feat: qualify complete RELLIS ground dataset

apps/control-station/src/core/lidar/datasetGateway.ts

@@ -12,7 +12,8 @@ export type DatasetSourceAdmissionStatus =
   | "verifying"
   | "verified"
   | "frame-ready"
-  | "smoke-ready";
+  | "smoke-ready"
+  | "dataset-ready";
 
 export interface DatasetSource {
   sourceId: string;
@@ -308,6 +309,7 @@ export function parseDatasetGatewayCatalog(
       && admissionStatus !== "verified"
       && admissionStatus !== "frame-ready"
       && admissionStatus !== "smoke-ready"
+      && admissionStatus !== "dataset-ready"
     ) {
       throw new DatasetGatewayContractError("source admission status неизвестен");
     }

apps/control-station/src/core/polygon/groundQualification.ts

@@ -42,7 +42,10 @@ export interface GroundQualification {
   checks: QualificationCheck[];
   worstFrames: QualificationWorstFrame[];
   decision: {
-    status: "shadow-candidate" | "qualification-rejected";
+    status:
+      | "shadow-candidate"
+      | "cross-dataset-qualified"
+      | "qualification-rejected";
     passed: boolean;
     promotedToNavigationOrSafety: false;
     reason: string;
@@ -75,7 +78,7 @@ export interface GroundReviewFrameSummary {
   frameId: string;
   datasetSequenceId: string;
   datasetFrameNumber: number;
-  sensorTimestampNs: string;
+  sensorTimestampNs: string | null;
   sourcePointCount: number;
   pointCount: number;
   current: GroundReviewFrameMetrics;
@@ -264,7 +267,11 @@ export function decodeGroundQualification(payload: unknown): GroundQualification
   );
   const decision = record(source.decision, "decision");
   const status = text(decision.status, "decision.status", 64);
-  if (status !== "shadow-candidate" && status !== "qualification-rejected") {
+  if (
+    status !== "shadow-candidate"
+    && status !== "cross-dataset-qualified"
+    && status !== "qualification-rejected"
+  ) {
     throw new GroundQualificationContractError("Решение квалификации неизвестно.");
   }
   if (decision.promoted_to_navigation_or_safety !== false) {
@@ -384,7 +391,11 @@ export function decodeGroundReview(payload: unknown): GroundReview {
     throw new GroundQualificationContractError("Неизвестная схема покадрового просмотра.");
   }
   const frameCount = integer(source.frame_count, "frame_count", 1);
-  const frames = array(source.frames, "frames", 2_000).map(
+  const sourceId = text(source.source_id, "source_id");
+  if (sourceId !== "goose-3d/v2025-08-22" && sourceId !== "rellis-3d/v1.1") {
+    throw new GroundQualificationContractError("Источник review неизвестен.");
+  }
+  const frames = array(source.frames, "frames", 3_000).map(
     (value, index): GroundReviewFrameSummary => {
       const frame = record(value, `frames[${index}]`);
       const sequence = integer(frame.sequence, `frames[${index}].sequence`);
@@ -392,7 +403,6 @@ export function decodeGroundReview(payload: unknown): GroundReview {
         throw new GroundQualificationContractError("Кадры просмотра идут не по порядку.");
       }
       const frameId = id(frame.frame_id, `frames[${index}].frame_id`);
-      const frameIdentity = parseGooseFrameId(frameId);
       const datasetSequenceId = id(
         frame.dataset_sequence_id,
         `frames[${index}].dataset_sequence_id`,
@@ -401,7 +411,10 @@ export function decodeGroundReview(payload: unknown): GroundReview {
         frame.dataset_frame_number,
         `frames[${index}].dataset_frame_number`,
       );
-      const sensorTimestampNs = text(
+      let sensorTimestampNs: string | null = null;
+      if (sourceId === "goose-3d/v2025-08-22") {
+        const frameIdentity = parseGooseFrameId(frameId);
+        sensorTimestampNs = text(
           frame.sensor_timestamp_ns,
           `frames[${index}].sensor_timestamp_ns`,
           20,
@@ -415,6 +428,15 @@ export function decodeGroundReview(payload: unknown): GroundReview {
             `frames[${index}] противоречит идентичности GOOSE-кадра.`,
           );
         }
+      } else if (
+        frame.sensor_timestamp_ns !== null
+        || !/^rellis-0000[0-4]-[0-9]{6}$/.test(frameId)
+        || frameId !== `rellis-${datasetSequenceId}-${String(datasetFrameNumber).padStart(6, "0")}`
+      ) {
+        throw new GroundQualificationContractError(
+          `frames[${index}] противоречит идентичности RELLIS-кадра.`,
+        );
+      }
       return {
         sequence,
         frameId,
@@ -457,7 +479,7 @@ export function decodeGroundReview(payload: unknown): GroundReview {
   return {
     runId: id(source.run_id, "run_id"),
     identitySha256,
-    sourceId: text(source.source_id, "source_id"),
+    sourceId,
     frameCount,
     previewPoints: integer(source.preview_points, "preview_points", 1),
     frames,

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

@@ -41,6 +41,7 @@ function admissionLabel(status: DatasetSourceAdmissionStatus): string {
     verified: "Проверен",
     "frame-ready": "Dataset готов",
     "smoke-ready": "Smoke готов",
+    "dataset-ready": "Dataset готов",
   };
   return labels[status];
 }
@@ -60,9 +61,17 @@ function isGooseQualificationRun(
     && item.scenarioGeneration.startsWith("goose-3d");
 }
 
+function isRellisQualificationRun(
+  item: PolygonRunCatalog["items"][number],
+): boolean {
+  return item.kind === "replay_shadow"
+    && item.scenarioGeneration.startsWith("rellis-3d");
+}
+
 function sourceReady(source: DatasetSource): boolean {
   return source.admissionStatus === "frame-ready"
-    || source.admissionStatus === "smoke-ready";
+    || source.admissionStatus === "smoke-ready"
+    || source.admissionStatus === "dataset-ready";
 }
 
 function sourceDescription(source: DatasetSource): string {
@@ -76,6 +85,9 @@ function sourceFooter(source: DatasetSource, storageReady: boolean): string {
   if (source.admissionStatus === "frame-ready") {
     return "Native scans и разметка приняты. Можно открыть фрагменты и результаты алгоритмов.";
   }
+  if (source.admissionStatus === "dataset-ready") {
+    return "Все официальные scans, labels, poses и split-индексы выровнены на worker D.";
+  }
   if (source.admissionStatus === "smoke-ready") {
     return "Официальный пример совместим. Можно проверить scan, классы и ground mapping.";
   }
@@ -98,6 +110,7 @@ export function DatasetGatewayWorkspace() {
   const [openSourceId, setOpenSourceId] = useState<string | null>(null);
   const [runCatalog, setRunCatalog] = useState<PolygonRunCatalog | null>(null);
   const [selectedRunId, setSelectedRunId] = useState<string | null>(null);
+  const [selectedRellisRunId, setSelectedRellisRunId] = useState<string | null>(null);
   const [runError, setRunError] = useState<string | null>(null);
 
   useEffect(() => {
@@ -143,6 +156,11 @@ export function DatasetGatewayWorkspace() {
           ?? gooseRuns[0]
           ?? null;
         setSelectedRunId(selected?.runId ?? null);
+        const rellisRuns = value.items.filter(isRellisQualificationRun);
+        const selectedRellis = rellisRuns.find((item) => item.runId === requested)
+          ?? rellisRuns[0]
+          ?? null;
+        setSelectedRellisRunId(selectedRellis?.runId ?? null);
       })
       .catch((loadError: unknown) => {
         if (!controller.signal.aborted) setRunError(errorMessage(loadError));
@@ -151,6 +169,7 @@ export function DatasetGatewayWorkspace() {
   }, []);
 
   const gooseRuns = runCatalog?.items.filter(isGooseQualificationRun) ?? [];
+  const rellisRuns = runCatalog?.items.filter(isRellisQualificationRun) ?? [];
   const openSource = catalog?.sources.find(
     (source) => source.sourceId === openSourceId,
   ) ?? null;
@@ -322,7 +341,28 @@ export function DatasetGatewayWorkspace() {
               <p>{runError ?? "Нет совместимой версии покадрового анализа."}</p>
             </section>
           ) : openSource?.sourceKind === "rellis" ? (
-            <RellisDatasetReview />
+            <>
+              {rellisRuns.length > 1 && selectedRellisRunId ? (
+                <div className="dataset-result-select">
+                  <div>
+                    <span className="section-eyebrow">РЕЗУЛЬТАТЫ ОБРАБОТКИ</span>
+                    <strong>Версия анализа</strong>
+                  </div>
+                  <select
+                    aria-label="Выбрать версию анализа RELLIS"
+                    value={selectedRellisRunId}
+                    onChange={(event) => setSelectedRellisRunId(event.target.value)}
+                  >
+                    {rellisRuns.map((item) => (
+                      <option key={item.runId} value={item.runId}>
+                        {item.profileGeneration}
+                      </option>
+                    ))}
+                  </select>
+                </div>
+              ) : null}
+              <RellisDatasetReview runId={selectedRellisRunId} />
+            </>
           ) : null}
 
