feat(perception): stage GSeg3D qualification

2026-08-26 18:27:39 +03:00
parent 2e20ca7777
commit aed59030b4
9 changed files with 639 additions and 2 deletions
@@ -0,0 +1,59 @@
+{
+  "schema_version": "missioncore.camera-lidar-traversability/v1",
+  "roles": {
+    "camera_semantics": "material-and-risk-meaning-primary",
+    "lidar": "metric-geometry-and-positive-support-primary",
+    "arbitration": "preserve-contradiction-never-unilateral-clear"
+  },
+  "camera_contract": {
+    "raster": "native-800x600-fisheye",
+    "rectification_allowed": false,
+    "new_model_allowed": false,
+    "vegetation_classes": [
+      "grass_low_vegetation",
+      "tree_woody_vegetation"
+    ]
+  },
+  "states": [
+    {
+      "id": "RIGID_OR_UNKNOWN_OBSTACLE",
+      "required_evidence": "stable-metric-nonground-without-vegetation-support",
+      "cost": "lethal-or-unknown"
+    },
+    {
+      "id": "VEGETATION_UNKNOWN",
+      "required_evidence": "camera-vegetation-without-positive-ground-support",
+      "cost": "unknown-never-free"
+    },
+    {
+      "id": "VEGETATION_POTENTIALLY_TRAVERSABLE",
+      "required_evidence": "camera-low-vegetation-plus-positive-ground-without-concentrated-rigid-return",
+      "cost": "high-cost-terrain"
+    },
+    {
+      "id": "VEGETATION_WITH_RIGID_GEOMETRY",
+      "required_evidence": "camera-vegetation-plus-concentrated-persistent-vertical-geometry",
+      "cost": "lethal"
+    },
+    {
+      "id": "SUPPORTED_GROUND",
+      "required_evidence": "positive-ground-support-without-blocking-geometry",
+      "cost": "candidate-traversable"
+    }
+  ],
+  "invariants": {
+    "camera_can_clear_positive_rigid_geometry": false,
+    "lidar_nonground_alone_means_rigid_object": false,
+    "missing_lidar_support_means_free": false,
+    "vegetation_is_binary_free_or_lethal": false,
+    "physical_navigation_authority": false
+  },
+  "deferred_robot_profile": [
+    "footprint",
+    "ground_clearance",
+    "traction",
+    "maximum_slope",
+    "admissible_vegetation_height",
+    "vegetation_contact_allowed"
+  ]
+}
@@ -15,6 +15,12 @@
      "candidate_id": "gseg3d-ground-consistency",
      "role": "primary",
      "components": [
+        {
+          "repository": "https://github.com/dfki-ric/ground_segmentation.git",
+          "revision": "116f510485ea5b4707e2b476958d34a5a067f647",
+          "observed_ref": "refs/heads/master",
+          "license": "BSD-3-Clause"
+        },
        {
          "repository": "https://github.com/dfki-ric/ground_segmentation_ros2.git",
          "revision": "5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95",
@@ -33,8 +33,13 @@ The sequential evaluation order is:

 RF-DETR remains the semantic risk provider for people, children, animals,
 cars, trucks, motorcycles and bicycles. It does not decide the presence or
-shape of an unknown static obstacle. Native `800x600` fisheye input remains
-unchanged.
+shape of an unknown static obstacle. The admitted camera semantic layer owns
+surface/material hints such as low vegetation and woody vegetation. Native
+`800x600` fisheye input remains unchanged.
+
+There is no single globally primary sensor. The camera is primary for semantic
+meaning; LiDAR is primary for metric geometry and positive support. Neither is
+allowed to erase contradictory evidence from the other.

