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feat(perception): integrate native RF-DETR shadow provider

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DCCONSTRUCTIONS
2026-08-26 02:06:16 +03:00
parent 28effdde23
commit b111406cf8
9 changed files with 1489 additions and 30 deletions
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experiments/perception/run_m48s_reference_graph_shadow_worker.py
+12 -2
View File
@@ -25,6 +25,7 @@ from k1link.perception.detector import (
DetectorFrameTiming,
DetectorProviderSnapshot,
DetectorWarmupSnapshot,
NativeRfDetrShadowDetectorProvider,
RfDetrShadowDetectorProvider,
)
from k1link.perception.geometry import Ravnoves00GeometryAssociationProvider
@@ -446,6 +447,7 @@ def main() -> int:
all_pipeline_timings: list[dict[str, object]] = []
all_decode_timings: list[DecodedFrameTiming] = []
all_pacing_timings: list[SourcePacingTiming] = []
detector_provider_id: str | None = None
with (
progress.open("x", encoding="utf-8") as progress_stream,
frame_ledger.open("x", encoding="utf-8") as frame_ledger_stream,
@@ -478,6 +480,11 @@ def main() -> int:
maximum_frames=arguments.maximum_frames,
source_rate_hz=arguments.source_rate_hz,
) as runtime:
current_detector_provider_id = runtime.graph.detector.provider_id
if detector_provider_id is None:
detector_provider_id = current_detector_provider_id
elif detector_provider_id != current_detector_provider_id:
raise RuntimeError("detector provider identity changed between loops")
for stage_id, attribute in (
("geometry", "geometry"),
("temporal", "temporal"),
@@ -504,7 +511,8 @@ def main() -> int:
result = runtime.graph.run()
loop_completed_ns = time.monotonic_ns()
detector_snapshot = cast(
RfDetrShadowDetectorProvider,
RfDetrShadowDetectorProvider
| NativeRfDetrShadowDetectorProvider,
runtime.graph.detector,
).snapshot()
provider_snapshots = {
@@ -582,6 +590,8 @@ def main() -> int:
print(json.dumps(progress_row, sort_keys=True), flush=True)
completed_ns = time.monotonic_ns()
if detector_provider_id is None:
raise RuntimeError("detector provider identity was not observed")
wall_seconds = (completed_ns - started_ns) / 1_000_000_000.0
rss_after_kib = resource.getrusage(resource.RUSAGE_SELF).ru_maxrss
accounting: Counter[str] = Counter()
@@ -674,7 +684,7 @@ def main() -> int:
"identity": {
"worker_id": "worker-006",
"graph_id": "reference-perception-graph/v2",
"detector_provider_id": "triton-rf-detr-large-coco-risk-fp16-shadow/v0",
"detector_provider_id": detector_provider_id,
"inputs": _input_digests(paths, arguments.detector_profile),
"runtime_artifact_sha256": arguments.runtime_artifact_sha256,
"runner_sha256": arguments.runner_sha256,
experiments/perception/worker/Invoke-M48NNativeReferenceGraph.ps1
+360
View File
@@ -0,0 +1,360 @@
[CmdletBinding()]
param(
[Parameter(Mandatory = $true)]
[string]$ReleaseRoot,
[Parameter(Mandatory = $true)]
[string]$CandidateRoot,
[Parameter(Mandatory = $true)]
[ValidatePattern("^[a-f0-9]{64}$")]
[string]$ExpectedWheelSha256,
[Parameter(Mandatory = $true)]
[ValidatePattern("^[A-Za-z0-9._-]{1,96}$")]
