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docs(perception): reject direct TRAVEL AOS compatibility

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DCCONSTRUCTIONS
2026-08-26 19:34:10 +03:00
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docs/23_TRAVERSABILITY_AND_STATIC_OBSTACLE_STACK_DECISION.md
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@@ -308,8 +308,17 @@ The upstream T3 qualification passed on `2026-08-26`: exact-source KITTI
regression was bit-identical to the committed gold result, the standalone
example produced all outputs and the ROS 2 Jazzy node was discoverable. See
[`experiments/perception/M49_T3_TRAVEL_UPSTREAM_QUALIFICATION_2026-08-26.md`](../experiments/perception/M49_T3_TRAVEL_UPSTREAM_QUALIFICATION_2026-08-26.md).
RAVNOVES00 replay remains gated on scan-model compatibility and the GPL runtime
boundary.
The direct RAVNOVES00 compatibility gate then rejected the combined TGS+AOS
profile. TGS ground/non-ground membership was invariant under point-order
reversal, but AOS failed all `20/20` order comparisons with labeled-point
Jaccard as low as `0.469`; its `64 × 4,500`, `-24.8°…+2.0°` KITTI scan model is
not the K1 registered-map-increment contract. The complete evidence is in
[`experiments/perception/M49_T3_TRAVEL_RAVNOVES_COMPATIBILITY_2026-08-26.md`](../experiments/perception/M49_T3_TRAVEL_RAVNOVES_COMPATIBILITY_2026-08-26.md).
Direct AOS admission is closed. TGS alone remains eligible for a bounded
ground/non-ground adapter that retains the exact unreturned complement as
unknown evidence. GPL runtime, visual quality and full-source realtime remain
open gates.
### T4 — Candidate C occupancy/ESDF probe
@@ -328,9 +337,11 @@ boundary.
## Immediate next action
Verify TRAVEL's spinning-scan assumptions against the bounded causal
RAVNOVES00 `lio_pcl` representation, then build the recorded-replay adapter if
the required information exists. 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.
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.