feat(perception): integrate native RF-DETR shadow provider
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DCCONSTRUCTIONS
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{
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"schema_version": "missioncore.reference-perception-graph-config/v2",
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"graph_id": "reference-perception-graph/v2",
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"source_profile_id": "m4-ravnoves00-recorded-realtime/v1",
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"providers": [
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{
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"role": "source",
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"provider_id": "ravnoves00-recorded-source/v1",
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"version": "1.0.0",
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"revision": "m4-ravnoves00-recorded-realtime/v1",
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"sha256": "ea10359339e6cce31b5780a2710299771cab7cc0c1c2a2b56a1621f786b31fa8"
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},
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{
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"role": "detector",
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"provider_id": "triton-rf-detr-large-coco-native-kb4-risk-fp16-shadow/v0",
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"version": "0.1.0",
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"revision": "rf-detr-large-coco-native-kb4-uint8-trt11-fp16-risk-shadow/v0",
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"sha256": "398b1102943e704b08a033b1d04b6bdb039ecdd73a2b2e370a0a9cbcaff501ec"
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},
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{
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"role": "geometry",
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"provider_id": "ravnoves00-geometry-association/v1",
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"version": "1.0.0",
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"revision": "m4-ravnoves00-e29-e32-geometry/v1",
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"sha256": "cc666c9389a5e221957faddec89584709b66918d14abaf646f1832e001421999"
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},
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{
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"role": "temporal",
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"provider_id": "bounded-spatial-temporal-layer/v1",
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"version": "1.0.0",
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"revision": "m4-bounded-temporal-motion/v1",
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"sha256": "7130eaee24a95c7d888bf7598010e03e129e1c3ac5b34bcd8401015ff4244b39"
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},
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{
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"role": "motion",
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"provider_id": "class-independent-motion-estimator/v1",
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"version": "1.0.0",
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"revision": "m4-bounded-temporal-motion/v1",
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"sha256": "7130eaee24a95c7d888bf7598010e03e129e1c3ac5b34bcd8401015ff4244b39"
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},
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{
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"role": "rolling",
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"provider_id": "rolling-local-obstacle-map/v1",
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"version": "1.0.0",
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"revision": "ravnoves00-rolling-local-obstacle-map/v1",
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"sha256": "f7e3315eaf6ffaf3aee1e04913933812092cf82bbcc9984c1a6fa2d9250e6784"
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},
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{
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"role": "threat",
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"provider_id": "dual-evidence-replay-threat/v3",
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"version": "3.0.0",
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"revision": "m4-ravnoves00-virtual-corridor/v3",
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"sha256": "8c3a5aa837da1f028f5998fb504a1381f9b2b68de6420a32160410b6dc0887c7"
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}
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],
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"queues": [
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{
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"stage_id": "detector",
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"capacity": 2,
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"deadline_ns": 1000000000,
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"terminal_timeout_ns": 90000000000
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},
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{
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"stage_id": "geometry",
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"capacity": 2,
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"deadline_ns": 1500000000,
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"terminal_timeout_ns": 90000000000
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},
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{
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"stage_id": "temporal",
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"capacity": 2,
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"deadline_ns": 1750000000,
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"terminal_timeout_ns": 90000000000
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},
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{
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"stage_id": "rolling",
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"capacity": 2,
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"deadline_ns": 2000000000,
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"terminal_timeout_ns": 90000000000
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},
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{
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"stage_id": "threat",
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"capacity": 2,
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"deadline_ns": 2250000000,
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"terminal_timeout_ns": 90000000000
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}
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],
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"authority": {
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"mode": "replay-simulated",
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"physical_live": false,
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"commands_enabled": false,
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"actuation_allowed": false,
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"navigation_or_safety_accepted": false
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}
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}
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@@ -0,0 +1,114 @@
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{
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"schema_version": "missioncore.rf-detr-native-risk-shadow-profile/v0",
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"profile_id": "rf-detr-large-coco-native-kb4-uint8-trt11-fp16-risk-shadow/v0",
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"provider_id": "triton-rf-detr-large-coco-native-kb4-risk-fp16-shadow/v0",
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"model": {
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"model_id": "rf_detr_large_native_kb4",
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"model_version": 1,
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"upstream_version": "1.9.4",
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"upstream_revision": "9b009fa928d6218320439803d1da01869a85c072",
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"checkpoint_sha256": "0f4e20e19a99c0f8a62b5685f57f6c8b5c371c59081feda6752a0561a79ccf38",