[string]$RunId,
[ValidateRange(1, 4489)]
[int]$MaximumFrames = 300,
[ValidateRange(1.0, 120.0)]
[double]$SourceRateHz = 10.0,
[ValidateRange(0.0, 1.0)]
[double]$MinimumDeliveryRatio = 0.999,
[ValidateRange(0.1, 120.0)]
[double]$MinimumEffectiveWorldStateFps = 9.5,
[ValidateRange(1.0, 10000.0)]
[double]$MaximumWorldStateCompletionP95Ms = 125.0,
[string]$OutputRoot = (
"D:\NDC_MISSIONCORE\runtime\results\m48n-native-reference-graph-shadow"
)
)
$ErrorActionPreference = "Stop"
$ProgressPreference = "SilentlyContinue"
function Assert-LastExitCode([string]$Operation) {
if ($LASTEXITCODE -ne 0) { throw "$Operation failed with exit code $LASTEXITCODE" }
}
function Get-Sha256([string]$Path) {
return (Get-FileHash -LiteralPath $Path -Algorithm SHA256).Hash.ToLowerInvariant()
}
function Assert-File([string]$Path, [string]$ExpectedSha256, [string]$Label) {
$item = Get-Item -LiteralPath (Resolve-Path -LiteralPath $Path).Path -Force
if ($item.PSIsContainer -or ($item.Attributes -band [IO.FileAttributes]::ReparsePoint)) {
throw "$Label must be a regular file"
}
if ((Get-Sha256 $item.FullName) -cne $ExpectedSha256) {
throw "$Label SHA-256 changed"
}
return $item.FullName
}
function Resolve-DDirectory([string]$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 $item.FullName
}
function Convert-ToDockerPath([string]$Path) { return $Path.Replace("\", "/") }
function Get-Container([string]$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 "M48N native reference graph is pinned to DESKTOP-OPJ8J04"
}
$release = Resolve-DDirectory $ReleaseRoot "M48N release root" $false
$candidate = Resolve-DDirectory $CandidateRoot "M48N candidate root" $false
$output = Resolve-DDirectory $OutputRoot "M48N output root" $true
$runOutput = Join-Path $output $RunId
if (Test-Path -LiteralPath $runOutput) { throw "M48N run output already exists" }
$null = New-Item -ItemType Directory -Path $runOutput
$runOutput = Resolve-DDirectory $runOutput "M48N run output" $false
$wheel = Assert-File (
Join-Path $release "nodedc_mission_core-0.1.0-py3-none-any.whl"
) $ExpectedWheelSha256 "M48N wheel"
$expectedConfigs = [ordered]@{
"m48n-rf-detr-native-reference-graph-shadow-v0.json" = (
"336dccb6b64f4fa5def14aae967fd3280cc1720e93fa3ee21885e0c3304cee4d"
)
"m4-recorded-realtime-baseline-v1.json" = (
"ea10359339e6cce31b5780a2710299771cab7cc0c1c2a2b56a1621f786b31fa8"
)
"rf-detr-large-native-kb4-risk-shadow-v0.json" = (
"398b1102943e704b08a033b1d04b6bdb039ecdd73a2b2e370a0a9cbcaff501ec"
)
"m4-geometry-association-v1.json" = (
"cc666c9389a5e221957faddec89584709b66918d14abaf646f1832e001421999"
)
"m4-temporal-motion-v1.json" = (
"7130eaee24a95c7d888bf7598010e03e129e1c3ac5b34bcd8401015ff4244b39"
)
"m4-rolling-local-map-v1.json" = (
"f7e3315eaf6ffaf3aee1e04913933812092cf82bbcc9984c1a6fa2d9250e6784"
)
"m4-replay-threat-v3.json" = (
"8c3a5aa837da1f028f5998fb504a1381f9b2b68de6420a32160410b6dc0887c7"
)
}
foreach ($entry in $expectedConfigs.GetEnumerator()) {
$null = Assert-File (Join-Path $release $entry.Key) $entry.Value (
"M48N config {0}" -f $entry.Key
)
}
$runner = Get-Item -LiteralPath (
