feat: publish full RELLIS qualification

README.md

@@ -131,6 +131,12 @@ K1 `lio_pcl` remains a post-LIO vendor-map increment and is not promoted to a
 raw scan. Large dataset bytes are admitted only on the Windows/WSL worker under
 `D:\NDC_MISSIONCORE\datasets`; no archive is downloaded automatically.
 
+The complete RELLIS-3D v1.1 release is now admitted there and its full
+`2,413`-frame validation split is available in **Полигон → Датасеты**. The
+sealed Current/Patchwork++ comparison rejected Patchwork++ for navigation:
+despite much lower latency and a small Ground-IoU gain, obstacle non-ground
+recall regressed from `80.46%` to `69.70%`.
+
 See [the Dataset Gateway plan](docs/14_LIDAR_DATASET_GATEWAY.md) and
 [ADR 0021](docs/adr/0021-dataset-gateway-representation-boundary.md).
 

apps/control-station/src/styles/workspaces.css

@@ -1665,6 +1665,36 @@
   font-size: 0.82rem;
 }
 
+.rellis-review__decision {
+  display: flex;
+  align-items: baseline;
+  justify-content: space-between;
+  gap: 1rem;
+  border-radius: 0.9rem;
+  background: rgb(var(--nodedc-danger-rgb) / 0.08);
+  padding: 0.78rem 0.9rem;
+}
+
+.rellis-review__decision strong {
+  color: rgb(var(--nodedc-danger-rgb));
+  font-size: 0.68rem;
+}
+
+.rellis-review__decision span {
+  color: var(--nodedc-text-muted);
+  font-size: 0.58rem;
+  line-height: 1.45;
+  text-align: right;
+}
+
+.rellis-review__decision[data-passed="true"] {
+  background: rgb(255 255 255 / 0.045);
+}
+
+.rellis-review__decision[data-passed="true"] strong {
+  color: var(--nodedc-text-primary);
+}
+
 .polygon-review-summary,
 .polygon-review-unavailable,
 .polygon-review-analysis,

apps/control-station/src/workspaces/RellisDatasetReview.tsx

@@ -10,8 +10,10 @@ import {
   type LidarGroundViewMode,
 } from "./LidarGroundPointCloud";
 import {
+  fetchGroundQualification,
   fetchGroundReview,
   fetchGroundReviewFrame,
+  type GroundQualification,
   type GroundReview,
   type GroundReviewFrame,
   type GroundReviewFrameSummary,
@@ -324,6 +326,7 @@ function qualifiedModeExplanation(mode: LidarGroundViewMode) {
 }
 
 function RellisQualifiedReview({ runId }: { runId: string }) {
+  const [qualification, setQualification] = useState<GroundQualification | null>(null);
   const [review, setReview] = useState<GroundReview | null>(null);
   const [frame, setFrame] = useState<GroundReviewFrame | null>(null);
   const [selectedSequence, setSelectedSequence] = useState<string | null>(null);
@@ -336,15 +339,20 @@ function RellisQualifiedReview({ runId }: { runId: string }) {
   useEffect(() => {
     const controller = new AbortController();
     setError(null);
+    setQualification(null);
     setReview(null);
     setFrame(null);
     cache.current.clear();
-    void fetchGroundReview(runId, { signal: controller.signal })
+    void Promise.all([
-      .then((value) => {
+      fetchGroundQualification(runId, { signal: controller.signal }),
-        if (controller.signal.aborted || !value) return;
+      fetchGroundReview(runId, { signal: controller.signal }),
-        setReview(value);
+    ])
-        setSelectedSequence(value.frames[0]?.datasetSequenceId ?? null);
+      .then(([qualificationValue, reviewValue]) => {
-        setSelectedFrame(value.frames[0]?.frameId ?? null);
+        if (controller.signal.aborted || !qualificationValue || !reviewValue) return;
+        setQualification(qualificationValue);
+        setReview(reviewValue);
+        setSelectedSequence(reviewValue.frames[0]?.datasetSequenceId ?? null);
+        setSelectedFrame(reviewValue.frames[0]?.frameId ?? null);
       })
       .catch((loadError: unknown) => {
         if (!controller.signal.aborted) setError(errorMessage(loadError));
@@ -440,7 +448,7 @@ function RellisQualifiedReview({ runId }: { runId: string }) {
       <header className="dataset-sequence-review__truth">
         <div>
           <span className="section-eyebrow">RELLIS · FULL VALIDATION</span>
-          <h2>Пять последовательностей Ouster OS1 с покадровым сравнением</h2>
+          <h2>Две validation-последовательности Ouster OS1 с покадровым сравнением</h2>
           <p>
             Все {review.frameCount.toLocaleString("ru-RU")} validation-сканов
             выровнены с labels и pose index. Высота Patchwork++ определена только
@@ -577,6 +585,26 @@ function RellisQualifiedReview({ runId }: { runId: string }) {
         </article>
       </div>
 