 ## Required product representation

@@ -55,12 +60,42 @@ robot-footprint collision cost + traversability
        +----> camera projection (diagnostic visualization only)

 camera RF-DETR ----> dynamic semantic risk hints ----------------+
+camera semantics --> material / vegetation hint -----------------+
 ```

 The canonical safety output is a costmap/elevation/occupancy product. Camera
 boxes may be derived for operator review, but a box must never be the source of
 occupied cells, clearance, passage width or a control action.

+## Camera/LiDAR arbitration and vegetation
+
+Tall grass demonstrates why a binary obstacle mask is insufficient. LiDAR may
+correctly report many non-ground returns while being unable to tell whether
+they came from compressible grass, a rigid trunk hidden inside the grass, or a
+drop-off with no positive support. Camera semantics can identify vegetation,
+but a camera label cannot prove that the ground below is load-bearing or free
+of a hidden rigid object.
+
+Mission Core therefore preserves at least these distinct states:
+
+| Evidence | Traversability state |
+| --- | --- |
+| Stable metric non-ground evidence without vegetation support | `RIGID_OR_UNKNOWN_OBSTACLE`; lethal or unknown according to support confidence |
+| Camera vegetation plus diffuse LiDAR returns, but no positive ground support below | `VEGETATION_UNKNOWN`; never silently free |
+| Camera low vegetation plus positive local ground support and no concentrated rigid return | `VEGETATION_POTENTIALLY_TRAVERSABLE`; high-cost terrain, not a wall |
+| Camera vegetation plus concentrated persistent vertical geometry | `VEGETATION_WITH_RIGID_GEOMETRY`; lethal |
+| Positive ground support without blocking geometry | `SUPPORTED_GROUND`; candidate traversable terrain |
+
+`VEGETATION_POTENTIALLY_TRAVERSABLE` is a representation decision, not an
+authorization to drive through it. The later robot profile must still declare
+ground clearance, footprint, traction, admissible slope, vegetation height and
+whether contact with vegetation is allowed. Until that profile exists, the
+planner may prefer a supported hard path and retain vegetation as a higher-cost
+or unknown alternative.
+
+The executable evidence contract is
+[`config/perception/m49-camera-lidar-traversability-v1.json`](../config/perception/m49-camera-lidar-traversability-v1.json).
+
 ## Candidate A — GSeg3D and Ground Consistency

 ### GSeg3D
@@ -78,6 +113,11 @@ publishes separate ground and obstacle point clouds and provides:
 Mission Core evaluates it as the first replacement for the current local
 height connected-component heuristic.

+The upstream GSeg3D documentation explicitly lists recall degradation in dense
+vegetation as a remaining challenge and semantic-aware refinement as future
+work. Candidate A can therefore qualify the metric ground/non-ground seam, but
+cannot alone close the vegetation product gate.
+
 ### Nav2 Ground Consistency

 [DFKI Ground Consistency](https://github.com/dfki-ric/nav2_ground_consistency_costmap_plugin)
@@ -246,6 +286,8 @@ failure.
 - Review the ten mandatory anchors and compute full-run stability/resource
  metrics.
 - Do not draw system camera boxes until the costmap result is sealed.
+- Replay the existing camera semantic vegetation evidence as an independent
+  arbitration input; do not let it clear unsupported or concentrated geometry.

 ### T3 — Candidate B challenger

@@ -61,6 +61,7 @@ This T0 check does not reopen or alter that evidence.

 | Order | Candidate | Exact revision | Admission role |
 | ---: | --- | --- | --- |
+| 1 | DFKI GSeg3D core | `116f510485ea5b4707e2b476958d34a5a067f647` | Pinned core dependency |
 | 1 | DFKI GSeg3D | `5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95` | Primary terrain-relative ground/non-ground provider |
 | 1 | DFKI Nav2 Ground Consistency | `41cec620efba6c370dccfc59a6ec1134775ff48a` | Primary temporal costmap evidence layer |
 | 2 | TRAVEL | `95dc2fbd66a343efd9060c45a5711b6307a950a4` | Class-free challenger |
@@ -86,6 +87,28 @@ Candidate A may start only when all of the following are true:
 4. canonical Mission Core Triton is healthy and is not stopped or replaced;
 5. the candidate uses a new `ndc-` isolated build/runtime contour.

