feat(perception): measure M48S load envelope

2026-08-25 20:36:21 +03:00
parent 078b8421a6
commit e21332b9e1
6 changed files with 257 additions and 10 deletions
@@ -0,0 +1,89 @@
+{
+  "schema_version": "missioncore.m48s-load-envelope-profile/v1",
+  "profile_id": "m48s-rf-detr-reference-graph-load-envelope/v1",
+  "decision_question": "Can the unchanged single-pass RF-DETR reference graph sustain the recorded production rate and 20 percent reserve on Worker 006, and where does its bounded latest-wins limit begin?",
+  "hypothesis": "The hardened single-pass graph sustains 10 FPS and 12 FPS without unbounded queues, failed frames, a second inference pass, or more than the predeclared delivery loss; 15 FPS is measured only to locate the limit.",
+  "source": {
+    "source_id": "RAVNOVES00",
+    "source_profile_id": "m4-ravnoves00-recorded-realtime/v1",
+    "frame_count": 4489,
+    "graph_id": "reference-perception-graph/v2",
+    "detector_provider_id": "triton-rf-detr-large-coco-risk-fp16-shadow/v0",
+    "sensor_timestamps_preserved": true
+  },
+  "controlled_change": {
+    "only_variable": "wall_clock_source_rate_hz",
+    "unchanged": [
+      "source frames and source timestamps",
+      "RF-DETR TensorRT engine and threshold",
+      "geometry, temporal, motion, rolling-map and threat providers",
+      "latest-wins queue capacities",
+      "single inference pass per admitted detector frame",
+      "detector prewarm and cyclic-GC hot-loop policy"
+    ]
+  },
+  "scenarios": [
+    {
+      "id": "production-10fps",
+      "run_id": "m48s-load-envelope-v1-production-10fps-a1",
+      "load_purpose": "production-rate",
+      "source_rate_hz": 10.0,
+      "thresholds": {
+        "minimum_delivery_ratio": 0.999,
+        "minimum_effective_world_state_fps": 9.5,
+        "maximum_world_state_completion_p95_ms": 125.0
+      },
+      "required_for_reserve_decision": true
+    },
+    {
+      "id": "reserve-12fps",
+      "run_id": "m48s-load-envelope-v1-reserve-12fps-a1",
+      "load_purpose": "reserve-gate",
+      "source_rate_hz": 12.0,
+      "thresholds": {
+        "minimum_delivery_ratio": 0.995,
+        "minimum_effective_world_state_fps": 11.4,
+        "maximum_world_state_completion_p95_ms": 150.0
+      },
+      "required_for_reserve_decision": true
+    },
+    {
+      "id": "limit-15fps",
+      "run_id": "m48s-load-envelope-v1-limit-15fps-a1",
+      "load_purpose": "limit-discovery",
+      "source_rate_hz": 15.0,
+      "thresholds": {
+        "minimum_delivery_ratio": 0.95,
+        "minimum_effective_world_state_fps": 14.25,
+        "maximum_world_state_completion_p95_ms": 175.0
+      },
+      "required_for_reserve_decision": false
+    }
+  ],
+  "common_integrity_gates": [
+    "closed terminal accounting",
+    "zero failed, stale, rejected or unavailable frames",
+    "all queue high-watermarks at or below capacity two",
+    "complete single-pass pipeline timing",
+    "detector prewarm before source admission",
+    "cyclic GC disabled only during the hot loop and restored after",
+    "all command, actuation, navigation and safety authority remains false"
+  ],
+  "visual_evidence": {
+    "binding": "reuse exact M4.8S full camera plus LiDAR plus 3D/PLAN timeline",
+    "reason": "Only wall-clock pacing changes; source frames, sensor timestamps and graph semantics remain immutable.",
+    "independent_ground_truth": false
+  },
+  "exit_decision": {
+    "reserve_accepted_when": "Both production-10fps and reserve-12fps pass every integrity and operating target gate.",
+    "optimization_scope_when_rejected": "Optimize only the measured bottleneck stage; do not add another detector or inference pass.",
+    "limit_discovery_interpretation": "The 15 FPS result is valid evidence when integrity gates pass even if its operating target gate fails."
+  },
+  "authority": {
+    "candidate_accepted": false,
+    "commands_enabled": false,
+    "actuation_allowed": false,
+    "navigation_or_safety_accepted": false,
+    "production_accepted": false
+  }
+}