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docs(perception): accept integrated TGS graph load gate

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DCCONSTRUCTIONS
2026-08-27 12:01:27 +03:00
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docs/22_MILESTONE_4_OBJECT_CENTRIC_RECORDED_REALTIME_CV.md
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@@ -572,6 +572,16 @@ Exit:
### M4.9 — recorded-realtime release candidate and cutover
The first complete integrated source-paced load gate passed on `2026-08-27`:
the frozen RF-DETR world-state graph and unchanged CPU TGS candidate accounted
for all `4,489` frames at `11.860865 FPS`, with joined output p95/p99 of
`46.825886/63.94485 ms` and zero capacity drops. The immutable identities and
resource envelope are recorded in
[`experiments/perception/M49_TGS_INTEGRATED_GRAPH_ACCEPTANCE_2026-08-27.md`](../experiments/perception/M49_TGS_INTEGRATED_GRAPH_ACCEPTANCE_2026-08-27.md).
This closes only the one-loop integrated load gate. Visual traversability,
uncapped parity, repeated-loop soak, restart/recovery, navigation, actuation
and production remain open.
Execute on Worker 006 with the frozen RAVNOVES00 source:
1. one full `1.0×` 448.723-second replay;
docs/23_TRAVERSABILITY_AND_STATIC_OBSTACLE_STACK_DECISION.md
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@@ -344,6 +344,17 @@ This accepts the CPU source-paced shadow and retains the candidate. It does not
accept visual traversability quality, integrated graph performance, navigation
or actuation.
The product-integration load gate then passed on `2026-08-27`. The unchanged
TGS candidate ran concurrently with the frozen RF-DETR world-state graph for
all `4,489` frames at a requested `12 Hz`: every graph frame was delivered,
every TGS frame was accounted and capacity drops remained zero. The joined
output sustained `11.860865 FPS`, measured `46.825886/63.94485 ms` at p95/p99,
and the CPU-only TGS stage measured `1.735/2.14019 ms` at p95/p99 with a
`22.6 MiB` memory maximum. See
[`experiments/perception/M49_TGS_INTEGRATED_GRAPH_ACCEPTANCE_2026-08-27.md`](../experiments/perception/M49_TGS_INTEGRATED_GRAPH_ACCEPTANCE_2026-08-27.md).
Integrated runtime capacity is accepted; visual traversability, physical free
space, navigation, actuation and production remain unaccepted.
### T4 — Candidate C occupancy/ESDF probe
- Run nvblox separately with RF-DETR disabled for the isolated probe.
@@ -361,15 +372,16 @@ or actuation.
## Immediate next action
Review the published full gravity-aligned TGS timeline in camera, metric 3D and
costmap space. Preserve
Keep the accepted integrated graph frozen and review the published full
gravity-aligned TGS timeline in camera, metric 3D and costmap space. Preserve
`GROUND_SUPPORT`, `NONGROUND_OCCUPIED`, `UNKNOWN_REJECTED` and `UNOBSERVED` as
separate products; do not use AOS or infer free cells from absent
republication. Attach the unchanged candidate to the realtime world-state graph
in non-authoritative shadow mode and measure complete-graph FPS, latency,
resource use and queue drops. If occupied evidence carpets the route, soft
traversable vegetation or usable gaps, reject TGS without tuning it against the
review evidence. Candidate A T2 replay remains blocked by the failed unmodified
T1 gate. No LOW-STEP tuning, new object model, camera resize, fisheye
republication. Integrated FPS, latency, resources and queue behavior are now
accepted for the one-loop source-paced gate. If occupied evidence carpets the
route, soft traversable vegetation or usable gaps, reject TGS without tuning it
against the review evidence. Close and induce-test the Worker inference-runtime
restart guard, then proceed to repeated-loop soak only if visual review also passes.
Candidate A T2 replay remains blocked by the failed unmodified T1 gate. No
LOW-STEP tuning, new object model, camera resize, fisheye
rectification, manual dataset or parallel heavy Worker job is authorized by
this decision.