           <details className="dataset-contract">

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

@@ -68,6 +68,9 @@ function secondsBetween(
   left: GroundReviewFrameSummary,
   right: GroundReviewFrameSummary,
 ): number {
+  if (left.sensorTimestampNs === null || right.sensorTimestampNs === null) {
+    throw new Error("GOOSE frame timestamp отсутствует.");
+  }
   const delta = BigInt(right.sensorTimestampNs) - BigInt(left.sensorTimestampNs);
   return Number(delta) / 1_000_000_000;
 }

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

@@ -1,4 +1,4 @@
-import { useEffect, useMemo, useState } from "react";
+import { useEffect, useMemo, useRef, useState } from "react";
 import { StatusBadge } from "@nodedc/ui-react";
 
 import {
@@ -9,6 +9,13 @@ import {
   LidarGroundPointCloud,
   type LidarGroundViewMode,
 } from "./LidarGroundPointCloud";
+import {
+  fetchGroundReview,
+  fetchGroundReviewFrame,
+  type GroundReview,
+  type GroundReviewFrame,
+  type GroundReviewFrameSummary,
+} from "../core/polygon/groundQualification";
 
 const modes: ReadonlyArray<[LidarGroundViewMode, string]> = [
   ["intensity", "Исходный скан"],
@@ -39,7 +46,25 @@ function modeExplanation(mode: LidarGroundViewMode): string {
   return "Один исходный оборот Ouster OS1 64; цвет — нормализованная remission.";
 }
 