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"native_core_onnx_sha256": "62e549748a1d17646b90ad06d3ac8a1b79595b7e9270cac4564418f023079176",
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"strongly_typed_fp16_onnx_sha256": "00b29fa2ff3d5fca730ebf3b8c33b10e9d690cc97bbbbfa5563d6e0abf210999",
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"fused_uint8_onnx_sha256": "acdd01623a00d100331473c0a99eab1e5adf33117cbab900c8ae078edd4aa346",
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"worker_006_rtx4090_tensorrt_11_engine_sha256": "b8a40b3580edff001ec9680de68707242294ff590ab296000fae371f1083f695",
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"input": {
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"name": "raw_kb4_bgr",
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"datatype": "UINT8",
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"shape": [1, 600, 800, 3],
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"bytes_per_frame": 1440000
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},
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"outputs": [
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{"name": "dets", "datatype": "FP16", "shape": [1, 300, 4]},
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{"name": "labels", "datatype": "FP16", "shape": [1, 300, 91]}
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]
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},
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"preprocessing": {
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"execution": "single-fused-tensorrt-gpu-graph",
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"source_raster": [800, 600],
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"source_color": "BGR",
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"model_canvas": [800, 608],
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"model_color": "RGB",
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"valid_fov_mask_sha256": "a40cee06b7c6f69b6a09a11563dcfd237f3de833b1ccd31459e66692e528ba63",
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"valid_fov_fill_value": 114,
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"padding_tblr": [0, 8, 0, 0],
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"normalization_mean": [0.485, 0.456, 0.406],
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"normalization_std": [0.229, 0.224, 0.225],
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"resize": false,
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"crop": false,
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"rectification": false,
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"warp": false,
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"geometric_resampling": false
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},
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"emission": {
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"single_inference_per_source_frame": true,
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"minimum_score": 0.25,
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"maximum_topk_query_class_pairs": 300,
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"behavior_relevant_classes": [
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"person",
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"bicycle",
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"car",
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"motorcycle",
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"bus",
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"truck",
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"bird",
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"cat",
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"dog",
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"horse",
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"sheep",
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"cow",
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"elephant",
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"bear",
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"zebra",
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"giraffe",
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"skateboard"
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],
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"geometry_owns_static_occupancy": true,
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"unlisted_semantic_classes_emitted": false,
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"minimum_box_area_pixels": 64,
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"maximum_box_area_fraction": 0.5,
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"minimum_valid_fov_fraction": 0.5,
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"require_center_inside_valid_fov": true
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},
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"qualification": {
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"native_pytorch_tensorrt_parity": {
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"report_identity_sha256": "215145fed04b43670a71594a7ea6d8f2a676f2ee781eb1d0bfc05bb3ecdbf17c",
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"passed": true,
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"risk_detection_precision": 0.988700565,
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"risk_detection_recall": 0.983146067,
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"matched_mean_iou": 0.988242066
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},
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"full_ravnoves00_native_vs_legacy_704": {
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"report_identity_sha256": "729bf02b5b52b22d347b3c960f3ac01539ebc76569273bd85560fed8d7b7616b",
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"frame_count": 4489,
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"native_total_mean_ms": 12.334212,
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"native_total_p95_ms": 19.730654,
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"legacy_704_total_mean_ms": 33.995721,
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"legacy_704_total_p95_ms": 47.432686,
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"transport_bytes_reduction_fraction": 0.757877066,
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"native_detection_count": 48583,
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"legacy_704_detection_count": 51691,
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"legacy_box_agreement_recall_iou_at_least_0_5": 0.766593798,
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"legacy_box_agreement_gate_passed": false,
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"interpretation": "diagnostic-only because legacy 704 geometrically stretches the raw 4:3 raster"
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}
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},
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"queue": {
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"policy": "bounded-latest-wins",
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"capacity": 2
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},
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"status": {
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"native_tensor_parity_passed": true,
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"full_ravnoves00_runtime_gate_passed": true,
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"legacy_704_box_agreement_gate_passed": false,
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"integrated_world_state_gate_passed": false,
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"production_accepted": false
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},
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"authority": {
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"ground_truth": false,
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"candidate_accepted": false,
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"commands_enabled": false,
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"actuation_allowed": false,
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"navigation_or_safety_accepted": false
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}
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}
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