+      {qualification ? (
+        <div
+          className="rellis-review__decision"
+          data-passed={qualification.decision.passed ? "true" : "false"}
+        >
+          <strong>
+            {qualification.decision.passed
+              ? "Кандидат прошёл независимую проверку"
+              : "Patchwork++ не прошёл независимую проверку"}
+          </strong>
+          <span>
+            Полный validation: obstacle recall{" "}
+            {formatPercent(qualification.current.micro.obstacleNonGroundRecall)}
+            {" → "}
+            {formatPercent(qualification.patchwork.micro.obstacleNonGroundRecall)}.
+            Алгоритм не принят для navigation/safety.
+          </span>
+        </div>
+      ) : null}
+
       <p className="dataset-sequence-review__raw-note">
         Это независимая исследовательская проверка переносимости. Она не
         включает управление машиной и не принимает алгоритм для navigation/safety.

docs/12_SIMULATION_POLYGON_PRODUCT_AND_SRS.md

@@ -879,10 +879,11 @@ workflow:
   explicitly grouped into eight independent fragments; Play is bounded to one
   fragment and described as accelerated review of sparse annotated scans.
 - The catalog is multi-source. RELLIS-3D v1.1 appears as an independent Ouster
-  domain with its own license and admission state. Its current `smoke-ready`
+  domain with its own license and admission state. Its complete admitted
-  view shows official frame `000104`, semantic colors, FLU axes and the
+  release exposes the two real validation sequences and all `2,413` scans with
-  versioned `ground / non-ground / ignore` mapping; it does not show invented
+  public ground truth, Current, Patchwork++ and error modes. Metrics come only
-  algorithm metrics.
+  from the sealed qualification report and are scoped to the selected
+  sequence.
 - The dataset viewer exposes source frame number, nanosecond timestamp gaps,
   ground truth and Current/Patchwork++ overlays.
 - The fixed sensor-centric coordinate frame and operator camera are preserved
@@ -899,11 +900,15 @@ The accepted `3.3 GB` annotated validation ZIP is not a continuous recording.
 Continuous ego-motion requires a separately admitted raw ROS bag and
 localization source.
 
-RELLIS S0 uses only a bounded derivative of the pinned official example for
+RELLIS has passed the full D-only release-admission gate: `13,556` aligned
-browser inspection. The full `14 GB` Ouster SemanticKITTI scans, labels and
+scan/label pairs, official splits, five source sequences and complete LiDAR
-poses remain a separate D-only admission gate. Its `CC-BY-NC-SA-3.0` license
+pose coverage. The R1 validation run processed all `2,413` frames after a
-means cross-dataset research evidence cannot silently become an unrestricted
+train-only sensor-height calibration. Its Patchwork++ candidate was explicitly
-commercial runtime or training dependency.
+rejected: Ground IoU improved by only `1.41` points while obstacle non-ground
+recall fell from `80.46%` to `69.70%`. The result remains research evidence,
+not navigation or safety authority. The `CC-BY-NC-SA-3.0` license also prevents
+the source from silently becoming an unrestricted commercial runtime or
+training dependency.
 