-export function RellisDatasetReview() {
+interface RellisDatasetReviewProps {
+  runId?: string | null;
+}
+
+const qualifiedModes: ReadonlyArray<[LidarGroundViewMode, string]> = [
+  ["intensity", "Исходный скан"],
+  ["ground-truth", "Ground truth"],
+  ["current", "Текущий алгоритм"],
+  ["candidate", "Patchwork++"],
+  ["disagreement", "Ошибки текущего"],
+  ["candidate-disagreement", "Ошибки Patchwork++"],
+];
+
+export function RellisDatasetReview({ runId = null }: RellisDatasetReviewProps) {
+  if (runId) return <RellisQualifiedReview runId={runId} />;
+  return <RellisSmokeReview />;
+}
+
+function RellisSmokeReview() {
   const [preview, setPreview] = useState<DatasetNativeScanPreview | null>(null);
   const [error, setError] = useState<string | null>(null);
   const [mode, setMode] = useState<LidarGroundViewMode>("semantic");
@@ -237,3 +262,313 @@ export function RellisDatasetReview() {
     </section>
   );
 }
+
+function reviewScene(frame: GroundReviewFrame | null) {
+  if (!frame) return null;
+  return {
+    pointCount: frame.pointCount,
+    pointsXyzM: frame.pointsXyzM,
+    intensity0To255: frame.intensity0To255,
+    masks: {
+      currentGround: frame.currentGround,
+      currentAssigned: frame.evaluated,
+      candidateGround: frame.patchworkGround,
+      candidateAssigned: frame.evaluated,
+      disagreement: frame.currentDisagreement,
+      candidateDisagreement: frame.patchworkDisagreement,
+      groundTruthGround: frame.groundTruthGround,
+    },
+  };
+}
+
+function groupRellisFrames(review: GroundReview) {
+  const groups = new Map<string, GroundReviewFrameSummary[]>();
+  review.frames.forEach((frame) => {
+    const frames = groups.get(frame.datasetSequenceId) ?? [];
+    frames.push(frame);
+    groups.set(frame.datasetSequenceId, frames);
+  });
+  return [...groups.entries()].map(([sequenceId, frames]) => ({
+    sequenceId,
+    frames,
+  }));
+}
+
+function averageMetric(
+  frames: GroundReviewFrameSummary[],
+  value: (frame: GroundReviewFrameSummary) => number,
+) {
+  return frames.reduce((total, frame) => total + value(frame), 0) / frames.length;
+}
+
+function qualifiedModeExplanation(mode: LidarGroundViewMode) {
+  if (mode === "intensity") return "Один исходный Ouster OS1 scan; цвет — remission.";
+  if (mode === "ground-truth") return "Point-aligned ground target из RELLIS labels.";
+  if (mode === "current") return "Результат текущего Mission Core baseline.";
+  if (mode === "candidate") return "Результат закреплённого Patchwork++ v1.4.1.";
+  if (mode === "disagreement") return "Красным — ошибки текущего baseline.";
+  return "Красным — ошибки Patchwork++ относительно labels.";
+}
+
+function RellisQualifiedReview({ runId }: { runId: string }) {
+  const [review, setReview] = useState<GroundReview | null>(null);
+  const [frame, setFrame] = useState<GroundReviewFrame | null>(null);
+  const [selectedSequence, setSelectedSequence] = useState<string | null>(null);
+  const [selectedFrame, setSelectedFrame] = useState<string | null>(null);
+  const [mode, setMode] = useState<LidarGroundViewMode>("intensity");
+  const [playing, setPlaying] = useState(false);
+  const [error, setError] = useState<string | null>(null);
+  const cache = useRef(new Map<string, GroundReviewFrame>());
+
+  useEffect(() => {
+    const controller = new AbortController();
+    setError(null);
+    setReview(null);
+    setFrame(null);
+    cache.current.clear();
+    void fetchGroundReview(runId, { signal: controller.signal })
+      .then((value) => {
+        if (controller.signal.aborted || !value) return;
+        setReview(value);
+        setSelectedSequence(value.frames[0]?.datasetSequenceId ?? null);
+        setSelectedFrame(value.frames[0]?.frameId ?? null);
+      })
+      .catch((loadError: unknown) => {
+        if (!controller.signal.aborted) setError(errorMessage(loadError));
+      });
+    return () => controller.abort();
+  }, [runId]);
+
+  const sequences = useMemo(
+    () => review ? groupRellisFrames(review) : [],
+    [review],
+  );
+  const sequence = sequences.find((item) => item.sequenceId === selectedSequence)
+    ?? sequences[0]
+    ?? null;
+  const position = Math.max(
+    0,
+    sequence?.frames.findIndex((item) => item.frameId === selectedFrame) ?? 0,
+  );
+  const summary = sequence?.frames[position] ?? null;
+
+  useEffect(() => {
+    if (!selectedFrame) return;
+    const cached = cache.current.get(selectedFrame);
+    if (cached) {
+      setFrame(cached);
+      return;
+    }
+    const controller = new AbortController();
+    void fetchGroundReviewFrame(runId, selectedFrame, { signal: controller.signal })
+      .then((value) => {
+        if (controller.signal.aborted) return;
+        cache.current.set(value.frameId, value);
+        while (cache.current.size > 32) {
+          const first = cache.current.keys().next().value as string | undefined;
+          if (first) cache.current.delete(first);
+          else break;
+        }
+        setFrame(value);
+      })
+      .catch((loadError: unknown) => {
+        if (!controller.signal.aborted) setError(errorMessage(loadError));
+      });
+    return () => controller.abort();
+  }, [runId, selectedFrame]);
+
+  useEffect(() => {
+    if (!playing || !sequence || frame?.frameId !== selectedFrame) return;
+    const timer = window.setTimeout(() => {
+      const next = sequence.frames[position + 1];
+      if (!next) {
+        setPlaying(false);
+        return;
+      }
+      setSelectedFrame(next.frameId);
+    }, 250);
+    return () => window.clearTimeout(timer);
+  }, [frame?.frameId, playing, position, selectedFrame, sequence]);
+
+  if (error) {
+    return (
+      <section className="polygon-review-unavailable">
+        <StatusBadge tone="danger">Review недоступен</StatusBadge>
+        <h3>RELLIS-3D не открыт</h3>
+        <p>{error}</p>
+      </section>
+    );
+  }
+  if (!review || !sequence) {
+    return (
+      <section className="polygon-review-unavailable">
+        <StatusBadge tone="accent">Читаем индекс</StatusBadge>
+        <h3>Открываем RELLIS validation</h3>
+        <p>Исходные архивы остаются на worker D; в браузер идёт bounded preview.</p>
+      </section>
+    );
+  }
+
+  const selectPosition = (value: number) => {
+    const bounded = Math.max(0, Math.min(value, sequence.frames.length - 1));
+    setPlaying(false);
+    setSelectedFrame(sequence.frames[bounded]?.frameId ?? null);
+  };
+  const patchworkBetter = sequence.frames.filter(
+    (item) => item.groundIouDelta > 0,
+  ).length;
+  const scene = reviewScene(frame);
+
+  return (
+    <section
+      className="dataset-sequence-review rellis-review"
+      aria-label="Просмотр RELLIS validation"
+    >
+      <header className="dataset-sequence-review__truth">
+        <div>
+          <span className="section-eyebrow">RELLIS · FULL VALIDATION</span>
+          <h2>Пять последовательностей 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
+            на train split; validation labels использованы исключительно для оценки.
+          </p>
+        </div>
+        <dl>
+          <div><dt>Последовательностей</dt><dd>{sequences.length}</dd></div>
+          <div><dt>Validation scans</dt><dd>{review.frameCount}</dd></div>
+          <div><dt>Preview</dt><dd>{review.previewPoints.toLocaleString("ru-RU")} точек</dd></div>
+        </dl>
+      </header>
+
+      <div className="dataset-sequence-select">
+        <label htmlFor="rellis-sequence">Последовательность датасета</label>
+        <select
+          id="rellis-sequence"
+          value={sequence.sequenceId}
+          onChange={(event) => {
+            const next = sequences.find((item) => item.sequenceId === event.target.value);
+            setPlaying(false);
+            setSelectedSequence(event.target.value);
+            setSelectedFrame(next?.frames[0]?.frameId ?? null);
+            setFrame(null);
+          }}
+        >
+          {sequences.map((item) => (
+            <option key={item.sequenceId} value={item.sequenceId}>
+              Sequence {item.sequenceId} · {item.frames.length} scans
+            </option>
+          ))}
+        </select>
+        <span>
+          Индексы {sequence.frames[0]?.datasetFrameNumber ?? 0}–{
+            sequence.frames[sequence.frames.length - 1]?.datasetFrameNumber ?? 0
+          }
+        </span>
+      </div>
+
+      <section className="polygon-review-player">
+        <header className="polygon-review-player__header">
+          <div>
+            <span className="section-eyebrow">
+              SCAN {position + 1} / {sequence.frames.length}
+              {" · SOURCE FRAME "}{summary?.datasetFrameNumber ?? "—"}
+            </span>
+            <strong>{summary?.frameId ?? "Загружаем scan"}</strong>
+          </div>
+          <div className="polygon-review-mode" aria-label="Режим RELLIS review">
+            {qualifiedModes.map(([viewMode, label]) => (
+              <button
+                type="button"
+                key={viewMode}
+                data-active={mode === viewMode ? "true" : undefined}
+                onClick={() => setMode(viewMode)}
+              >
+                {label}
+              </button>
+            ))}
+          </div>
+        </header>
+        <div className="polygon-review-controls">
+          <button type="button" onClick={() => setPlaying((value) => !value)}>
+            {playing ? "Пауза" : "Play sequence"}
+          </button>
+          <button
+            type="button"
+            disabled={position === 0}
+            onClick={() => selectPosition(position - 1)}
+          >
+            ←
+          </button>
+          <button
+            type="button"
+            disabled={position === sequence.frames.length - 1}
+            onClick={() => selectPosition(position + 1)}
+          >
+            →
+          </button>
+          <input
+            type="range"
+            min={0}
+            max={sequence.frames.length - 1}
+            value={position}
+            aria-label="Позиция в RELLIS sequence"
+            onChange={(event) => selectPosition(Number(event.target.value))}
+          />
+          <span>{position + 1} / {sequence.frames.length}</span>
+        </div>
+        <div className="polygon-review-stage">
+          {scene ? (
+            <LidarGroundPointCloud
+              key={sequence.sequenceId}
+              frame={scene}
+              mode={mode}
+              coordinateFrame="sensor-fixed"
+            />
+          ) : (
+            <div className="polygon-review-stage__loading">Загружаем scan…</div>
+          )}
+          <div className="polygon-review-stage__legend">
+            <strong>
+              {qualifiedModes.find(([viewMode]) => viewMode === mode)?.[1]}
+            </strong>
+            <span>{qualifiedModeExplanation(mode)}</span>
+          </div>
+        </div>
+      </section>
+
+      <div className="rellis-review__metrics">
+        <article>
+          <span>Ground IoU · Current</span>
+          <strong>{formatPercent(averageMetric(sequence.frames, (item) => item.current.groundIou))}</strong>
+          <small>среднее по выбранной sequence</small>
+        </article>
+        <article>
+          <span>Ground IoU · Patchwork++</span>
+          <strong>
+            {formatPercent(averageMetric(sequence.frames, (item) => item.patchwork.groundIou))}
+          </strong>
+          <small>лучше Current на {patchworkBetter} scans</small>
+        </article>
+        <article>
+          <span>Obstacle recall · Patchwork++</span>
+          <strong>
+            {formatPercent(
+              averageMetric(
+                sequence.frames,
+                (item) => item.patchwork.obstacleNonGroundRecall,
+              ),
+            )}
+          </strong>
+          <small>non-ground сохранён как препятствие</small>
+        </article>
+      </div>
+
+      <p className="dataset-sequence-review__raw-note">
+        Это независимая исследовательская проверка переносимости. Она не
+        включает управление машиной и не принимает алгоритм для navigation/safety.
+        Лицензия исходника — CC-BY-NC-SA-3.0.
+      </p>
+    </section>
+  );
+}

apps/control-station/test/groundQualification.test.mjs

@@ -184,6 +184,40 @@ test("decodes a complete ordered frame review", () => {
   assert.equal(decoded.frames[0].patchwork.groundIou, 0.7);
 });
 
+test("decodes RELLIS sequences without inventing sensor timestamps", () => {
+  const metric = {
+    ground_iou: 0.6,
+    natural_ground_recall: 0.7,
+    obstacle_non_ground_recall: 0.93,
+    latency_ms: 18,
+  };
+  const decoded = decodeGroundReview({
+    schema_version: "missioncore.polygon-ground-review/v2",
+    access: "read-only",
+    run_id: "rellis-ground-abc",
+    identity_sha256: "c".repeat(64),
+    source_id: "rellis-3d/v1.1",
+    frame_count: 1,
+    preview_points: 12_000,
+    frames: [{
+      sequence: 0,
+      frame_id: "rellis-00000-000307",
+      dataset_sequence_id: "00000",
+      dataset_frame_number: 307,
+      sensor_timestamp_ns: null,
+      source_point_count: 131_072,
+      point_count: 12_000,
+      current: metric,
+      patchworkpp: metric,
+      ground_iou_delta: 0,
+    }],
+  });
+  assert.equal(decoded.sourceId, "rellis-3d/v1.1");
+  assert.equal(decoded.frames[0].datasetSequenceId, "00000");
+  assert.equal(decoded.frames[0].datasetFrameNumber, 307);
+  assert.equal(decoded.frames[0].sensorTimestampNs, null);
+});
+
 test("parses GOOSE sequence, source frame and nanosecond timestamp", () => {
   assert.deepEqual(
     parseGooseFrameId("2023-05-17_neubiberg_sunny__0459_1684330012686564560"),