+## Resource incident localized before T1
+
+The apparent continued Worker pressure was not caused by an active GAUSS job.
+A PowerShell process from an earlier Mission Core diagnostic had been orphaned
+after loading and recursively serializing the complete nested M4.8R3
+`result.json`. At discovery it held approximately `74,912.6 MiB` working set
+and `193,275.8 MiB` private memory. The pressure killed
+`ndc-mission-core-triton` with exit code `137`.
+
+The orphaned diagnostic process was terminated at
+`2026-08-26T15:17:39Z`. Free physical memory subsequently recovered to
+`83,374,248 KiB`. The existing canonical Triton container was started without
+replacement or rebuild and returned to `healthy` at
+`2026-08-26T15:18:10Z`.
+
+Future Worker inspection must not pass a complete nested replay result through
+PowerShell `ConvertFrom-Json` followed by deep `ConvertTo-Json`. Diagnostics
+must select bounded scalar fields before serialization and must have a wall
+timeout plus process cleanup. A separate compute-runtime change is required to
+give canonical Triton a declared restart policy; this report does not mutate
+the Worker Compose source.
+
 ## Next command boundary

 The next authorized action is T1 Candidate A upstream qualification: build the
@@ -0,0 +1,116 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$BuildContext,
+    [Parameter(Mandatory = $true)]
+    [ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
+    [string]$RunId,
+    [string]$OutputRoot = "D:\NDC_MISSIONCORE\runtime\results\m49-t1-gseg3d"
+)
+
+$ErrorActionPreference = "Stop"
+$ProgressPreference = "SilentlyContinue"
+
+function Assert-LastExitCode([string]$Operation) {
+    if ($LASTEXITCODE -ne 0) { throw "$Operation failed with exit code $LASTEXITCODE" }
+}
+
+function Resolve-DDirectory([string]$Path, [string]$Label, [bool]$Create) {
+    if ($Create -and -not (Test-Path -LiteralPath $Path)) {
+        $null = New-Item -ItemType Directory -Path $Path
+    }
+    $item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
+    if (
+        -not $item.PSIsContainer -or
+        ($item.Attributes -band [IO.FileAttributes]::ReparsePoint) -or
+        [IO.Path]::GetPathRoot($item.FullName).TrimEnd("\") -ine "D:"
+    ) {
+        throw "$Label must be a real D: directory"
+    }
+    return $item.FullName
+}
+
+function Get-Container([string]$Name) {
+    $rows = @((& docker inspect $Name) | ConvertFrom-Json)
+    Assert-LastExitCode "Docker inspection for $Name"
+    if ($rows.Count -ne 1) { throw "Container identity for $Name is not unique" }
+    return $rows[0]
+}
+
+if ($env:COMPUTERNAME -cne "DESKTOP-OPJ8J04") {
+    throw "M49 T1 is pinned to Worker 006"
+}
+
+$context = Resolve-DDirectory $BuildContext "M49 T1 build context" $false
+$output = Resolve-DDirectory $OutputRoot "M49 T1 output root" $true
+$runOutput = Join-Path $output $RunId
+if (Test-Path -LiteralPath $runOutput) { throw "M49 T1 output already exists" }
+$null = New-Item -ItemType Directory -Path $runOutput
+$runOutput = Resolve-DDirectory $runOutput "M49 T1 run output" $false