 The backend reads the configured repository from
 `MISSIONCORE_POLYGON_RUNS_ROOT` using

docs/14_LIDAR_DATASET_GATEWAY.md

@@ -24,7 +24,7 @@ Implemented now:
 - path-free `missioncore.dataset-admission/v1` worker evidence instead of a
   static React status;
 - bounded `missioncore.dataset-native-scan-preview/v1` (GOOSE) and `/v2`
-  (RELLIS smoke) artifacts, selected by source at
+  (RELLIS) artifacts, selected by source at
   `GET /api/v1/lidar/dataset-gateway/preview?source_id=...`;
 - explicit `native-scan`, `normalized-scan` and `rolling-local-map`
   representations;
@@ -40,10 +40,13 @@ Implemented now:
   `Открыть` action;
 - one admitted GOOSE validation frame with source colors, normalized remission
   and an independent ground-truth view;
-- a pinned RELLIS-3D v1.1 compatibility smoke using the official Ouster example
+- a fail-closed admission of the complete official RELLIS-3D v1.1 release:
-  frame `000104`, its native `131,072` XYZI points, point-aligned labels,
+  `13,556` aligned Ouster scans and labels, all five sequences, official
-  official ontology colors, explicit FLU sensor axes and a versioned
+  train/validation/test splits and complete LiDAR pose coverage;
-  `ground / non-ground / ignore` evaluation policy;
+- a full RELLIS validation viewer with its two real source sequences,
+  `2,413` source scans, ground truth, Current, Patchwork++ and error modes;
+- a train-only, label-backed Ouster height calibration and a sealed R1
+  Current/Patchwork++ qualification over every RELLIS validation frame;
 - a published, dimensioned MuCAR-3/VLS-128 Patchwork++ input profile:
   sensor frame `x-forward / y-left / z-up`, physical height `2.24 m`, native
   one-revolution scan and explicit absence of deskew/full vehicle TF claims;
@@ -59,8 +62,8 @@ Not implemented:
 - no implicit coordinate conversion;
 - no fake ring/timestamp reconstruction for K1 MQTT evidence;
 - no model training or production promotion;
-- no full RELLIS Ouster archive, pose set, algorithm comparison or ROS bag
+- no RELLIS ROS bag admission, continuous synchronized playback or production
-  admission yet;
+  promotion;
 - no rolling-map implementation yet.
 
 ## Product surface boundary
@@ -82,9 +85,10 @@ The gateway is not part of device quality diagnostics.
 
 Before compatible source evidence exists, the catalog explains the blocked
 storage gate and keeps `Открыть датасет` disabled. GOOSE becomes available only
-after the worker manifest says `frame-ready`; RELLIS becomes available at
+after the worker manifest says `frame-ready`; RELLIS becomes `dataset-ready`
-`smoke-ready` only for the pinned official example. Both bounded previews must
+only after all four pinned archives, every split pair and pose coverage pass
-pass their own identity, point-alignment and safety checks.
+admission. Both bounded previews must pass their own identity, point-alignment
+and safety checks.
 
 ## Why public recordings look different
 
@@ -203,8 +207,10 @@ time; TTL/dynamic filtering prevents stale ghosts.
 - [x] Official RELLIS Ouster example passes the shared SemanticKITTI reader.
 - [x] RELLIS axes, ontology colors and versioned ground-target/ignore mapping
   are visible in the same Dataset workflow.
-- [ ] Full RELLIS Ouster SemanticKITTI scans, labels and poses admitted on
+- [x] Full RELLIS Ouster SemanticKITTI scans, labels and poses admitted on
   worker D.
+- [x] Current/Patchwork++ comparison executed and sealed over all `2,413`
+  RELLIS validation frames.
 - [ ] Current/Patchwork++ RELLIS comparison qualified without obstacle loss.
 - [ ] Rolling local map with pose/TTL/dynamic policy qualified.
 