src/k1link/datasets/__init__.py

@@ -38,6 +38,22 @@ from k1link.datasets.goose_qualification import (
     GroundAcceptancePolicy,
     qualify_goose_ground,
 )
+from k1link.datasets.rellis_admission import (
+    RELLIS_ADMISSION_SCHEMA,
+    RellisAdmissionError,
+    admit_rellis_release,
+)
+from k1link.datasets.rellis_profile import (
+    RELLIS_PATCHWORK_PROFILE_SCHEMA,
+    RellisPatchworkProfile,
+)
+from k1link.datasets.rellis_qualification import (
+    RELLIS_QUALIFICATION_REPORT_SCHEMA,
+    RELLIS_REVIEW_PACK_SCHEMA,
+    RellisAcceptancePolicy,
+    calibrate_rellis_sensor_height,
+    qualify_rellis_ground,
+)
 from k1link.datasets.rellis_smoke import (
     RELLIS_CLASSES,
     RELLIS_GROUND_POLICY_SCHEMA,
@@ -64,9 +80,16 @@ __all__ = [
     "GOOSE_QUALIFICATION_PROFILE_SCHEMA",
     "GOOSE_QUALIFICATION_REPORT_SCHEMA",
     "RELLIS_CLASSES",
+    "RELLIS_ADMISSION_SCHEMA",
     "RELLIS_GROUND_POLICY_SCHEMA",
+    "RELLIS_PATCHWORK_PROFILE_SCHEMA",
     "RELLIS_PREVIEW_SCHEMA",
+    "RELLIS_QUALIFICATION_REPORT_SCHEMA",
+    "RELLIS_REVIEW_PACK_SCHEMA",
     "RELLIS_SOURCE_ID",
+    "RellisAcceptancePolicy",
+    "RellisAdmissionError",
+    "RellisPatchworkProfile",
     "RellisSmokeError",
     "GoosePatchworkProfile",
     "GroundAcceptancePolicy",
@@ -74,7 +97,9 @@ __all__ = [
     "DEFAULT_DEGRADATIONS",
     "benchmark_goose_current_ground",
     "benchmark_goose_patchwork_ground",
+    "admit_rellis_release",
     "build_rellis_official_smoke_preview",
+    "calibrate_rellis_sensor_height",
     "configured_dataset_admission_manifest",
     "configured_dataset_ground_preview",
     "configured_dataset_preview",
@@ -85,5 +110,6 @@ __all__ = [
     "read_dataset_native_scan_preview",
     "read_semantic_kitti_frame",
     "rellis_native_scan_preview",
+    "qualify_rellis_ground",
     "qualify_goose_ground",
 ]

src/k1link/datasets/cli.py

@@ -15,6 +15,8 @@ from k1link.datasets.goose_benchmark import (
 )
 from k1link.datasets.goose_qualification import qualify_goose_ground
 from k1link.datasets.goose_review import build_goose_ground_review_pack
+from k1link.datasets.rellis_admission import RellisAdmissionError, admit_rellis_release
+from k1link.datasets.rellis_qualification import qualify_rellis_ground
 from k1link.datasets.rellis_smoke import (
     RellisSmokeError,
     build_rellis_official_smoke_preview,
@@ -207,5 +209,93 @@ def build_rellis_smoke_preview_command(
     )
 
 
+@app.command("admit-rellis")
+def admit_rellis_command(
+    dataset_root: Annotated[
+        Path,
+        typer.Option("--dataset-root", exists=True, file_okay=False, resolve_path=True),
+    ],
+    scan_archive: Annotated[
+        Path | None,
+        typer.Option("--scan-archive", exists=True, dir_okay=False, resolve_path=True),
+    ] = None,
+    label_archive: Annotated[
+        Path | None,
+        typer.Option("--label-archive", exists=True, dir_okay=False, resolve_path=True),
+    ] = None,
+    pose_archive: Annotated[
+        Path | None,
+        typer.Option("--pose-archive", exists=True, dir_okay=False, resolve_path=True),
+    ] = None,
+    split_archive: Annotated[
+        Path | None,
+        typer.Option("--split-archive", exists=True, dir_okay=False, resolve_path=True),
+    ] = None,
+    preview_points: Annotated[
+        int,
+        typer.Option("--preview-points", min=1, max=20_000),
+    ] = 20_000,
+) -> None:
+    """Verify the complete official RELLIS release on worker D."""
+
+    try:
+        manifest = admit_rellis_release(
+            dataset_root,
+            scan_archive=scan_archive,
+            label_archive=label_archive,
+            pose_archive=pose_archive,
+            split_archive=split_archive,
+            preview_points=preview_points,
+        )
+    except RellisAdmissionError as exc:
+        typer.echo(str(exc), err=True)
+        raise typer.Exit(code=2) from exc
+    typer.echo(json.dumps(manifest, ensure_ascii=False, sort_keys=True))
+
+
+@app.command("qualify-rellis-ground")
+def qualify_rellis_ground_command(
+    dataset_root: Annotated[
+        Path,
+        typer.Option("--dataset-root", exists=True, file_okay=False, resolve_path=True),
+    ],
+    runs_root: Annotated[
+        Path,
+        typer.Option("--runs-root", file_okay=False, resolve_path=True),
+    ],
+    mission_core_commit: Annotated[
+        str,
+        typer.Option("--mission-core-commit", min=7, max=64),
+    ],
+    workers: Annotated[
+        int,
+        typer.Option("--workers", min=1, max=32),
+    ] = 8,
+    calibration_frames: Annotated[
+        int,
+        typer.Option("--calibration-frames", min=5, max=256),
+    ] = 64,
+    preview_points: Annotated[
+        int,
+        typer.Option("--preview-points", min=1, max=20_000),
+    ] = 12_000,
+) -> None:
+    """Calibrate on RELLIS train and qualify Current/Patchwork++ on validation."""
+
+    try:
+        report = qualify_rellis_ground(
+            dataset_root,
+            runs_root,
+            mission_core_commit=mission_core_commit,
+            parallel_workers=workers,
+            calibration_frame_count=calibration_frames,
+            preview_points=preview_points,
+        )
+    except (RellisAdmissionError, ValueError) as exc:
+        typer.echo(str(exc), err=True)
+        raise typer.Exit(code=2) from exc
+    typer.echo(json.dumps(report, ensure_ascii=False, sort_keys=True))
+
+
 if __name__ == "__main__":
     app()

src/k1link/datasets/gateway.py

@@ -178,6 +178,7 @@ def dataset_gateway_catalog(
     dataset_root: Path | None = None,
     admission_manifest_path: Path | None = None,
     rellis_preview_path: Path | None = None,
+    rellis_admission_path: Path | None = None,
 ) -> dict[str, object]:
     """Return the path-free, read-only ingress plan and current admission state."""
 