+
+$os = Get-CimInstance Win32_OperatingSystem
+$freeMemoryGiB = [double]$os.FreePhysicalMemory / 1MB
+if ($freeMemoryGiB -lt 16.0) {
+    throw ("M49 T1 requires 16 GiB free memory; observed {0:N2} GiB" -f $freeMemoryGiB)
+}
+
+$canonicalTriton = Get-Container "ndc-mission-core-triton"
+if (-not $canonicalTriton.State.Running -or $canonicalTriton.State.Health.Status -cne "healthy") {
+    throw "Canonical Mission Core Triton must remain healthy during M49 T1"
+}
+
+$containerName = "ndc-mission-core-m49-t1-gseg3d-$RunId"
+if (& docker ps -a --format "{{.Names}}" --filter "name=^/$containerName$") {
+    throw "M49 T1 container name already exists"
+}
+
+$imageTag = "ndc/mission-core-m49-t1-gseg3d:20260826"
+$buildStarted = [DateTimeOffset]::UtcNow
+& docker build --pull=false --tag $imageTag $context
+Assert-LastExitCode "M49 T1 image build"
+$buildCompleted = [DateTimeOffset]::UtcNow
+
+$runStarted = [DateTimeOffset]::UtcNow
+try {
+    & docker run --rm --name $containerName --cpus 16 --memory 24g `
+        --volume ((($runOutput -replace "\\", "/")) + ":/evidence") `
+        $imageTag
+    Assert-LastExitCode "M49 T1 upstream qualification"
+} finally {
+    if (& docker ps -a --format "{{.Names}}" --filter "name=^/$containerName$") {
+        & docker rm --force $containerName *> $null
+    }
+}
+$runCompleted = [DateTimeOffset]::UtcNow
+
+$image = @((& docker image inspect $imageTag) | ConvertFrom-Json)[0]
+Assert-LastExitCode "M49 T1 image inspection"
+$resultPath = Join-Path $runOutput "result.json"
+if (-not (Test-Path -LiteralPath $resultPath -PathType Leaf)) {
+    throw "M49 T1 result.json is missing"
+}
+$result = Get-Content -LiteralPath $resultPath -Raw | ConvertFrom-Json
+if ($result.status -cne "passed") { throw "M49 T1 qualification did not pass" }
+
+$summary = [ordered]@{
+    schema_version = "missioncore.m49-t1-worker-summary/v1"
+    worker_id = "worker-006"
+    run_id = $RunId
+    image_tag = $imageTag
+    image_id = [string]$image.Id
+    image_size_bytes = [long]$image.Size
+    build_started_utc = $buildStarted.ToString("o")
+    build_wall_seconds = [math]::Round(($buildCompleted - $buildStarted).TotalSeconds, 6)
+    qualification_wall_seconds = [math]::Round(($runCompleted - $runStarted).TotalSeconds, 6)
+    free_memory_gib_before = [math]::Round($freeMemoryGiB, 6)
+    canonical_triton_id = [string]$canonicalTriton.Id
+    canonical_triton_health = [string]$canonicalTriton.State.Health.Status
+    candidate_accepted = $true
+    ravnoves00_quality_accepted = $false
+    realtime_accepted = $false
+    navigation_or_actuation_allowed = $false
+}
+$summary | ConvertTo-Json -Depth 3 | Set-Content -LiteralPath (
+    Join-Path $runOutput "worker-summary.json"
+) -Encoding utf8
+$summary | ConvertTo-Json -Depth 3
@@ -0,0 +1,65 @@
+FROM ros:jazzy-ros-base@sha256:2589a8fba5257307857890173c069852c2abf913a0be7970f172478baecb09e4
+
+ARG GSEG3D_CORE_REVISION=116f510485ea5b4707e2b476958d34a5a067f647
+ARG GSEG3D_ROS2_REVISION=5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95
