 +588,7 @@ export function M4ReplayThreatVisual({
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<Icon name="chevron-right" size={16} />
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</IconButton>
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<Select
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label="Контрольные примеры M4.8R1"
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label={reviewLabel}
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value={String(selectedReviewAnchorIndex)}
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options={reviewAnchors.map((anchor, index) => ({
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value: String(index),
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@@ -618,6 +639,9 @@ export function M4ReplayThreatVisual({
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<span>Spatial evidence</span>
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<strong>
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{currentIncrementObstacles.length} current · {rollingMapObstacles.length} rolling
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{metadata.timeline.occupancyProvenanceDelivery
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? ` · ${lowStepObstacles.length} low-step`
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: ""}
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</strong>
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<small>
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{spatialFrame
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@@ -758,6 +782,7 @@ export function M4ReplayThreatVisual({
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showCurrentIncrement={showCurrentIncrement}
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showLocalSurface={showLocalSurface}
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showRollingMap={showRollingMap}
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showLowStep={showLowStep}
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pointSemanticClassIds={alignedSemanticPointIds}
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semanticClasses={semanticClasses}
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semanticPalette={semanticPalette}
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@@ -84,6 +84,13 @@ const KNOWN_WORKS: Readonly<Record<Exclude<LaboratoryWorkId, `session:${string}`
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experimentName: "M4.8 · conservative static occupancy qualification",
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variantName: "M4.8R2 · current/rolling + low-step occupied-only candidate",
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},
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"m48r3-static-occupancy-shadow": {
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profileId: "rig-dual-evidence-virtual-corridor-v1",
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profileName: (rigLabel) => `${rig(rigLabel)} RIGHT · Canonical Reference Graph`,
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experimentId: "m48r3-static-occupancy-shadow",
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experimentName: "M4.8R3 · full Worker static occupancy shadow",
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variantName: "M4.8R3 · 4 489 frames · additive low-step occupied-only",
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},
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"m48s-fixed-class-detector": {
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profileId: "rig-ravnoves-perception-gate-v1",
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profileName: (rigLabel) => `${rig(rigLabel)} RIGHT · RAVNOVES00 perception gate`,
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@@ -22,6 +22,7 @@ function mergeResults(
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m48: next.m48 ?? current.m48,
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m48SmallStatic: next.m48SmallStatic ?? current.m48SmallStatic,
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m48StaticOccupancy: next.m48StaticOccupancy ?? current.m48StaticOccupancy,
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m48r3StaticOccupancy: next.m48r3StaticOccupancy ?? current.m48r3StaticOccupancy,
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m48s: next.m48s ?? current.m48s,
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m48t: next.m48t ?? current.m48t,
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m4Threat: next.m4Threat ?? current.m4Threat,
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@@ -122,6 +123,7 @@ export function useAdvancedLaboratoryCatalog({
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"m48-object-centric-quality",
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"m48-small-static-passage-regression",
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"m48-static-occupancy-qualification",
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"m48r3-static-occupancy-shadow",
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].includes(selectedWorkId)
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&& !indexedResultId
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) return;
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