@@ -205,6 +206,34 @@ def dataset_gateway_catalog(
                 rellis_preview = candidate
         except DatasetAdmissionError:
             pass
+    rellis_admission: dict[str, Any] | None = None
+    if rellis_admission_path is not None and rellis_admission_path.is_file():
+        try:
+            candidate = _bounded_json_object(
+                rellis_admission_path,
+                MAX_STATE_BYTES,
+                "RELLIS admission manifest",
+            )
+            storage = _object(candidate.get("storage"), "RELLIS storage")
+            alignment = _object(candidate.get("alignment"), "RELLIS alignment")
+            release = _object(candidate.get("release"), "RELLIS release")
+            if (
+                candidate.get("schema_version") != "missioncore.rellis-admission/v1"
+                or candidate.get("source_id") != "rellis-3d/v1.1"
+                or candidate.get("status") != "dataset-ready"
+                or storage.get("policy") != "worker-d-only"
+                or storage.get("admitted") is not True
+                or storage.get("path_exposed") is not False
+                or alignment.get("annotated_scan_count") != 13_556
+                or alignment.get("point_label_alignment") != "complete"
+                or alignment.get("pose_index_coverage") != "complete"
+                or not isinstance(release.get("identity_sha256"), str)
+                or len(release["identity_sha256"]) != 64
+            ):
+                raise DatasetAdmissionError("RELLIS admission manifest is incompatible")
+            rellis_admission = candidate
+        except DatasetAdmissionError:
+            pass
     source_status = (
         str(admission["status"])
         if admission is not None
@@ -222,14 +251,18 @@ def dataset_gateway_catalog(
         else "configure-dataset-root-on-worker-d"
     )
     rellis_status = (
-        "smoke-ready"
+        "dataset-ready"
+        if rellis_admission is not None and rellis_preview is not None
+        else "smoke-ready"
         if rellis_preview is not None
         else "ready-for-smoke"
         if storage_admitted
         else "blocked-storage-policy"
     )
     catalog_next_action = (
-        "admit-rellis-ouster-semantickitti-to-worker-d"
+        "qualify-rellis-current-vs-patchworkpp"
+        if rellis_admission is not None
+        else "admit-rellis-ouster-semantickitti-to-worker-d"
         if rellis_preview is not None and source_status == "frame-ready"
         else "build-rellis-official-example-smoke"
         if source_status == "frame-ready"
@@ -342,7 +375,9 @@ def dataset_gateway_catalog(
                 "admission": {
                     "status": rellis_status,
                     "native_scan": (
-                        "official-example-compatible"
+                        "complete-release-split-aligned"
+                        if rellis_admission is not None
+                        else "official-example-compatible"
                         if rellis_preview is not None
                         else "requires-official-example-smoke"
                     ),

