feat(perception): qualify E35 degradation recovery
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# LAB E35 — deterministic degradation and recovery
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Date: 2026-07-27
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Status: accepted for source-scoped diagnostic/shadow use; persistent
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reconstruction, planner, navigation, safety and command authority remain
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unavailable
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Immutable result:
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`e35-degradation-recovery-82bdbd5c5bfde6d932737f077153c3a8472c993c343fcbe8a207c39bfa2a6288`
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## Objective and architecture stage
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E35 closes the degradation half of A8. It asks whether the accepted
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E32 TrackGeometry, E33 delivery envelope and E34 temporal occupied/unknown
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layer fail safely and recover explicitly when one required source or timing
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property degrades.
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The experiment does not mutate or replace any accepted input. It derives six
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complete deterministic variants from the exact RAVNOVES00 replay, applies one
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bounded transformation in each variant and replays every variant through a
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fresh E34 state machine with its frozen profile.
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## Immutable inputs and predeclared profile
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- E32:
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`e32-track-geometry-a14ca0e7fb3850ca0dfa3c41634e1b490a2d58ab74d101afc6d6921fbdb0e6fd`.
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- E33:
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`e33-worker-shadow-05cc0bb264410fd49536df90e94067ac39731aff0322a8873700d40008a8bb3a`.
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- E34:
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`e34-temporal-occupied-8d9abb3f2cc072cfdbb16cc4e55798e05c35a0abe0b8f691096770e091573a73`.
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- Source: RAVNOVES00 / `20260720T065719Z_viewer_live`.
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- Frames: `4,489` per variant, `26,934` terminal variant-frame outcomes.
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- Profile:
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`missioncore.e35-degradation-profile/v1`,
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`e35-six-channel-degradation-recovery/v1`.
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- Frozen E34 layer: `0.45 m` voxels, `0.75 s` occupied TTL and the accepted
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component/association bounds.
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The profile and ADR 0028 were written before the full replay. Each fault
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occupies a distinct 60-frame interval:
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1. camera observations unavailable;
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2. LiDAR points unavailable;
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3. pose age `0.5 s`, above the admitted `0.1 s` binding;
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4. result delay `1.0 s`, above the `0.75 s` TTL, with discard policy;
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5. every third input frame dropped;
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6. camera↔LiDAR offset `250 ms`, above the admitted `100 ms` gate.
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Acceptance required complete accounting, an explicit injection journal, all
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variants recovered within `0.25 s`, and zero hidden success, false free-space,
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semantic claims without camera, metric rows without LiDAR/current pose, `agree`
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claims under timing mismatch and late-result reintroduction.
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## Method and algorithms
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For every source frame and every scenario E35:
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1. reconstructs the exact validated E32 `TrackGeometryFrame` and `PointSlab`;
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2. records a digest of the original frame;
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3. applies one pure frame-local transformation only inside the declared
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interval;
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4. removes semantic identity on camera loss while retaining hit-backed points
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only as `geometry-only`;
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5. removes map-frame point rows on LiDAR loss or stale pose while retaining
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camera observations only as non-metric `camera-only`;
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6. discards late frames and prevents them from returning after their logical
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deadline;
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7. journals every dropped frame and passes intervening bounded-drop frames in
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original order;
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8. splits mismatched camera and LiDAR evidence into separate `camera-only` and
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`geometry-only` claims so the pair cannot publish `agree`;
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9. feeds the transformed frame into an independent frozen E34 temporal layer;
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10. records terminal layer state, current/held/expired counts, recovery,
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transformation digests, policy and authority.
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No missing point set is treated as free space. No transform writes into the
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persistent reconstruction or any accepted upstream artifact.
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## Accepted result
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Result:
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`e35-degradation-recovery-82bdbd5c5bfde6d932737f077153c3a8472c993c343fcbe8a207c39bfa2a6288`.
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| Scenario | Injected frames | Explicit drops | Recovery | Unsafe claims |
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| --- | ---: | ---: | ---: | ---: |
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| camera loss | 60 | 0 | 0.086 s | 0 semantics |
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| LiDAR loss | 60 | 0 | 0.100 s | 0 metric rows |
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| pose staleness | 60 | 0 | 0.101 s | 0 metric rows |
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| delayed frames | 60 | 60 | 0.088 s | 0 late returns |
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| bounded drop | 60 | 20 | 0.101 s | 0 hidden success |
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| timing offset | 60 | 0 | 0.102 s | 0 `agree` |
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All six variants processed `4,489 / 4,489` frames. The immutable artifacts
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contain `26,934` terminal outcomes and `360` explicit injection records.
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Maximum recovery was `0.102 s`, below the predeclared `0.25 s` gate.
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Across all variants:
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- hidden success frames: `0`;
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- false free cell rows: `0`;
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- semantic claims during camera loss: `0`;
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- metric rows during LiDAR loss or stale pose: `0`;
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- `agree` claims during timing offset: `0`;
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- late results reintroduced: `0`;
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- upstream artifact changes: `0`;
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- variant-frame processing p95: `1.080 ms`.
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## Product materialization
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The accepted result is exposed through the path-free read-only endpoint
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`GET /api/v1/laboratory/e35/results?limit=1` and a separate
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`LAB E35 · degradation recovery` entry in the laboratory contour.
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The UI extends the fixed `missioncore.laboratory-report/v1` template. It shows:
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- the task, immutable method and human-readable conclusion;
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- six selectable fault scenarios;
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- a compact before/during/after recovery timeline;
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- current, held and expired spatial evidence in the existing laboratory
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viewer with admitted 3D/plan and fullscreen controls;
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- explicit fault action, channel state, recovery time, unsafe-claim count and
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acceptance decision;
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- proved, not proved and next-gate statements.