Join-Path $release "run_m48s_reference_graph_shadow_worker.py"
)
if ($runner.PSIsContainer -or ($runner.Attributes -band [IO.FileAttributes]::ReparsePoint)) {
throw "M48N graph runner must be a regular file"
}
$runnerSha256 = Get-Sha256 $runner.FullName
$nativeConfig = Assert-File (
Join-Path $release "rf_detr_large_native_kb4_config.pbtxt"
) "15e100029df92c1390c567517eac6d8bf640591c865bf87a3955289292ba3a22" (
"native RF-DETR Triton config"
)
$nativeEngine = Assert-File (
Join-Path $candidate "rf-detr-native-uint8.plan"
) "b8a40b3580edff001ec9680de68707242294ff590ab296000fae371f1083f695" (
"native RF-DETR TensorRT engine"
)
$modelRoot = Join-Path $runOutput "triton-models"
$modelDirectory = Join-Path $modelRoot "rf_detr_large_native_kb4"
$modelVersionDirectory = Join-Path $modelDirectory "1"
$null = New-Item -ItemType Directory -Path $modelVersionDirectory
Copy-Item -LiteralPath $nativeConfig -Destination (Join-Path $modelDirectory "config.pbtxt")
Copy-Item -LiteralPath $nativeEngine -Destination (Join-Path $modelVersionDirectory "model.plan")
if (
(Get-Sha256 (Join-Path $modelVersionDirectory "model.plan")) -cne
"b8a40b3580edff001ec9680de68707242294ff590ab296000fae371f1083f695"
) {
throw "staged native RF-DETR TensorRT engine SHA-256 changed"
}
$source = [ordered]@{
CameraIndex = (
"D:\NDC_MISSIONCORE\runtime\jobs\recorded-camera-602ac89026ed12978619801d" +
"\input\camera\sensor.camera.right\epoch-1\index.jsonl"
)
SourcePack = (
"D:\NDC_MISSIONCORE\runtime\derived" +
"\e10-lidar-pack-576c994a6c814e2592dd6240ace3902a5db94843312c759a73ba0c9166157d2b" +
"\lidar-pack.npz"
)
LocalSurface = (
"D:\NDC_MISSIONCORE\runtime\derived" +
"\k1-local-surface-23762244c8bdb97de26fb721ac957d7a00bc9a63571ac4cfa4be19c4effc7d55" +
"\local-surface.npz"
)
Video = (
"D:\NDC_MISSIONCORE\runtime\experiments\e46e\inputs" +
"\right-cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8.mp4"
)
Mask = (
"D:\NDC_MISSIONCORE\runtime\inputs\e2" +
"\valid-fov-mask-b4dd8ddf2b87c1d520ee8a0868c4fea062d7c14d1bae73ccabd3abe1f3acbac2" +
"\mask.png"
)
}
foreach ($entry in $source.GetEnumerator()) {
if (-not (Test-Path -LiteralPath $entry.Value -PathType Leaf)) {
throw "M48N source $($entry.Key) is missing"
}
}
if ((Get-Sha256 $source.Video) -cne "cadd1696ff000904eb78633a0a8418104b8024f178b91f3421789021ccb160e8") {
throw "RAVNOVES00 video SHA-256 changed"
}
if ((Get-Sha256 $source.Mask) -cne "a40cee06b7c6f69b6a09a11563dcfd237f3de833b1ccd31459e66692e528ba63") {
throw "valid-FOV mask SHA-256 changed"
}
$media = Resolve-DDirectory (
"D:\NDC_MISSIONCORE\runtime\derived\perception-e15-media-pyav180-lz445-v1"
) "PyAV dependency" $false
$opencv = Resolve-DDirectory (
"D:\NDC_MISSIONCORE\runtime\derived\perception-e3-opencv413092-v1\packages"
) "OpenCV dependency" $false
$pillow = Resolve-DDirectory (
"D:\NDC_MISSIONCORE\runtime\derived\perception-p0-env-v1"
) "Pillow dependency" $false
$image = (
"nvcr.io/nvidia/tritonserver:26.06-py3@" +
"sha256:58df7489c3f2276f9591d500a012dee03e23d35543ce3c390b4c001e6bf90794"
)
& docker image inspect $image *> $null