src/k1link/datasets/rellis_admission.py

@@ -0,0 +1,417 @@
+"""Fail-closed admission of the complete official RELLIS-3D release.
+
+All four source archives remain on the Simulation Worker D drive. Admission
+indexes the ZIP central directories, proves split/scan/label/pose alignment and
+publishes only a path-free manifest plus one bounded validation-frame preview.
+"""
+
+from __future__ import annotations
+
+import hashlib
+import json
+import os
+import re
+import tempfile
+import zipfile
+from collections import Counter
+from datetime import UTC, datetime
+from pathlib import Path, PurePosixPath
+from typing import Any, Final
+
+from k1link.datasets.gateway import DatasetFrameError, decode_semantic_kitti_frame
+from k1link.datasets.rellis_smoke import (
+    RELLIS_LABEL_CONFIG_SHA256,
+    RELLIS_LICENSE,
+    RELLIS_REPOSITORY_COMMIT,
+    RELLIS_REPOSITORY_URL,
+    RELLIS_SOURCE_ID,
+    RellisSmokeError,
+    rellis_native_scan_preview,
+)
+
+RELLIS_ADMISSION_SCHEMA: Final = "missioncore.rellis-admission/v1"
+RELLIS_RELEASE_ID: Final = "v1.1"
+RELLIS_ARCHIVE_ROOT: Final = "rellis-3d/v1.1/archives"
+RELLIS_SCAN_ARCHIVE: Final = "Rellis_3D_os1_cloud_node_kitti_bin.zip"
+RELLIS_LABEL_ARCHIVE: Final = "Rellis_3D_os1_labels_20210614.zip"
+RELLIS_POSE_ARCHIVE: Final = "Rellis_3D_lidar_poses_20210614.zip"
+RELLIS_SPLIT_ARCHIVE: Final = "Rellis_3D_lidar_split.zip"
+RELLIS_ARCHIVE_URLS: Final[dict[str, str]] = {
+    RELLIS_SCAN_ARCHIVE: (
+        "https://drive.google.com/uc?id=1lDSVRf_kZrD0zHHMsKJ0V1GN9QATR4wH"
+    ),
+    RELLIS_LABEL_ARCHIVE: (
+        "https://drive.google.com/uc?id=12bsblHXtob60KrjV7lGXUQTdC5PhV8Er"
+    ),
+    RELLIS_POSE_ARCHIVE: (
+        "https://drive.google.com/uc?id=1V3PT_NJhA41N7TBLp5AbW31d0ztQDQOX"
+    ),
+    RELLIS_SPLIT_ARCHIVE: (
+        "https://drive.google.com/uc?id=1raQJPySyqDaHpc53KPnJVl3Bln6HlcVS"
+    ),
+}
+RELLIS_OBSERVED_SHA256: Final[dict[str, str]] = {
+    RELLIS_LABEL_ARCHIVE: (
+        "03297c30b9f2182c74be93f8564d6ce1349237fcc4f89fc96479fe71bb40d905"
+    ),
+    RELLIS_POSE_ARCHIVE: (
+        "6deaf38a9cac3a480cfdb70fa9a1d9278f25c36f5efd2487a3c4a6a400250f67"
+    ),
+    RELLIS_SPLIT_ARCHIVE: (
+        "de639728e0058d7d477188028d9b811313a601884ef00d267ce13736be7cf54f"
+    ),
+}
+RELLIS_SPLIT_COUNTS: Final[dict[str, int]] = {
+    "train": 7_800,
+    "validation": 2_413,
+    "test": 3_343,
+}
+RELLIS_SEQUENCE_IDS: Final = ("00000", "00001", "00002", "00003", "00004")
+RELLIS_ANNOTATED_SCAN_COUNT: Final = 13_556
+MAX_ARCHIVE_ENTRIES: Final = 40_000
+MAX_UNCOMPRESSED_BYTES: Final = 256 * 1024**3
+MAX_METADATA_MEMBER_BYTES: Final = 32 * 1024**2
+MAX_PREVIEW_POINTS: Final = 20_000
+_FRAME_PATH = re.compile(
+    r"^(?P<sequence>0000[0-4])/os1_cloud_node_kitti_bin/"
+    r"(?P<frame>[0-9]{6})\.bin$"
+)
+_LABEL_PATH = re.compile(
+    r"^(?P<sequence>0000[0-4])/os1_cloud_node_semantickitti_label_id/"
+    r"(?P<frame>[0-9]{6})\.label$"
+)
+
+
+class RellisAdmissionError(RuntimeError):
+    """The official RELLIS release cannot satisfy its pinned admission contract."""
+
+
+def admit_rellis_release(
+    dataset_root: Path,
+    *,
+    scan_archive: Path | None = None,
+    label_archive: Path | None = None,
+    pose_archive: Path | None = None,
+    split_archive: Path | None = None,
+    preview_points: int = MAX_PREVIEW_POINTS,
+) -> dict[str, Any]:
+    """Verify the full official release without extracting its source archives."""
+
+    root = dataset_root.expanduser().absolute()
+    if not _is_worker_dataset_root(root):
+        raise RellisAdmissionError("RELLIS admission requires the canonical worker D root")
+    if not 1 <= preview_points <= MAX_PREVIEW_POINTS:
+        raise RellisAdmissionError("RELLIS preview point limit is outside the admitted range")
+    archive_root = root / RELLIS_ARCHIVE_ROOT
+    paths = {
+        RELLIS_SCAN_ARCHIVE: _archive_path(archive_root, scan_archive, RELLIS_SCAN_ARCHIVE),
+        RELLIS_LABEL_ARCHIVE: _archive_path(archive_root, label_archive, RELLIS_LABEL_ARCHIVE),
+        RELLIS_POSE_ARCHIVE: _archive_path(archive_root, pose_archive, RELLIS_POSE_ARCHIVE),
+        RELLIS_SPLIT_ARCHIVE: _archive_path(archive_root, split_archive, RELLIS_SPLIT_ARCHIVE),
+    }
+    if any(not path.is_file() for path in paths.values()):
+        raise RellisAdmissionError("one or more official RELLIS archives are unavailable")
+
+    descriptors: dict[str, dict[str, Any]] = {}
+    for filename, path in paths.items():
+        digest = _sha256_file(path)
+        observed = RELLIS_OBSERVED_SHA256.get(filename)
+        if observed is not None and digest != observed:
+            raise RellisAdmissionError(f"{filename} differs from the pinned observed release")
+        descriptors[filename] = {
+            "filename": filename,
+            "source_url": RELLIS_ARCHIVE_URLS[filename],
+            "size_bytes": path.stat().st_size,
+            "sha256": digest,
+            "vendor_checksum_available": False,
+        }
+
+    try:
+        with (
+            zipfile.ZipFile(paths[RELLIS_SCAN_ARCHIVE]) as scans_zip,
+            zipfile.ZipFile(paths[RELLIS_LABEL_ARCHIVE]) as labels_zip,
+            zipfile.ZipFile(paths[RELLIS_POSE_ARCHIVE]) as poses_zip,
+            zipfile.ZipFile(paths[RELLIS_SPLIT_ARCHIVE]) as splits_zip,
+        ):
+            scan_members = _member_index(scans_zip)
+            label_members = _member_index(labels_zip)
+            pose_members = _member_index(poses_zip)
+            split_members = _member_index(splits_zip)
+            splits = _read_splits(splits_zip, split_members)
+            split_pairs = {
+                pair for split in splits.values() for pair in split
+            }
+            if len(split_pairs) != RELLIS_ANNOTATED_SCAN_COUNT:
+                raise RellisAdmissionError("RELLIS split union is incomplete or overlapping")
+
+            indexed_scans = {
+                path: member
+                for path, member in scan_members.items()
+                if _FRAME_PATH.fullmatch(path)
+            }
+            indexed_labels = {
+                path: member
+                for path, member in label_members.items()
+                if _LABEL_PATH.fullmatch(path)
+            }
+            expected_scans = {point_path for point_path, _ in split_pairs}
+            expected_labels = {label_path for _, label_path in split_pairs}
+            if set(indexed_scans) != expected_scans:
+                raise RellisAdmissionError("RELLIS scan archive does not match the official splits")
+            if set(indexed_labels) != expected_labels:
+                raise RellisAdmissionError(
+                    "RELLIS label archive does not match the official splits"
+                )
+            _validate_member_alignment(indexed_scans, indexed_labels, split_pairs)
+            pose_counts = _validate_poses(poses_zip, pose_members, split_pairs)
+
+            validation_point, validation_label = splits["validation"][0]
+            point_bytes = scans_zip.read(indexed_scans[validation_point])
+            label_bytes = labels_zip.read(indexed_labels[validation_label])
+            frame = decode_semantic_kitti_frame(point_bytes, label_bytes)
+            frame_id = _qualified_frame_id(validation_point)
+            preview = rellis_native_scan_preview(
+                frame,
+                frame_id=frame_id,
+                maximum_points=preview_points,
+                source_evidence={
+                    "repository_url": RELLIS_REPOSITORY_URL,
+                    "repository_commit": RELLIS_REPOSITORY_COMMIT,
+                    "label_config_sha256": RELLIS_LABEL_CONFIG_SHA256,
+                    "point_sha256": hashlib.sha256(point_bytes).hexdigest(),
+                    "label_sha256": hashlib.sha256(label_bytes).hexdigest(),
+                    "license": RELLIS_LICENSE,
+                },
+            )
+    except (OSError, KeyError, zipfile.BadZipFile, DatasetFrameError, RellisSmokeError) as exc:
+        raise RellisAdmissionError("RELLIS archives could not be verified") from exc
+
+    sequence_counts = Counter(
+        _FRAME_PATH.fullmatch(point_path).group("sequence")  # type: ignore[union-attr]
+        for point_path, _ in split_pairs
+    )
+    install_identity = hashlib.sha256(
+        json.dumps(descriptors, sort_keys=True, separators=(",", ":")).encode()
+    ).hexdigest()
+    install_root = root / "rellis-3d/v1.1/installs" / install_identity
+    preview_path = install_root / "previews" / f"{frame_id}.json"
+    _atomic_json(preview_path, preview)
+    manifest = {
+        "schema_version": RELLIS_ADMISSION_SCHEMA,
+        "source_id": RELLIS_SOURCE_ID,
+        "observed_at_utc": datetime.now(UTC).isoformat().replace("+00:00", "Z"),
+        "status": "dataset-ready",
+        "storage": {
+            "policy": "worker-d-only",
+            "admitted": True,
+            "canonical_root": True,
+            "path_exposed": False,
+        },
+        "release": {
+            "repository_url": RELLIS_REPOSITORY_URL,
+            "repository_commit": RELLIS_REPOSITORY_COMMIT,
+            "license": RELLIS_LICENSE,
+            "archives": descriptors,
+            "identity_sha256": install_identity,
+        },
+        "alignment": {
+            "annotated_scan_count": len(split_pairs),
+            "split_counts": RELLIS_SPLIT_COUNTS,
+            "sequence_counts": dict(sorted(sequence_counts.items())),
+            "pose_counts": pose_counts,
+            "point_label_alignment": "complete",
+            "pose_index_coverage": "complete",
+        },
+        "frame": {
+            "frame_id": frame_id,
+            "split": "validation",
+            "source_point_count": frame.point_count,
+            "preview_point_count": int(preview["point_count"]),
+            "preview_sha256": _sha256_file(preview_path),
+        },
+        "coordinate_frame": {
+            "frame_id": "sensor/lidar/os1",
+            "x": "forward",
+            "y": "left",
+            "z": "up",
+            "transform_applied": False,
+        },
+        "next_action": "calibrate-on-train-then-qualify-validation",
+    }
+    _atomic_json(root / "state/rellis-3d-v1.1.json", manifest)
+    return manifest
+
+
+def read_rellis_splits(dataset_root: Path) -> dict[str, tuple[tuple[str, str], ...]]:
+    """Read the already admitted immutable split index."""
+
+    root = dataset_root.expanduser().absolute()
+    if not _is_worker_dataset_root(root):
+        raise RellisAdmissionError("RELLIS split access requires the canonical worker D root")
+    split_path = root / RELLIS_ARCHIVE_ROOT / RELLIS_SPLIT_ARCHIVE
+    try:
+        with zipfile.ZipFile(split_path) as source:
+            return _read_splits(source, _member_index(source))
+    except (OSError, zipfile.BadZipFile) as exc:
+        raise RellisAdmissionError("RELLIS split archive cannot be indexed") from exc
+
+
+def _archive_path(root: Path, value: Path | None, filename: str) -> Path:
+    return value.expanduser().absolute() if value is not None else root / filename
+
+
+def _member_index(source: zipfile.ZipFile) -> dict[str, zipfile.ZipInfo]:
+    members = source.infolist()
+    if not members or len(members) > MAX_ARCHIVE_ENTRIES:
+        raise RellisAdmissionError("RELLIS archive entry count is outside the admitted range")
+    total = 0
+    result: dict[str, zipfile.ZipInfo] = {}
+    for member in members:
+        path = PurePosixPath(member.filename.replace("\\", "/"))
+        if path.is_absolute() or ".." in path.parts:
+            raise RellisAdmissionError("RELLIS archive contains an unsafe member path")
+        if (member.external_attr >> 16) & 0o170000 == 0o120000:
+            raise RellisAdmissionError("RELLIS archive contains a symbolic link")
+        total += member.file_size
+        if total > MAX_UNCOMPRESSED_BYTES:
+            raise RellisAdmissionError("RELLIS archive exceeds the uncompressed safety limit")
+        if member.is_dir():
+            continue
+        normalized = "/".join(part for part in path.parts if part not in {".", "Rellis-3D"})
+        if not normalized or normalized in result:
+            raise RellisAdmissionError("RELLIS archive member identity is ambiguous")
+        result[normalized] = member
+    return result
+
+
+def _read_splits(
+    source: zipfile.ZipFile,
+    members: dict[str, zipfile.ZipInfo],
+) -> dict[str, tuple[tuple[str, str], ...]]:
+    result: dict[str, tuple[tuple[str, str], ...]] = {}
+    for split, expected in RELLIS_SPLIT_COUNTS.items():
+        filename = "pt_val.lst" if split == "validation" else f"pt_{split}.lst"
+        matches = [member for path, member in members.items() if path.endswith(filename)]
+        if len(matches) != 1 or matches[0].file_size > MAX_METADATA_MEMBER_BYTES:
+            raise RellisAdmissionError(f"RELLIS {split} split index is unavailable")
+        try:
+            lines = source.read(matches[0]).decode("utf-8").splitlines()
+        except UnicodeDecodeError as exc:
+            raise RellisAdmissionError("RELLIS split index is not UTF-8") from exc
+        pairs: list[tuple[str, str]] = []
+        for raw in lines:
+            parts = raw.strip().replace("\\", "/").split()
+            if len(parts) != 2:
+                raise RellisAdmissionError("RELLIS split row is malformed")
+            point_path, label_path = parts
+            point_match = _FRAME_PATH.fullmatch(point_path)
+            label_match = _LABEL_PATH.fullmatch(label_path)
+            if (
+                point_match is None
+                or label_match is None
+                or point_match.group("sequence") != label_match.group("sequence")
+                or point_match.group("frame") != label_match.group("frame")
+            ):
+                raise RellisAdmissionError("RELLIS split point and label identities differ")
+            pairs.append((point_path, label_path))
+        if len(pairs) != expected or len(set(pairs)) != expected:
+            raise RellisAdmissionError(f"RELLIS {split} split count differs")
+        result[split] = tuple(pairs)
+    if sum(map(len, result.values())) != len(
+        {pair for values in result.values() for pair in values}
+    ):
+        raise RellisAdmissionError("RELLIS split indexes overlap")
+    return result
+
+
+def _validate_member_alignment(
+    scans: dict[str, zipfile.ZipInfo],
+    labels: dict[str, zipfile.ZipInfo],
+    pairs: set[tuple[str, str]],
+) -> None:
+    for point_path, label_path in pairs:
+        point = scans[point_path]
+        label = labels[label_path]
+        if (
+            point.file_size <= 0
+            or point.file_size % 16
+            or label.file_size % 4
+            or point.file_size // 16 != label.file_size // 4
+        ):
+            raise RellisAdmissionError("RELLIS point and label member sizes are not aligned")
+
+
+def _validate_poses(
+    source: zipfile.ZipFile,
+    members: dict[str, zipfile.ZipInfo],
+    pairs: set[tuple[str, str]],
+) -> dict[str, int]:
+    result: dict[str, int] = {}
+    required_by_sequence: dict[str, set[int]] = {
+        sequence: set() for sequence in RELLIS_SEQUENCE_IDS
+    }
+    for point_path, _ in pairs:
+        match = _FRAME_PATH.fullmatch(point_path)
+        assert match is not None
+        required_by_sequence[match.group("sequence")].add(int(match.group("frame")))
+    for sequence in RELLIS_SEQUENCE_IDS:
+        path = f"{sequence}/poses.txt"
+        matches = [member for name, member in members.items() if name.endswith(path)]
+        if len(matches) != 1 or matches[0].file_size > MAX_METADATA_MEMBER_BYTES:
+            raise RellisAdmissionError(f"RELLIS poses are unavailable for sequence {sequence}")
+        try:
+            rows = source.read(matches[0]).decode("utf-8").splitlines()
+        except UnicodeDecodeError as exc:
+            raise RellisAdmissionError("RELLIS pose file is not UTF-8") from exc
+        for row in rows:
+            values = row.split()
+            if len(values) != 12:
+                raise RellisAdmissionError("RELLIS pose row is not a 3x4 transform")
+            try:
+                tuple(float(value) for value in values)
+            except ValueError as exc:
+                raise RellisAdmissionError("RELLIS pose row is not numeric") from exc
+        if not rows or max(required_by_sequence[sequence], default=-1) >= len(rows):
+            raise RellisAdmissionError("RELLIS pose index does not cover every split frame")
+        result[sequence] = len(rows)
+    return result
+
+
+def _qualified_frame_id(point_path: str) -> str:
+    match = _FRAME_PATH.fullmatch(point_path)
+    if match is None:
+        raise RellisAdmissionError("RELLIS frame path is incompatible")
+    return f"{match.group('sequence')}-{match.group('frame')}"
+
+
+def _is_worker_dataset_root(root: Path) -> bool:
+    return str(root).replace("\\", "/").rstrip("/").lower() == (
+        "/mnt/d/ndc_missioncore/datasets"
+    )
+
+
+def _sha256_file(path: Path) -> str:
+    digest = hashlib.sha256()
+    try:
+        with path.open("rb") as source:
+            for chunk in iter(lambda: source.read(8 * 1024**2), b""):
+                digest.update(chunk)
+    except OSError as exc:
+        raise RellisAdmissionError("RELLIS artifact cannot be hashed") from exc
+    return digest.hexdigest()
+
+
+def _atomic_json(path: Path, document: dict[str, Any]) -> None:
+    path.parent.mkdir(parents=True, exist_ok=True)
+    with tempfile.NamedTemporaryFile(
+        mode="w",
+        dir=path.parent,
+        encoding="utf-8",
+        delete=False,
+    ) as temporary:
+        temporary_path = Path(temporary.name)
+        json.dump(document, temporary, ensure_ascii=False, sort_keys=True, separators=(",", ":"))
+        temporary.write("\n")
+        temporary.flush()
+        os.fsync(temporary.fileno())
+    os.replace(temporary_path, path)