+ARG GROUND_CONSISTENCY_REVISION=41cec620efba6c370dccfc59a6ec1134775ff48a
+ARG BUILD_JOBS=12
+
+ENV DEBIAN_FRONTEND=noninteractive
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+RUN apt-get update \
+    && apt-get install --yes --no-install-recommends \
+        build-essential \
+        cmake \
+        git \
+        jq \
+        libeigen3-dev \
+        libgtest-dev \
+        libnanoflann-dev \
+        libpcl-dev \
+        ninja-build \
+        ros-jazzy-message-filters \
+        ros-jazzy-nav2-costmap-2d \
+        ros-jazzy-pcl-conversions \
+        ros-jazzy-rclcpp-lifecycle \
+        ros-jazzy-tf2-eigen \
+        ros-jazzy-tf2-geometry-msgs \
+        time \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /opt/m49/src
+
+RUN git clone --filter=blob:none https://github.com/dfki-ric/ground_segmentation.git \
+    && git -C ground_segmentation checkout --detach "${GSEG3D_CORE_REVISION}" \
+    && git clone --filter=blob:none https://github.com/dfki-ric/ground_segmentation_ros2.git \
+    && git -C ground_segmentation_ros2 checkout --detach "${GSEG3D_ROS2_REVISION}" \
+    && git clone --filter=blob:none https://github.com/dfki-ric/nav2_ground_consistency_costmap_plugin.git \
+    && git -C nav2_ground_consistency_costmap_plugin checkout --detach "${GROUND_CONSISTENCY_REVISION}"
+
+RUN cmake -S /opt/m49/src/ground_segmentation \
+        -B /opt/m49/core-build \
+        -G Ninja \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_INSTALL_PREFIX=/opt/m49/core-install \
+    && cmake --build /opt/m49/core-build --parallel "${BUILD_JOBS}" \
+    && ctest --test-dir /opt/m49/core-build --output-on-failure \
+    && cmake --install /opt/m49/core-build
+
+RUN source /opt/ros/jazzy/setup.bash \
+    && export CMAKE_PREFIX_PATH="/opt/m49/core-install:${CMAKE_PREFIX_PATH:-}" \
+    && colcon build \
+        --base-paths \
+          /opt/m49/src/ground_segmentation_ros2 \
+          /opt/m49/src/nav2_ground_consistency_costmap_plugin \
+        --build-base /opt/m49/ros-build \
+        --install-base /opt/m49/ros-install \
+        --merge-install \
+        --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON \
+        --executor sequential \
+        --event-handlers console_direct+
+
+COPY qualify.sh /usr/local/bin/m49-gseg3d-qualify
+RUN chmod 0755 /usr/local/bin/m49-gseg3d-qualify
+
+ENTRYPOINT ["/usr/local/bin/m49-gseg3d-qualify"]
@@ -0,0 +1,94 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+readonly EVIDENCE_ROOT=/evidence
+readonly RESULT_PATH="${EVIDENCE_ROOT}/result.json"
+readonly LOG_PATH="${EVIDENCE_ROOT}/qualification.log"
+readonly RESOURCE_PATH="${EVIDENCE_ROOT}/resource.txt"
+readonly STARTED_UTC="$(date -u +%Y-%m-%dT%H:%M:%SZ)"
+readonly STARTED_NS="$(date +%s%N)"
+
+mkdir -p "${EVIDENCE_ROOT}"
+if [[ -e "${RESULT_PATH}" || -e "${LOG_PATH}" || -e "${RESOURCE_PATH}" ]]; then
+  echo "evidence output already exists" >&2
+  exit 2
+fi
+
+status=failed
+failure_stage=bootstrap
+
+finalize() {
+  local exit_code=$?
