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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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### M4.9 — recorded-realtime release candidate and cutover ### 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: Execute on Worker 006 with the frozen RAVNOVES00 source:
1. one full `1.0×` 448.723-second replay; 1. one full `1.0×` 448.723-second replay;
docs/23_TRAVERSABILITY_AND_STATIC_OBSTACLE_STACK_DECISION.md
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accept visual traversability quality, integrated graph performance, navigation accept visual traversability quality, integrated graph performance, navigation
or actuation. 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 ### T4 — Candidate C occupancy/ESDF probe
- Run nvblox separately with RF-DETR disabled for the isolated probe. - Run nvblox separately with RF-DETR disabled for the isolated probe.
@@ -361,15 +372,16 @@ or actuation.
## Immediate next action ## Immediate next action
Review the published full gravity-aligned TGS timeline in camera, metric 3D and Keep the accepted integrated graph frozen and review the published full
costmap space. Preserve gravity-aligned TGS timeline in camera, metric 3D and costmap space. Preserve
`GROUND_SUPPORT`, `NONGROUND_OCCUPIED`, `UNKNOWN_REJECTED` and `UNOBSERVED` as `GROUND_SUPPORT`, `NONGROUND_OCCUPIED`, `UNKNOWN_REJECTED` and `UNOBSERVED` as
separate products; do not use AOS or infer free cells from absent separate products; do not use AOS or infer free cells from absent
republication. Attach the unchanged candidate to the realtime world-state graph republication. Integrated FPS, latency, resources and queue behavior are now
in non-authoritative shadow mode and measure complete-graph FPS, latency, accepted for the one-loop source-paced gate. If occupied evidence carpets the
resource use and queue drops. If occupied evidence carpets the route, soft route, soft traversable vegetation or usable gaps, reject TGS without tuning it
traversable vegetation or usable gaps, reject TGS without tuning it against the against the review evidence. Close and induce-test the Worker inference-runtime
review evidence. Candidate A T2 replay remains blocked by the failed unmodified restart guard, then proceed to repeated-loop soak only if visual review also passes.
T1 gate. No LOW-STEP tuning, new object model, camera resize, fisheye 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 rectification, manual dataset or parallel heavy Worker job is authorized by
this decision. this decision.
experiments/perception/M49_TGS_INTEGRATED_GRAPH_ACCEPTANCE_2026-08-27.md
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# M4.9T5 integrated TGS + reference graph shadow — 2026-08-27
Status: **complete source-paced integrated shadow accepted**. Integrated
runtime capacity is accepted for the frozen RAVNOVES00 graph. Visual
traversability quality, physical free space, navigation, actuation and
production remain unaccepted.
## Decision
The unchanged gravity-aligned TGS candidate and the frozen RF-DETR
world-state graph completed the same `4,489`-frame RAVNOVES00 timeline from a
shared `12 Hz` start barrier on Worker 006. Every graph frame was delivered,
every TGS frame was accounted, all queues remained bounded and no capacity
drop or supersession occurred.
The integrated graph sustained `11.860865 FPS`, compared with the frozen
reference result at `11.79902 FPS`. TGS added `1.735 ms` at p95 and used at
most `22.6 MiB` of container memory; it did not add a GPU model. The exact
per-frame join of graph and TGS outputs measured `46.825886 ms` at p95 and
`63.94485 ms` at p99. This accepts the runtime integration gate without
changing any navigation or safety authority.
## Frozen identity
| Item | Identity |
| --- | --- |
| Integrated result | `m49-tgs-integrated-graph-shadow-75e48fd8acf0246be16613e087fcf26fe909f7834718d217c74785a57f494b24` |
| Worker run | `Worker 006 / ravnoves00-integrated-12fps-003` |
| Mission Core revision used by Worker | `f153d671d316ea7b2200c0edcb80206d896ffcd5` |
| Deterministic Worker artifact | `1818ea57887db819e9d986713b050bd15eae1a43ee4af70c5b8b5d39f4cd8522` |
| Worker wheel | `b9414a1f2f1998543aeb63824d3cdfe55bbc6e4eecc3146d65962ebc7da86b8b` |
| TGS native binary | `2c3b4c7e6b66d19d2e32ee3ef867fa8c14073be29441bcd19fe565d9632c6538` |
| Integrated profile | `b61e018b2d04eec58802e2d4186ce7a3dd3a15b254db106b57b609e903eeef80` |
| Frozen graph config | `1db6f6fa0561d819505a5e4f62fe256dab6fe4d9da6b4f1a9a5073bfcf772c90` |
| Frozen TGS profile | `c2e07010aaee78259d36c057962d6bfb885349251ff7356d867e5813e632881c` |
| Linked accepted TGS result | `m49-tgs-full-shadow-ef98de7db7596d48e8c8c0549ce68e6704ee03e87c8c4bcf1e3e748b7ccb032e` |
The release was built from `git archive` of the declared revision. Uncommitted
GAUSS and PlayCanvas files were neither packaged nor changed by the run.