@@ -239,12 +245,60 @@ non-ground; and `void`, `water`, `sky`, generic `object` and `puddle` as
 silently counted as either free ground or obstacle. This mapping is a Mission
 Core evaluation decision, not an upstream RELLIS claim.
 
-The smoke closes reader, alignment, axes, palette and mapping compatibility
+The smoke closed reader, alignment, axes, palette and mapping compatibility
-only. The next gate admits the `14 GB` Ouster SemanticKITTI scans plus the
+only. The complete release was then admitted from four pinned archives kept
-`174 MB` labels and `174 MB` poses to D-only worker storage. Full ROS bags are
+exclusively on worker D:
-not needed for the ground cross-check. Patchwork++ may be compared only after a
+
-physical Ouster mounting-height profile is evidenced; no height is inferred
+- scans: `15,037,868,425` bytes, SHA-256
-from the example cloud.
+  `4e2bb5654bda5b9d08b9ac1ddbd39bd6dd231163a77ff811f2f282f3bbdf8ee7`;
+- labels: `182,265,710` bytes, SHA-256
+  `03297c30b9f2182c74be93f8564d6ce1349237fcc4f89fc96479fe71bb40d905`;
+- poses: `609,344` bytes, SHA-256
+  `6deaf38a9cac3a480cfdb70fa9a1d9278f25c36f5efd2487a3c4a6a400250f67`;
+- splits: `76,774` bytes, SHA-256
+  `de639728e0058d7d477188028d9b811313a601884ef00d267ce13736be7cf54f`.
+
+Admission identity
+`a3f3f161a5a7edccdf66cea75ecf9004b8f6a895282faabe661c075c15a82774`
+proves `13,556` scan/label pairs, the official `7,800 / 2,413 / 3,343`
+train/validation/test split counts, all five sequences and matching pose
+coverage. No ROS bag is needed for this single-scan ground cross-check.
+
+## Full RELLIS qualification result
+
+The immutable R1 replay-shadow run
+`rellis-ground-5b49d241a42b41d9b427` processed all `2,413` validation frames.
+Its qualification identity is
+`5b49d241a42b41d9b4279062c7517c99e16880e025cd2b70d3966d49f3ff6b7f`.
+The physical-height input was calibrated from `64` deterministic
+sequence-stratified **train** frames only: `1.0937 m` median height,
+`0.0538 m` median absolute deviation and no validation labels used.
+
+| Validation micro metric | Current | Patchwork++ |
+| --- | ---: | ---: |
+| Ground IoU | `40.5450%` | `41.9599%` |
+| Natural-ground recall | `72.2992%` | `93.2555%` |
+| Obstacle non-ground recall | `80.4612%` | `69.7040%` |
+| Assigned fraction | `100%` | `100%` |
+| Latency p50 | `900.22 ms` | `8.58 ms` |
+| Latency p95 | `1284.29 ms` | `13.98 ms` |
+| Maximum latency | `1706.78 ms` | `20.50 ms` |
+
+The sealed decision is `qualification-rejected`. Patchwork++ improved Ground
+IoU by only `1.41` percentage points against the required `2.00`, preserved
+only `69.70%` of obstacle points against the required `90%`, and regressed
+obstacle recall by `10.76` points against the allowed `1%`. Coverage, latency
+and catastrophic per-frame regression gates passed, but none of those can
+override obstacle loss. The provider therefore remains visualization and
+research evidence only:
+`promoted_to_navigation_or_safety = false`.
+
+The bound review-pack identity is
+`1ee454fedd37bd56c3c9d07e17a3b5f59cdb29f7c1ae2086f8bc746149f3eb1b`.
+It contains bounded `12,000`-point previews for every validation scan and keeps
+the two real validation sequences separate. This lets an operator inspect raw
+geometry, public ground truth, both predictions and both error maps before
+changing the profile or acceptance thresholds.
 
 ## First GOOSE admission evidence