+  local completed_ns
+  local elapsed_ms
+  completed_ns="$(date +%s%N)"
+  elapsed_ms="$(( (completed_ns - STARTED_NS) / 1000000 ))"
+  python3 - "${RESULT_PATH}" "${status}" "${failure_stage}" "${exit_code}" \
+    "${STARTED_UTC}" "${elapsed_ms}" <<'PY'
+import json
+import pathlib
+import sys
+
+target, status, stage, exit_code, started_utc, elapsed_ms = sys.argv[1:]
+document = {
+    "schema_version": "missioncore.m49-t1-gseg3d-upstream-qualification/v1",
+    "status": status,
+    "failure_stage": None if status == "passed" else stage,
+    "exit_code": int(exit_code),
+    "started_utc": started_utc,
+    "elapsed_ms": int(elapsed_ms),
+    "authority": {
+        "candidate_build_qualified": status == "passed",
+        "ravnoves00_quality_accepted": False,
+        "realtime_accepted": False,
+        "navigation_or_actuation_allowed": False,
+    },
+    "revisions": {
+        "ground_segmentation": "116f510485ea5b4707e2b476958d34a5a067f647",
+        "ground_segmentation_ros2": "5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95",
+        "ground_consistency": "41cec620efba6c370dccfc59a6ec1134775ff48a",
+    },
+}
+pathlib.Path(target).write_text(
+    json.dumps(document, indent=2, sort_keys=True) + "\n", encoding="utf-8"
+)
+PY
+}
+trap finalize EXIT
+
+exec > >(tee "${LOG_PATH}") 2>&1
+
+failure_stage=source-integrity
+test "$(git -C /opt/m49/src/ground_segmentation rev-parse HEAD)" = \
+  "116f510485ea5b4707e2b476958d34a5a067f647"
+test "$(git -C /opt/m49/src/ground_segmentation_ros2 rev-parse HEAD)" = \
+  "5c5ba6f5ca0d682db2d59b2ad2f6a317ee938b95"
+test "$(git -C /opt/m49/src/nav2_ground_consistency_costmap_plugin rev-parse HEAD)" = \
+  "41cec620efba6c370dccfc59a6ec1134775ff48a"
+test -z "$(git -C /opt/m49/src/ground_segmentation status --porcelain)"
+test -z "$(git -C /opt/m49/src/ground_segmentation_ros2 status --porcelain)"
+test -z "$(git -C /opt/m49/src/nav2_ground_consistency_costmap_plugin status --porcelain)"
+
+failure_stage=core-upstream-tests
+/usr/bin/time -v -o "${RESOURCE_PATH}" \
+  ctest --test-dir /opt/m49/core-build --output-on-failure
+
+failure_stage=ros2-plugin-tests
+source /opt/ros/jazzy/setup.bash
+source /opt/m49/ros-install/setup.bash
+colcon test \
+  --build-base /opt/m49/ros-build \
+  --install-base /opt/m49/ros-install \
+  --test-result-base /opt/m49/test-results \
+  --packages-select nav2_ground_consistency_costmap_plugin \
+  --event-handlers console_direct+
+colcon test-result --test-result-base /opt/m49/test-results --verbose
+
+failure_stage=ros2-discovery
+ros2 pkg prefix ground_segmentation_ros2
+ros2 pkg prefix nav2_ground_consistency_costmap_plugin
+ros2 pkg executables ground_segmentation_ros2 | \
+  grep -F "ground_segmentation_ros2_node"
+
+failure_stage=complete
+status=passed
@@ -0,0 +1,167 @@
+#!/usr/bin/env python3
+"""Build the deterministic M49 T1 GSeg3D Worker 006 qualification release."""
+
+from __future__ import annotations
+
+import argparse
+import gzip
+import hashlib
+import io
+import json
+import re
+import subprocess
+import tarfile
+import tempfile
+from pathlib import Path
+
+REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
+SOURCES = (
+    Path("experiments/perception/worker/m49_t1_gseg3d/Dockerfile"),
+    Path("experiments/perception/worker/m49_t1_gseg3d/qualify.sh"),
+    Path("experiments/perception/worker/Invoke-M49T1GSeg3DQualification.ps1"),
+    Path("config/perception/m49-traversability-candidate-manifest-v1.json"),
+    Path("config/perception/m49-camera-lidar-traversability-v1.json"),
+)
+PATCH_ID = re.compile(r"^[A-Za-z0-9._-]{1,96}$")
+
+
+class ArtifactBuildError(RuntimeError):
+    """The qualification artifact cannot be built from the declared source."""
