docs(perception): record TRAVEL upstream qualification
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DCCONSTRUCTIONS
@@ -304,6 +304,13 @@ Candidate A receives no replay or runtime authority in this revision set.
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- Stop if Candidate A already passes and TRAVEL adds no measurable value that
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justifies GPL runtime implications.
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The upstream T3 qualification passed on `2026-08-26`: exact-source KITTI
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regression was bit-identical to the committed gold result, the standalone
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example produced all outputs and the ROS 2 Jazzy node was discoverable. See
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[`experiments/perception/M49_T3_TRAVEL_UPSTREAM_QUALIFICATION_2026-08-26.md`](../experiments/perception/M49_T3_TRAVEL_UPSTREAM_QUALIFICATION_2026-08-26.md).
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RAVNOVES00 replay remains gated on scan-model compatibility and the GPL runtime
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boundary.
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### T4 — Candidate C occupancy/ESDF probe
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- Run nvblox separately with RF-DETR disabled for the isolated probe.
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@@ -321,7 +328,9 @@ Candidate A receives no replay or runtime authority in this revision set.
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## Immediate next action
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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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Verify TRAVEL's spinning-scan assumptions against the bounded causal
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RAVNOVES00 `lio_pcl` representation, then build the recorded-replay adapter if
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the required information exists. Candidate A T2 replay remains blocked by the
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failed unmodified T1 gate. No LOW-STEP tuning, new object model, camera resize,
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fisheye rectification, manual dataset or parallel heavy Worker job is
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authorized by this decision.
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@@ -0,0 +1,99 @@
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# M4.9 T3 TRAVEL upstream qualification — 2026-08-26
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Status: **upstream candidate qualified**; RAVNOVES00 quality, realtime,
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navigation and actuation remain disabled
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## Decision
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The frozen TRAVEL revision builds and passes its official C++ regression path
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on Worker 006. The run also passes the standalone example smoke and produces a
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discoverable ROS 2 Jazzy `travel_node`.
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This accepts TRAVEL for the next recorded-replay compatibility gate. It does
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not yet accept the RAVNOVES00 `lio_pcl` representation, Mission Core latency,
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vegetation handling, obstacle quality, navigation or control.
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## Frozen identity
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| Item | Identity |
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| --- | --- |
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| TRAVEL source | `95dc2fbd66a343efd9060c45a5711b6307a950a4` |
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| Mission Core qualification source | `67578f4ce16316dbaa562cba466ca9ab820fa380` |
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| Deterministic Worker artifact | `01cb4954de748d2e23567734a5dc5043ebfa7d1596313c3ddba792fa94ac3cb7` |
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| Worker image | `sha256:7b412020f4d8392d1d1ed1b33beadc44140f0ea8f781e62dd69796042334300f` |
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| Image size | `1,030,088,960` bytes |
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| KITTI fixture | `1,994,688` bytes; SHA-256 `bf272996d5b6d25cc5589e1089137cb20a98b63bd4823a7fea5631b359f6d68c` |
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| Committed gold result | SHA-256 `8aaacaa57d17a8a2f043c3ea0a0c134d36a3c50da2385f2364ca4eff53ea9b9f` |
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The release artifact was built twice with identical SHA-256, copied into a new
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Worker release directory and verified again before extraction. The run used
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the exact upstream revision and did not modify its source.
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## Upstream result
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- `124,668` KITTI points loaded.
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- Official C++ regression output was bit-identical to the committed gold dump.
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- Ground segmentation produced `70,175` ground and `54,462` non-ground points.
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- Above-ground clustering received `54,462` points, projected `47,311`,
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labeled `45,792` and produced `185` canonical clusters in the regression
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representation.
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- The standalone example wrote non-empty ground, non-ground and labeled
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outputs.
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- ROS 2 Jazzy discovered `travel_ros travel_node` from the isolated merged
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install.
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The example prints `The # of point clouds and # of labels are not same`
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because the official smoke fixture intentionally contains a Velodyne frame but
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no optional KITTI labels directory. The example returns success and writes all
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three required outputs; the official upstream CI uses the same unlabeled smoke
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shape. This diagnostic is recorded rather than hidden.
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## Timing and memory
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| Measurement | Observation |
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| --- | ---: |
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| Worker image build | `290.528115 s` |
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| Worker qualification wrapper | `1.667882 s` |
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| Sealed in-container qualification section | `617 ms` |
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| C++ bit-regression wall time | `0.04 s` |
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| C++ bit-regression maximum RSS | `39,504 KiB` |
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| Reported TGS time | `11.168 ms` |
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| Reported AOS range-map / clustering / post stages | `3 / 6 / 1 ms` |
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These numbers are promising but are not Mission Core realtime acceptance. They
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cover one native KITTI scan and include neither RAVNOVES00 causal support
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assembly nor pose transforms, camera arbitration, costmap publication or full
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graph load.
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## Sealed evidence
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Worker output root:
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`D:\NDC_MISSIONCORE\runtime\results\m49-t3-travel\upstream-001`
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| File | Bytes | SHA-256 |
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| --- | ---: | --- |
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| `result.json` | `674` | `d3fb582b96f907c92156767bf0186fa565897f593bcfd89943ad6a639c0aed38` |
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| `worker-summary.json` | `824` | `baedc1b292691be50c5ef70169df1ff43f99f0e122f527a557a599a906a90d28` |
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| `qualification.log` | `3,557` | `7dc5b8ecb1cb8ad91fc08edbfcc6ab818e4524e271b0524bb02914cf5f96d933` |
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| `resource.txt` | `893` | `dc5638295170cb1edd9c16e2c4ae9b53a89b22b014d27a847c127d6b9afa541c` |
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After capture, the candidate container and one-shot scheduled task were absent.
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Canonical `ndc-mission-core-triton` remained `running/healthy`. The build and
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qualification requested no CUDA, Vulkan or GPU lease; the concurrent Frigate
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GPU allocation was not modified.
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## Compatibility gate before RAVNOVES00 replay
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TRAVEL's accepted KITTI profile assumes an organized spinning-LiDAR geometry
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(`64` vertical scans, `4,500` horizontal bins and a fixed vertical angle
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range). RAVNOVES00 supplies registered vendor-map increments rather than one
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conventional complete raw scan per video frame. The next step must therefore
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prove that a bounded causal body-frame representation preserves the angular
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and temporal information TRAVEL requires. Missing returns may not be invented,
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treated as free, or filled from future frames.
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TRAVEL remains GPL-3.0-or-later and is evaluation-only until a separate
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distribution decision. Camera semantics remain primary for material meaning;
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LiDAR/TRAVEL remains metric evidence and cannot independently declare tall
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vegetation traversable.
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