Assert-LastExitCode "pinned M48N image inspection"
$canonicalTriton = Get-Container "ndc-mission-core-triton"
if (-not $canonicalTriton.State.Running -or $canonicalTriton.State.Health.Status -cne "healthy") {
throw "Canonical Triton must remain healthy during M48N shadow"
}
$canonicalTritonId = [string]$canonicalTriton.Id
$tritonName = "ndc-mission-core-m48n-native-reference-graph-triton"
$graphName = "ndc-mission-core-m48n-native-reference-graph"
foreach ($name in @($tritonName, $graphName)) {
if (& docker ps -a --format "{{.Names}}" --filter "name=^/$name$") {
throw "M48N candidate container $name already exists"
}
}
try {
& docker create `
--name $tritonName `
--label "com.nodedc.product=mission-core" `
--label "com.nodedc.stack=ndc-mission-core-compute" `
--label "com.nodedc.role=bounded-native-rf-detr-reference-graph-triton" `
--label "com.nodedc.managed-by=codex-bounded-experiment" `
--read-only `
--security-opt "no-new-privileges:true" `
--cap-drop ALL `
--pids-limit 512 `
--shm-size 1g `
--gpus all `
--tmpfs "/tmp:rw,noexec,nosuid,size=2g" `
--health-cmd "curl --fail --silent http://127.0.0.1:8000/v2/health/ready" `
--health-interval 5s `
--health-timeout 3s `
--health-start-period 20s `
--health-retries 24 `
-v ((Convert-ToDockerPath $modelRoot) + ":/models:ro") `
$image `
tritonserver `
--model-repository=/models `
--model-control-mode=explicit `
--load-model=rf_detr_large_native_kb4 `
--disable-auto-complete-config `
--strict-readiness=true `
--exit-on-error=true `
--allow-http=true `
--allow-grpc=false `
--allow-metrics=false *> $null
Assert-LastExitCode "M48N Triton creation"
& docker start $tritonName *> $null
Assert-LastExitCode "M48N Triton start"
$ready = $false
foreach ($attempt in 1..60) {
Start-Sleep -Seconds 2
$candidateContainer = Get-Container $tritonName
if (-not $candidateContainer.State.Running) {
& docker logs $tritonName
throw "M48N Triton stopped during startup"
}
if ($candidateContainer.State.Health.Status -ceq "healthy") {
$ready = $true
break
}
}
if (-not $ready) { throw "M48N Triton did not become healthy" }
if (@((Get-Container $tritonName).HostConfig.PortBindings.PSObject.Properties).Count -ne 0) {
throw "M48N Triton published a host port"
}
$arguments = @(
"run", "--name", $graphName,
"--label", "com.nodedc.product=mission-core",
"--label", "com.nodedc.stack=ndc-mission-core-compute",
"--label", "com.nodedc.role=bounded-native-rf-detr-reference-graph",
"--label", "com.nodedc.managed-by=codex-bounded-experiment",
"--network", ("container:{0}" -f $tritonName),
"--read-only",
"--security-opt", "no-new-privileges:true",
"--cap-drop", "ALL",
"--pids-limit", "256",
"--gpus", "all",
"--tmpfs", "/tmp:rw,noexec,nosuid,size=2g",
"-e", "PYTHONDONTWRITEBYTECODE=1",
"-e", (
"PYTHONPATH=/release/nodedc_mission_core-0.1.0-py3-none-any.whl:" +
"/opt/media:/opt/opencv:/opt/pillow"
),
"-v", ((Convert-ToDockerPath $release) + ":/release:ro"),
"-v", ((Convert-ToDockerPath $runOutput) + ":/output:rw"),
"-v", ((Convert-ToDockerPath $media) + ":/opt/media:ro"),
