feat(perception): integrate calibrated operator pipeline

Add calibrated K1 projection, recorded and near-live perception qualification, unified Rerun operator layers, bounded replay admission, audited viewer controls, worker experiments, and lab evidence.
2026-07-23 00:23:28 +03:00
parent ada2a55ee6
commit b53d6d5a45
221 changed files with 55923 additions and 1357 deletions
@@ -0,0 +1,133 @@
+[CmdletBinding()]
+param(
+    [Parameter(Mandatory = $true)]
+    [string]$EvaluationPack,
+
+    [Parameter(Mandatory = $true)]
+    [string]$ValidFovRoot,
+
+    [Parameter(Mandatory = $true)]
+    [string]$RunnerPath,
+
+    [Parameter(Mandatory = $true)]
+    [string]$BaselineRunnerPath,
+
+    [string]$RuntimeRoot = "D:\NDC_MISSIONCORE\runtime"
+)
+
+$ErrorActionPreference = "Stop"
+$ProgressPreference = "SilentlyContinue"
+
+function Assert-LastExitCode {
+    param([string]$Operation)
+    if ($LASTEXITCODE -ne 0) {
+        throw "$Operation failed with exit code $LASTEXITCODE"
+    }
+}
+
+function Assert-RegularFile {
+    param([string]$Path, [string]$Label)
+    $item = Get-Item -LiteralPath $Path -Force
+    if (-not $item.PSIsContainer -and -not ($item.Attributes -band [IO.FileAttributes]::ReparsePoint)) {
+        return $item.FullName
+    }
+    throw "$Label is not a regular file"
+}
+
+function Assert-Directory {
+    param([string]$Path, [string]$Label)
+    $item = Get-Item -LiteralPath $Path -Force
+    if ($item.PSIsContainer -and -not ($item.Attributes -band [IO.FileAttributes]::ReparsePoint)) {
+        return $item.FullName
+    }
+    throw "$Label is not a real directory"
+}
+
+function Convert-ToDockerPath {
+    param([string]$Path)
+    return $Path.Replace("\", "/")
+}
+
+$packRoot = Assert-Directory (Resolve-Path -LiteralPath $EvaluationPack).Path "Evaluation pack"
+$validFov = Assert-Directory (Resolve-Path -LiteralPath $ValidFovRoot).Path "Valid-FOV root"
+$runner = Assert-RegularFile (Resolve-Path -LiteralPath $RunnerPath).Path "Prelabel runner"
+$baselineRunner = Assert-RegularFile (Resolve-Path -LiteralPath $BaselineRunnerPath).Path "Baseline runner"
+if ((Split-Path $runner -Parent) -ne (Split-Path $baselineRunner -Parent)) {
+    throw "Prelabel and baseline runners must share one read-only mount"
+}
+$runtime = Assert-Directory (Resolve-Path -LiteralPath $RuntimeRoot).Path "Runtime root"
+$pack = Get-Content -LiteralPath (Join-Path $packRoot "manifest.json") -Raw | ConvertFrom-Json
+if (
+    $pack.schema_version -ne "missioncore.perception-evaluation-pack/v1" -or
+    $pack.generation_id -ne (Split-Path $packRoot -Leaf) -or
+    $pack.identity.preprocessing_profile -ne "fixed-valid-fov-fill/v1"
+) {
+    throw "Evaluation pack manifest is incompatible"
+}
+$null = Assert-RegularFile (Join-Path $validFov "manifest.json") "Valid-FOV manifest"
+$null = Assert-RegularFile (Join-Path $validFov "mask.png") "Valid-FOV mask"
+
+$cacheRoot = Assert-Directory (Join-Path $runtime "cache\perception-p0-models-v1") "Model cache"
+$torchEnvironment = Assert-Directory (Join-Path $runtime "derived\perception-p0-env-v1") "Torch environment"
+$transformersEnvironment = Assert-Directory (Join-Path $runtime "derived\perception-p0-transformers4576-v1") "Transformers environment"
+$runnerRoot = Split-Path $runner -Parent
+$runnerName = Split-Path $runner -Leaf
+$derivedRoot = Join-Path $runtime "derived\evaluation-prelabels"
+$null = New-Item -ItemType Directory -Path $derivedRoot -Force
+$runToken = [Guid]::NewGuid().ToString("N")
+$publishRoot = Join-Path $derivedRoot (".{0}-{1}.publish" -f $pack.generation_id, $runToken)
+$stagingRoot = Join-Path $publishRoot "output"
+$null = New-Item -ItemType Directory -Path $publishRoot
+
+try {
+    $dockerArgs = @(
+        "run", "--rm", "--gpus", "all", "--network", "none",
+        "--security-opt", "no-new-privileges:true", "--cap-drop", "ALL",
+        "--shm-size", "2g",
+        "-e", "PYTHONPATH=/opt/transformers:/opt/env",
+        "-e", "TORCH_HOME=/cache/torch",
+        "-e", "HF_HOME=/cache/huggingface",
+        "-e", "HF_HUB_OFFLINE=1",
+        "-e", "TRANSFORMERS_OFFLINE=1",
+        "-v", ((Convert-ToDockerPath $packRoot) + ":/evaluation-pack:ro"),
+        "-v", ((Convert-ToDockerPath $validFov) + ":/valid-fov:ro"),
+        "-v", ((Convert-ToDockerPath $publishRoot) + ":/publish:rw"),
+        "-v", ((Convert-ToDockerPath $cacheRoot) + ":/cache:rw"),
+        "-v", ((Convert-ToDockerPath $torchEnvironment) + ":/opt/env:ro"),
+        "-v", ((Convert-ToDockerPath $transformersEnvironment) + ":/opt/transformers:ro"),
+        "-v", ((Convert-ToDockerPath $runnerRoot) + ":/runner:ro"),
+        "--entrypoint", "python3",
+        "nvcr.io/nvidia/tritonserver:26.06-py3",
+        ("/runner/{0}" -f $runnerName),
+        "--evaluation-pack", "/evaluation-pack",
+        "--valid-fov-root", "/valid-fov",
+        "--output", "/publish/output",
+        "--cache", "/cache",
+        "--telemetry-interval-seconds", "1"
+    )
+    Write-Output ("PHASE=e2-prelabels-start PACK={0}" -f $pack.generation_id)
+    & docker @dockerArgs
+    Assert-LastExitCode "E2 prelabel generation"
+
+    $result = Get-Content -LiteralPath (Join-Path $stagingRoot "result.json") -Raw | ConvertFrom-Json
+    if (
+        $result.schema_version -ne "missioncore.perception-evaluation-prelabels/v1" -or
+        $result.result_id -notmatch "^evaluation-prelabels-[a-f0-9]{64}$" -or
+        $result.identity.evaluation_pack_id -ne $pack.generation_id
+    ) {
+        throw "E2 prelabel result manifest is incompatible"
+    }
+    $finalRoot = Join-Path $derivedRoot ([string]$result.result_id)
+    if (Test-Path -LiteralPath $finalRoot) {
+        throw "An immutable E2 prelabel result with the same identity already exists: $finalRoot"
+    }
+    Move-Item -LiteralPath $stagingRoot -Destination $finalRoot
+    Remove-Item -LiteralPath $publishRoot -Force
+    Write-Output ("RESULT_ROOT={0}" -f $finalRoot)
+    Write-Output ("RESULT_ID={0}" -f $result.result_id)
+}
+finally {
+    if (Test-Path -LiteralPath $publishRoot) {
+        Remove-Item -LiteralPath $publishRoot -Recurse -Force
+    }
+}