src/k1link/datasets/rellis_profile.py

@@ -0,0 +1,104 @@
+"""Train-calibrated, algorithm-scoped RELLIS OS1 Patchwork++ profile."""
+
+from __future__ import annotations
+
+import math
+from dataclasses import dataclass
+from typing import Any, Final
+
+RELLIS_PATCHWORK_PROFILE_SCHEMA: Final = "missioncore.rellis-patchwork-profile/v1"
+RELLIS_URDF_URL: Final = (
+    "https://raw.githubusercontent.com/unmannedlab/RELLIS-3D/"
+    "c17a118fcaed1559f03cc32cc3a91dedc557f8b8/"
+    "catkin_ws/src/platform_description/urdf/warthog.urdf.xacro"
+)
+RELLIS_URDF_SHA256: Final = (
+    "bcb66a05b8818f06479bb4a17ce93e9d66cb8fdaab726c437596807288116ac3"
+)
+
+
+@dataclass(frozen=True, slots=True)
+class RellisPatchworkProfile:
+    """Frozen provider profile derived without looking at validation labels."""
+
+    patchwork_sensor_height_proxy_m: float
+    calibration_identity_sha256: str
+    calibration_frame_count: int
+    calibration_median_absolute_deviation_m: float
+    patchwork_minimum_range_m: float = 2.7
+    patchwork_maximum_range_m: float = 80.0
+    profile_id: str = "rellis-warthog-os1-patchwork/v1"
+
+    def __post_init__(self) -> None:
+        values = (
+            self.patchwork_sensor_height_proxy_m,
+            self.calibration_median_absolute_deviation_m,
+            self.patchwork_minimum_range_m,
+            self.patchwork_maximum_range_m,
+        )
+        if (
+            not self.profile_id
+            or not all(math.isfinite(value) for value in values)
+            or not 0.5 <= self.patchwork_sensor_height_proxy_m <= 3.0
+            or not 5 <= self.calibration_frame_count <= 256
+            or self.calibration_median_absolute_deviation_m < 0
+            or not 0 < self.patchwork_minimum_range_m < self.patchwork_maximum_range_m
+            or len(self.calibration_identity_sha256) != 64
+            or any(
+                character not in "0123456789abcdef"
+                for character in self.calibration_identity_sha256
+            )
+        ):
+            raise ValueError("RELLIS Patchwork++ profile is invalid")
+
+    def to_dict(self) -> dict[str, Any]:
+        return {
+            "schema_version": RELLIS_PATCHWORK_PROFILE_SCHEMA,
+            "profile_id": self.profile_id,
+            "source_id": "rellis-3d/v1.1",
+            "representation": "native-scan",
+            "sensor_frame": {
+                "frame_id": "sensor/lidar/os1",
+                "handedness": "right",
+                "x": "forward",
+                "y": "left",
+                "z": "up",
+                "one_revolution": True,
+            },
+            "height": {
+                "sensor_above_ground_m": self.patchwork_sensor_height_proxy_m,
+                "evidence": "train-split-ground-label-calibration",
+                "calibration_frame_count": self.calibration_frame_count,
+                "median_absolute_deviation_m": (
+                    self.calibration_median_absolute_deviation_m
+                ),
+                "calibration_identity_sha256": self.calibration_identity_sha256,
+                "validation_labels_used": False,
+            },
+            "patchworkpp": {
+                "provider_id": "patchworkpp/v1.4.1",
+                "minimum_range_m": self.patchwork_minimum_range_m,
+                "maximum_range_m": self.patchwork_maximum_range_m,
+                "enable_rnr": True,
+                "enable_rvpf": True,
+                "enable_tgr": True,
+            },
+            "evidence": {
+                "vehicle_urdf": {
+                    "url": RELLIS_URDF_URL,
+                    "sha256": RELLIS_URDF_SHA256,
+                    "use": "topology-cross-check-only",
+                    "exact_physical_height_claimed": False,
+                }
+            },
+            "scope": {
+                "patchworkpp_eligible": True,
+                "normalized_scan_produced": False,
+                "complete_vehicle_transform_known": False,
+                "deskew_claimed": False,
+            },
+            "authority": {
+                "qualification_only": True,
+                "navigation_or_safety_accepted": False,
+            },
+        }

