docs(lab): record sealed playback data plane
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DCCONSTRUCTIONS
@@ -355,6 +355,17 @@ and the CPU-only TGS stage measured `1.735/2.14019 ms` at p95/p99 with a
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Integrated runtime capacity is accepted; visual traversability, physical free
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space, navigation, actuation and production remain unaccepted.
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The canonical LAB playback data plane was then replaced on `2026-08-27` without
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changing the sealed TGS or reference-graph results. Dense M4 points and complete
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TGS numeric products are now loaded once as immutable digest-verified binary
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tracks; bounded JSON windows retain metadata only, and the existing Three.js
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scene updates persistent GPU buffers instead of remounting per frame. The exact
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products, loopback delivery measurements, seek/play browser acceptance and
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authority boundary are recorded in
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[`experiments/perception/M49_LAB_PLAYBACK_DATA_PLANE_ACCEPTANCE_2026-08-27.md`](../experiments/perception/M49_LAB_PLAYBACK_DATA_PLANE_ACCEPTANCE_2026-08-27.md).
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This is a playback and evidence-delivery acceptance, not a new perception or
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navigation-quality gate.
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### T4 — Candidate C occupancy/ESDF probe
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- Run nvblox separately with RF-DETR disabled for the isolated probe.
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@@ -0,0 +1,100 @@
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# M4.9 LAB sealed playback data plane — 2026-08-27
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Status: **accepted for local recorded-evidence playback on the canonical Mission
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Core service**. This acceptance covers playback delivery, timeline interaction
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and renderer lifecycle. It does not change TGS visual-quality, navigation,
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actuation or production authority.
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## Decision
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The LAB no longer transports source point arrays or the full TGS costmap as
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per-frame JSON. The canonical playback data plane now downloads sealed numeric
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tracks once, verifies their declared SHA-256 identities, retains them in the
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browser and derives the current frame from immutable offsets. JSON remains only
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for bounded frame metadata that is not a dense numeric point track.
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The renderer keeps one Three.js scene mounted. Point `BufferGeometry`,
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classified-cell `InstancedMesh` objects and semantic-mask presentation are
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updated in place. A qualified previous semantic mask may remain visible while
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the exact next mask is loading; it is marked stale and is never presented as
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the new exact frame. Rapid seeks cancel obsolete metadata windows.
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This removes the observed frame-by-frame JSON parsing and scene-remount path.
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It also disables dynamic gzip for local numeric tracks and compact frame
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metadata. During diagnosis, on-the-fly compression of the M4 point product took
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approximately `14.4 s` and placed the backend in zlib work. The accepted
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delivery uses `Content-Encoding: identity`, immutable cache headers and the
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sealed digest instead.
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## Sealed playback products
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| Product | Shape / count | Bytes | Delivery |
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| --- | ---: | ---: | --- |
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| M4 map points | `9,207,270 × 3`, float32 | `110,487,240` | one raw binary track + `4,490` immutable offsets |
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| M49 cell centers | `2,244 × 2`, float32 NPY | `18,080` | one immutable track |
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| M49 states | `4,489 × 2,244`, uint8 NPY | `10,073,444` | one immutable track |
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| M49 z-bounds | `4,489 × 2,244 × 2`, float32 NPY | `80,586,656` | one immutable track |
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| M49 frame ledger | `4,489` NDJSON records | `1,178,262` | one immutable track |
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| M49 total | four tracks | `91,856,442` | preloaded once |
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M4 points remain in the exact registered-map point index space. A lightweight
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M4 metadata window declares body transforms, camera proposals, obstacles and
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point accounting without duplicating point arrays. The browser hydrates a
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qualified current increment from the retained binary track. M49 states and
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z-bounds are addressed directly by `source_sequence`; all `2,244` cells remain
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explicit for every one of the `4,489` frames.
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## Measured local delivery
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One hot local-loopback measurement on the canonical `127.0.0.1:8000` service:
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| Request | Bytes | Wall time |
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| --- | ---: | ---: |
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| M4 point track | `110,487,240` | `0.162 s` |
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| M49 centers | `18,080` | `0.009 s` |
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| M49 states | `10,073,444` | `0.046 s` |
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| M49 z-bounds | `80,586,656` | `0.256 s` |
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| M49 frame ledger | `1,178,262` | `0.007 s` |
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| M4 lightweight metadata, frames `1104–1127` | `891,543` | `0.160 s` |
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These loopback values describe delivery only; they are not a network SLA. The
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UI separately exposes exact download percentage and MiB progress while tracks
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are transferred and verified.
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## Browser acceptance
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Production assets were opened through the canonical service. An arbitrary seek
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from the beginning to `110.330 s` produced exact frame `1105`, its E47 semantic
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mask, qualified source cloud, bounded local SLAM surface and the same-frame TGS
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costmap. The qualified scene was visible within the `1.2 s` observation wait.
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Playback then advanced through frame `1141` across multiple 24-frame metadata
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windows. The final DOM and visual evidence agreed on frame `1141`; the semantic
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mask was frame `1141`; `map-gravity-local · all eligible points accounted` was
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visible; no spatial buffering state or missing-linked-cloud warning remained.
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The browser console contained zero errors.
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Frames without a qualified body frame still render honestly as TGS cell-only.
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They do not reuse a source cloud from another frame and do not invent geometry.
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## Runtime and validation
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- Canonical service: exactly one listener on `127.0.0.1:8000`; no listener on
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`8765`.
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- Backend: Ruff passed; `11` focused M49/M4 tests passed.
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- Frontend: `28` focused playback, semantic and architecture tests passed;
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TypeScript typecheck and production build passed.
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- Delivery commits: `bf76304` (`sealed spatial playback tracks`) and `7aeea4e`
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(`retained spatial scenes during replay`).
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- GAUSS and PlayCanvas changes were excluded from both commits and from this
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acceptance.
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## Authority boundary
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Accepted: local recorded-evidence delivery, exact sealed identity, bounded
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metadata windows, fast seek behavior, retained renderer state and synchronized
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camera/semantic/spatial presentation.
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Not accepted: visual traversability quality, physical free space, a vehicle
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envelope, collision clearance, navigation, actuation, live-stream transport or
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production soak. Those gates remain separate from the LAB playback data plane.
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