+
+
+def sha256_file(path: Path) -> str:
+    digest = hashlib.sha256()
+    with path.open("rb") as stream:
+        for chunk in iter(lambda: stream.read(1024 * 1024), b""):
+            digest.update(chunk)
+    return digest.hexdigest()
+
+
+def git_revision() -> str:
+    result = subprocess.run(
+        ["git", "rev-parse", "HEAD"],
+        cwd=REPOSITORY_ROOT,
+        check=True,
+        capture_output=True,
+        text=True,
+    )
+    revision = result.stdout.strip()
+    if re.fullmatch(r"[a-f0-9]{40}", revision) is None:
+        raise ArtifactBuildError("Git revision is not a full SHA-1")
+    return revision
+
+
+def tar_info(path: Path, arcname: str) -> tarfile.TarInfo:
+    info = tarfile.TarInfo(arcname)
+    info.uid = info.gid = 0
+    info.uname = info.gname = "root"
+    info.mtime = 0
+    if path.is_dir():
+        info.type = tarfile.DIRTYPE
+        info.mode = 0o755
+    else:
+        info.type = tarfile.REGTYPE
+        info.mode = 0o755 if path.suffix in {".sh", ".ps1"} else 0o644
+        info.size = path.stat().st_size
+    return info
+
+
+def write_archive(stage: Path, target: Path) -> None:
+    members = [stage / "manifest.env", stage / "files.txt", stage / "payload"]
+    members.extend(sorted((stage / "payload").rglob("*")))
+    target.parent.mkdir(parents=True, exist_ok=True)
+    with (
+        target.open("wb") as raw,
+        gzip.GzipFile(filename="", mode="wb", fileobj=raw, mtime=0) as compressed,
+        tarfile.open(fileobj=compressed, mode="w", format=tarfile.PAX_FORMAT) as archive,
+    ):
+        for path in members:
+            info = tar_info(path, path.relative_to(stage).as_posix())
+            if path.is_file():
+                with path.open("rb") as stream:
+                    archive.addfile(info, stream)
+            else:
+                archive.addfile(info, io.BytesIO())
+
+
+def build(
+    patch_id: str,
+    output_directory: Path,
+    *,
+    revision: str | None = None,
+) -> dict[str, object]:
+    if PATCH_ID.fullmatch(patch_id) is None:
+        raise ArtifactBuildError("patch id is invalid")
+    sources = tuple(REPOSITORY_ROOT / source for source in SOURCES)
+    if any(path.is_symlink() or not path.is_file() for path in sources):
+        raise ArtifactBuildError("release input is not a regular file")
+    selected_revision = revision or git_revision()
+    if re.fullmatch(r"[a-f0-9]{40}", selected_revision) is None:
+        raise ArtifactBuildError("artifact revision is invalid")
+    with tempfile.TemporaryDirectory(prefix="mission-core-m49-t1-") as directory:
+        stage = Path(directory)
+        payload = stage / "payload"
+        payload.mkdir()
+        files: dict[str, dict[str, object]] = {}
+        for source in sources:
+            destination = payload / source.name
+            destination.write_bytes(source.read_bytes())
+            files[destination.name] = {
+                "bytes": destination.stat().st_size,
+                "sha256": sha256_file(destination),
+            }
+        release = {
+            "schema_version": "missioncore.m49-t1-worker-release/v1",
+            "patch_id": patch_id,
+            "code_revision": selected_revision,
+            "worker_id": "worker-006",
+            "candidate_id": "gseg3d-ground-consistency",
+            "authority": {
+                "ravnoves00_quality_accepted": False,
+                "navigation_or_actuation_allowed": False,
+            },
+            "files": files,
+        }
+        release_path = payload / "release.json"
+        release_path.write_text(
+            json.dumps(release, indent=2, sort_keys=True) + "\n", encoding="utf-8"
+        )
+        payload_names = sorted((*files, release_path.name))