"-v", ((Convert-ToDockerPath $opencv) + ":/opt/opencv:ro"),
"-v", ((Convert-ToDockerPath $pillow) + ":/opt/pillow:ro"),
"-v", ((Convert-ToDockerPath $source.CameraIndex) + ":/source/camera-index.jsonl:ro"),
"-v", ((Convert-ToDockerPath $source.SourcePack) + ":/source/source-pack.npz:ro"),
"-v", ((Convert-ToDockerPath $source.LocalSurface) + ":/source/local-surface.npz:ro"),
"-v", ((Convert-ToDockerPath $source.Video) + ":/source/right.mp4:ro"),
"-v", ((Convert-ToDockerPath $source.Mask) + ":/source/mask.png:ro"),
"--entrypoint", "python3",
$image,
"/release/run_m48s_reference_graph_shadow_worker.py",
"--graph-config", "/release/m48n-rf-detr-native-reference-graph-shadow-v0.json",
"--baseline-profile", "/release/m4-recorded-realtime-baseline-v1.json",
"--detector-profile", "/release/rf-detr-large-native-kb4-risk-shadow-v0.json",
"--geometry-profile", "/release/m4-geometry-association-v1.json",
"--temporal-motion-profile", "/release/m4-temporal-motion-v1.json",
"--rolling-map-profile", "/release/m4-rolling-local-map-v1.json",
"--threat-profile", "/release/m4-replay-threat-v3.json",
"--camera-index", "/source/camera-index.jsonl",
"--source-pack", "/source/source-pack.npz",
"--local-surface", "/source/local-surface.npz",
"--video", "/source/right.mp4",
"--valid-fov-mask", "/source/mask.png",
"--triton-origin", "http://127.0.0.1:8000",
"--loops", "1",
"--maximum-frames", ([string]$MaximumFrames),
"--source-rate-hz", ([string]::Format(
[Globalization.CultureInfo]::InvariantCulture, "{0:R}", $SourceRateHz
)),
"--minimum-delivery-ratio", ([string]::Format(
[Globalization.CultureInfo]::InvariantCulture, "{0:R}", $MinimumDeliveryRatio
)),
"--minimum-effective-world-state-fps", ([string]::Format(
[Globalization.CultureInfo]::InvariantCulture,
"{0:R}",
$MinimumEffectiveWorldStateFps
)),
"--maximum-world-state-completion-p95-ms", ([string]::Format(
[Globalization.CultureInfo]::InvariantCulture,
"{0:R}",
$MaximumWorldStateCompletionP95Ms
)),
"--load-purpose", "production-rate",
"--runtime-artifact-sha256", $ExpectedWheelSha256,
"--runner-sha256", $runnerSha256,
"--output", "/output/result.json",
"--progress", "/output/progress.jsonl",
"--frame-ledger", "/output/frames.jsonl"
)
& docker @arguments
Assert-LastExitCode "M48N native complete reference graph shadow"
foreach ($name in @("result.json", "frames.jsonl", "progress.jsonl")) {
if (-not (Test-Path -LiteralPath (Join-Path $runOutput $name) -PathType Leaf)) {
throw "M48N graph artifact $name was not written"
}
}
} finally {
foreach ($name in @($graphName, $tritonName)) {
if (& docker ps -a --format "{{.Names}}" --filter "name=^/$name$") {
& docker rm -f $name *> $null
}
}
$canonicalAfter = Get-Container "ndc-mission-core-triton"
if (
$canonicalAfter.Id -cne $canonicalTritonId -or
-not $canonicalAfter.State.Running -or
$canonicalAfter.State.Health.Status -cne "healthy"
) {
throw "Canonical Triton changed during M48N shadow"
}
}
Write-Output ("M48N_NATIVE_REFERENCE_GRAPH_RESULT={0}" -f (Join-Path $runOutput "result.json"))
Write-Output "CANONICAL_TRITON_ACTION=none"
Write-Output "PRODUCTION_ACCEPTED=false"