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E35 does not add a new generic control, a separate page anatomy or a
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run-specific visual language.
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## Interpretation and limitations
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E35 proves, on this immutable source and frozen profile:
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- each declared channel/timing failure loses unsupported capability explicitly;
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- the temporal layer ages prior evidence as held/expired unknown rather than
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inventing free space;
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- late evidence is discarded and cannot silently return;
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- nominal current evidence returns on the next source frame after every fault;
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- accounting and authority remain closed.
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E35 does not prove:
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- detector accuracy or human ground truth;
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- transfer to another capture, device or mount;
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- ray-cleared free space, traversability, TSDF or ESDF;
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- planner, navigation, safety or command acceptance.
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## Decision and next stage
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E35 is accepted and closes A8. Workstream A has completed A0–A8.
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The next critical-path gate is A9/E36: run the frozen E32–E35 profile without
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retuning on an eligible second mounted real source. The source catalog must be
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audited first. If no recording contains the required camera, LiDAR, pose,
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time, calibration and mount identities, E36 remains explicitly blocked; no
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empty LAB, fabricated result or new capture is created by default.
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@@ -0,0 +1,88 @@
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{
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"schema_version": "missioncore.e35-degradation-profile/v1",
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"profile_id": "e35-six-channel-degradation-recovery/v1",
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"expected_e32_result_id": "e32-track-geometry-a14ca0e7fb3850ca0dfa3c41634e1b490a2d58ab74d101afc6d6921fbdb0e6fd",
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"expected_e33_result_id": "e33-worker-shadow-05cc0bb264410fd49536df90e94067ac39731aff0322a8873700d40008a8bb3a",
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"expected_e34_result_id": "e34-temporal-occupied-8d9abb3f2cc072cfdbb16cc4e55798e05c35a0abe0b8f691096770e091573a73",
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"scenarios": [
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{
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"scenario_id": "camera-loss",
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"kind": "camera-loss",
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"frame_start": 600,
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"frame_end": 659,
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"parameters": {
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"drop_camera_observations": true
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}
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},
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{
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"scenario_id": "lidar-loss",
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"kind": "lidar-loss",
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"frame_start": 1200,
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"frame_end": 1259,
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"parameters": {
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"drop_lidar_points": true
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}
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},
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{
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"scenario_id": "pose-staleness",
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"kind": "pose-staleness",
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"frame_start": 1800,
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"frame_end": 1859,
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"parameters": {
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"pose_age_seconds": 0.5
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}
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},
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{
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"scenario_id": "delayed-frames",
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"kind": "delayed-frames",
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"frame_start": 2400,
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"frame_end": 2459,
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"parameters": {
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"delay_seconds": 1.0,
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"late_result_policy": "discard"
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}
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},
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{
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"scenario_id": "bounded-drop",
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"kind": "bounded-drop",
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"frame_start": 3000,
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"frame_end": 3059,
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"parameters": {
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"drop_every_nth_frame": 3
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}
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},
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{
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"scenario_id": "timing-offset",
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"kind": "timing-offset",
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"frame_start": 3600,
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"frame_end": 3659,
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"parameters": {
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"camera_lidar_offset_ms": 250
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}
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}
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],
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"acceptance": {
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"expected_scenario_count": 6,
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"maximum_recovery_seconds": 0.25,
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"maximum_hidden_success_frames": 0,
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"maximum_false_free_rows": 0,
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"maximum_semantic_claims_during_camera_loss": 0,
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"maximum_metric_rows_during_lidar_or_pose_loss": 0,
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"maximum_late_results_reintroduced": 0,
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"require_complete_variant_frame_accounting": true,
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"require_exact_upstream_artifact_identity": true,
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"require_explicit_injection_journal": true,
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"require_every_variant_to_recover": true
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},
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"policy": {
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"absence_of_points_means_free": false,
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"late_results_may_reenter": false,
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"timing_mismatch_may_publish_agree": false,
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"pose_stale_points_may_publish_map_occupancy": false,
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"persistent_reconstruction_mutation_allowed": false
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},
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"authority": {
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"commands_enabled": false,
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"navigation_or_safety_accepted": false
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}
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}
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@@ -0,0 +1,51 @@
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#!/usr/bin/env python3
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"""Build the immutable E35 degradation and recovery qualification."""
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from __future__ import annotations
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import argparse
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import json
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from pathlib import Path
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from k1link.compute.e35_degradation_replay import (
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build_e35_degradation_replay,
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)
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def main() -> int:
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parser = argparse.ArgumentParser()
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parser.add_argument("--e32-result", type=Path, required=True)
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parser.add_argument("--e33-result", type=Path, required=True)
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parser.add_argument("--e34-result", type=Path, required=True)
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parser.add_argument("--e34-profile", type=Path, required=True)
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parser.add_argument("--profile", type=Path, required=True)
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parser.add_argument("--output-root", type=Path, required=True)
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args = parser.parse_args()
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result = build_e35_degradation_replay(
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e32_result_root=args.e32_result,
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e33_result_root=args.e33_result,
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e34_result_root=args.e34_result,
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e34_profile_path=args.e34_profile,
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profile_path=args.profile,
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output_root=args.output_root,
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)
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print(
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json.dumps(
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{
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"result_id": result.result_id,
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"result_root": str(result.result_root),
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"accepted": result.accepted,
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"metrics": result.report["metrics"],
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"rejection_reasons": result.report["acceptance"][
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"rejection_reasons"
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],
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},
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ensure_ascii=False,
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sort_keys=True,
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)
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)
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return 0 if result.accepted else 2
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if __name__ == "__main__":
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raise SystemExit(main())
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