## Full-run result
| Measurement | Result |
| --- | ---: |
| Graph admitted / delivered | `4,489 / 4,489` |
| TGS timeline accounted | `4,489 / 4,489` |
| LiDAR available | `3,928` |
| Delivery ratio | `1.0` |
| Capacity drops / supersessions / failures | `0 / 0 / 0` |
| Effective world-state rate | `11.860865 FPS` |
| Frozen reference rate | `11.79902 FPS` |
| World-state completion p50 / p95 / p99 / max | `28.437492 / 46.696395 / 63.94485 / 170.202343 ms` |
| Joined graph+TGS output p50 / p95 / p99 / max | `28.57367 / 46.825886 / 63.94485 / 170.202343 ms` |
| TGS stage p50 / p95 / p99 / max | `1.186 / 1.735 / 2.14019 / 6.151 ms` |
| TGS completion p50 / p95 / p99 / max | `17.605461 / 31.771832 / 42.957350 / 70.851977 ms` |
| Queue high-water marks | `2` for every bounded stage |
| Worker wrapper wall time | `544.887447 s` |
All nineteen formal identity, accounting, throughput, latency, telemetry,
capacity and false-authority checks passed.
## Resource envelope
| Resource | Result |
| --- | ---: |
| GPU utilization mean / p95 / max | `43.114973 / 53 / 57 %` |
| GPU memory mean / p95 / max | `9,737.144 / 9,744 / 9,751 MiB` |
| GPU power p95 / max | `149.342 / 153.81 W` |
| TGS CPU mean / p95 / max | `3.474793 / 5.27 / 6.04 %` |
| TGS memory mean / p95 / max | `20.571818 / 21.84 / 22.6 MiB` |
| Graph container memory max | `1,769.472 MiB` |
| Triton container memory max | `582.9 MiB` |
The measured GPU envelope belongs to the already accepted reference graph.
TGS is a CPU-only stage and does not request CUDA, Vulkan or a second model.
## LAB publication boundary
No third visual viewer is created for this gate. The TGS cells, source points,
camera frames and semantic archive are byte-identical to the already published
`m49-tgs-full-shadow` LAB. This run proves concurrent runtime behavior, so its
new evidence is the immutable timing, queue and resource report above. Visual
quality review continues in the existing full-shadow LAB.
## Runtime recovery finding
Preflight found the canonical `ndc-mission-core-triton` container stopped after
the Docker runtime restarted. Docker reported exit code `255`, no OOM event and
Compose configured `restart: "no"`. The accepted run began only after the exact
same container was started and healthy; its container ID remained
`4232fb040062a8384809e73612baa92b343ddcb60f00c23e7091eb4909959223`
throughout the run.
This is a deployment-lifecycle defect, not a perception overload result. The
container must use a durable restart policy and an unhealthy-state watchdog;
changing the TGS or detector graph cannot fix it.
The live container was subsequently changed in place to
`restart: unless-stopped`. Docker confirmed the service remained `running` and
`healthy` with the same container ID, so applying the mitigation caused no
inference restart. This protects the current container from process and Docker
daemon restarts. The versioned Worker Compose source still declares
`restart: "no"`; closing that source-level drift and inducing a controlled
recovery remain a separate deployment gate.
## Sealed compact evidence
| File | SHA-256 |
| --- | --- |
| `result.json` | `bfc881aa943d46582a248b6024a413c3c4b3a6959fa4a674f6ec33d658fdcbdf` |
| `graph-result.json` | `784d27b908137843f6adf08d267576a74b0676f5f98226923399ae59f538b78a` |
| `tgs-result.json` | `c0245744892b66c7f24af3cd7ea9c8cd8d543114fffa70e32d8d5fef81054716` |
| `worker-summary.json` | `c449246d14fb927b6490bcf657950b354f101fd3eb4b296bc0f6dd8543aafe10` |
## Next gate
Keep this integrated graph frozen. Complete the independent visual
traversability review in the existing TGS LAB, concentrating on vegetation,
compact obstacles, false occupied carpets, usable gaps and missing-LiDAR
behavior. In parallel, close the Worker inference-runtime restart policy and
verify an induced stop/recovery without changing result identity. Only after
both gates pass may the candidate advance to repeated-loop soak and recovery
acceptance; navigation and actuation remain off.