+        (stage / "manifest.env").write_text(
+            f"id={patch_id}\ncomponent=mission-core-worker\ntype=qualification-release\n",
+            encoding="utf-8",
+        )
+        (stage / "files.txt").write_text(
+            "\n".join(payload_names) + "\n", encoding="utf-8"
+        )
+        target = output_directory.resolve() / f"nodedc-{patch_id}.tgz"
+        write_archive(stage, target)
+    return {
+        "ok": True,
+        "artifact": str(target),
+        "sha256": sha256_file(target),
+        "patch_id": patch_id,
+        "code_revision": selected_revision,
+        "payload_files": payload_names,
+    }
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("patch_id")
+    parser.add_argument(
+        "--output-directory",
+        type=Path,
+        default=REPOSITORY_ROOT / ".runtime/worker-artifacts",
+    )
+    arguments = parser.parse_args()
+    try:
+        result = build(arguments.patch_id, arguments.output_directory)
+    except (ArtifactBuildError, OSError, subprocess.SubprocessError) as exc:
+        parser.error(str(exc))
+    print(json.dumps(result, indent=2, sort_keys=True))
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
@@ -0,0 +1,65 @@
+from __future__ import annotations
+
+import hashlib
+import importlib.util
+import json
+import tarfile
+from pathlib import Path
+
+REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
+BUILDER_PATH = REPOSITORY_ROOT / "scripts/build_m49_t1_gseg3d_worker_artifact.py"
+SPEC = importlib.util.spec_from_file_location("m49_t1_gseg3d_builder", BUILDER_PATH)
+assert SPEC is not None and SPEC.loader is not None
+BUILDER = importlib.util.module_from_spec(SPEC)
+SPEC.loader.exec_module(BUILDER)
+
+
+def _sha256(value: bytes) -> str:
+    return hashlib.sha256(value).hexdigest()
+
+
+def _regular_files(archive: tarfile.TarFile) -> dict[str, bytes]:
+    result: dict[str, bytes] = {}
+    for member in archive.getmembers():
+        if not member.isfile():
+            continue
+        stream = archive.extractfile(member)
+        assert stream is not None
+        result[member.name] = stream.read()
+    return result
+
+
+def test_m49_t1_worker_artifact_is_deterministic_and_bounded(tmp_path: Path) -> None:
+    patch_id = "mission-core-m49-t1-gseg3d-unit-001"
+    revision = "a" * 40
+    first = BUILDER.build(patch_id, tmp_path / "first", revision=revision)
+    second = BUILDER.build(patch_id, tmp_path / "second", revision=revision)
+
+    first_bytes = Path(first["artifact"]).read_bytes()
+    assert first_bytes == Path(second["artifact"]).read_bytes()
+    assert first["sha256"] == _sha256(first_bytes)
+    with tarfile.open(first["artifact"], "r:gz") as archive:
+        members = archive.getmembers()
+        regular = _regular_files(archive)
+    assert all(not member.issym() and not member.islnk() for member in members)
+    assert set(regular) == {
+        "manifest.env",
+        "files.txt",
+        *(f"payload/{name}" for name in first["payload_files"]),
+    }
+    assert regular["files.txt"].decode().splitlines() == first["payload_files"]
+    assert regular["manifest.env"].decode().splitlines() == [
+        f"id={patch_id}",
+        "component=mission-core-worker",
+        "type=qualification-release",
+    ]
+    release = json.loads(regular["payload/release.json"])
+    assert release["code_revision"] == revision
+    assert release["candidate_id"] == "gseg3d-ground-consistency"
+    assert release["authority"] == {
+        "navigation_or_actuation_allowed": False,
+        "ravnoves00_quality_accepted": False,
+    }
+    serialized = json.dumps(release).lower()
+    assert "password=" not in serialized
+    assert "private key" not in serialized