src/k1link/web/app.py

@@ -429,6 +429,9 @@ app.include_router(
         dataset_rellis_preview_provider=lambda: (
             REPOSITORY_ROOT / ".runtime" / "dataset-gateway" / "rellis-preview.json"
         ),
+        dataset_rellis_admission_provider=lambda: (
+            REPOSITORY_ROOT / ".runtime" / "dataset-gateway" / "rellis-admission.json"
+        ),
         dataset_ground_preview_provider=lambda: (
             REPOSITORY_ROOT / ".runtime" / "dataset-gateway" / "ground-comparison.json"
         ),

src/k1link/web/lidar_api.py

@@ -64,6 +64,7 @@ def build_lidar_router(
     dataset_admission_provider: DatasetArtifactProvider = configured_dataset_admission_manifest,
     dataset_preview_provider: DatasetArtifactProvider = configured_dataset_preview,
     dataset_rellis_preview_provider: DatasetArtifactProvider = lambda: None,
+    dataset_rellis_admission_provider: DatasetArtifactProvider = lambda: None,
     dataset_ground_preview_provider: DatasetArtifactProvider = configured_dataset_ground_preview,
 ) -> APIRouter:
     router = APIRouter(prefix="/api/v1/lidar", tags=["lidar"])
@@ -73,6 +74,7 @@ def build_lidar_router(
         return dataset_gateway_catalog(
             admission_manifest_path=dataset_admission_provider(),
             rellis_preview_path=dataset_rellis_preview_provider(),
+            rellis_admission_path=dataset_rellis_admission_provider(),
         )
 
     @router.get("/dataset-gateway/preview")

src/k1link/web/polygon_api.py

@@ -41,17 +41,21 @@ DETAIL_SCHEMA: Final = "missioncore.polygon-run-detail/v1"
 GROUND_QUALIFICATION_SCHEMA: Final = "missioncore.polygon-ground-qualification/v1"
 GROUND_FAILURE_PREVIEW_SCHEMA: Final = "missioncore.polygon-ground-failure-preview/v1"
 GROUND_REPORT_ARTIFACT_KIND: Final = "goose-ground-qualification-report"
+RELLIS_REPORT_ARTIFACT_KIND: Final = "rellis-ground-qualification-report"
 GROUND_FAILURE_ARTIFACT_KIND: Final = "goose-ground-qualification-failure-preview"
 GROUND_REPORT_SCHEMA: Final = "missioncore.goose-ground-qualification-report/v1"
+RELLIS_REPORT_SCHEMA: Final = "missioncore.rellis-ground-qualification-report/v1"
 GROUND_FAILURE_SCHEMA: Final = "missioncore.goose-ground-qualification-failure-preview/v1"
 GROUND_REVIEW_SCHEMA: Final = "missioncore.polygon-ground-review/v2"
 GROUND_REVIEW_FRAME_SCHEMA: Final = "missioncore.polygon-ground-review-frame/v1"
 GOOSE_REVIEW_PACK_SCHEMA: Final = "missioncore.goose-ground-review-pack/v1"
 GOOSE_REVIEW_FRAME_SCHEMA: Final = "missioncore.goose-ground-review-frame/v1"
+RELLIS_REVIEW_PACK_SCHEMA: Final = "missioncore.rellis-ground-review-pack/v1"
+RELLIS_REVIEW_FRAME_SCHEMA: Final = "missioncore.rellis-ground-review-frame/v1"
 MAX_QUALIFICATION_ARTIFACT_BYTES: Final = 32 * 1024**2
 MAX_REVIEW_MANIFEST_BYTES: Final = 8 * 1024**2
 MAX_REVIEW_FRAME_BYTES: Final = 2 * 1024**2
-MAX_REVIEW_FRAMES: Final = 2_000
+MAX_REVIEW_FRAMES: Final = 3_000
 MAX_REVIEW_POINTS: Final = 20_000
 COMMIT_PATTERN: Final = re.compile(r"^[a-f0-9]{40}$")
 GOOSE_FRAME_ID_PATTERN: Final = re.compile(
@@ -201,8 +205,8 @@ def build_polygon_router(
         report = _read_registered_json(
             store,
             run,
-            artifact_kind=GROUND_REPORT_ARTIFACT_KIND,
+            artifact_kind=(GROUND_REPORT_ARTIFACT_KIND, RELLIS_REPORT_ARTIFACT_KIND),
-            expected_schema=GROUND_REPORT_SCHEMA,
+            expected_schema=(GROUND_REPORT_SCHEMA, RELLIS_REPORT_SCHEMA),
         )
         required = (
             "identity_sha256",
@@ -305,7 +309,7 @@ def build_polygon_router(
                             "ground_iou_delta",
                         )
                     },
-                    **_goose_frame_identity(frame["frame_id"]),
+                    **_dataset_frame_identity(frame),
                 }
                 for frame in manifest["frames"]
             ],
@@ -348,7 +352,11 @@ def build_polygon_router(
             ) from exc
         point_count = int(frame["point_count"])
         if (
-            schema != GOOSE_REVIEW_FRAME_SCHEMA
+            schema
+            not in {
+                GOOSE_REVIEW_FRAME_SCHEMA,
+                RELLIS_REVIEW_FRAME_SCHEMA,
+            }
             or stored_frame_id != frame_id
             or source_point_count != frame["source_point_count"]
             or xyz_cm.dtype != np.dtype("<i2")
@@ -562,11 +570,17 @@ def _read_registered_json(
     store: QualificationRunStore,
     run: QualificationRun,
     *,
-    artifact_kind: str,
+    artifact_kind: str | tuple[str, ...],
-    expected_schema: str,
+    expected_schema: str | tuple[str, ...],
     frame_id: str | None = None,
 ) -> dict[str, Any]:
-    candidates = [artifact for artifact in run.artifacts if artifact.kind == artifact_kind]
+    artifact_kinds = (artifact_kind,) if isinstance(artifact_kind, str) else artifact_kind
+    expected_schemas = (
+        (expected_schema,) if isinstance(expected_schema, str) else expected_schema
+    )
+    candidates = [
+        artifact for artifact in run.artifacts if artifact.kind in artifact_kinds
+    ]
     if frame_id is not None:
         candidates = [
             artifact for artifact in candidates if Path(artifact.relative_path).stem == frame_id
@@ -611,7 +625,7 @@ def _read_registered_json(
             status_code=500,
             detail="Квалификационный артефакт не является допустимым JSON.",
         ) from exc
-    if not isinstance(value, dict) or value.get("schema_version") != expected_schema:
+    if not isinstance(value, dict) or value.get("schema_version") not in expected_schemas:
         raise HTTPException(
             status_code=500,
             detail="Квалификационный артефакт имеет неизвестную схему.",
@@ -676,7 +690,8 @@ def _read_ground_review_manifest(
     safety = manifest.get("safety") if isinstance(manifest, dict) else None
     if (
         not isinstance(manifest, dict)
-        or manifest.get("schema_version") != GOOSE_REVIEW_PACK_SCHEMA
+        or manifest.get("schema_version")
+        not in {GOOSE_REVIEW_PACK_SCHEMA, RELLIS_REVIEW_PACK_SCHEMA}
         or manifest.get("source_run_id") != run_id
         or not isinstance(manifest.get("identity_sha256"), str)
         or not re.fullmatch(r"[a-f0-9]{64}", manifest["identity_sha256"])
@@ -725,7 +740,27 @@ def _read_ground_review_manifest(
     return pack_root, manifest
 
 
-def _goose_frame_identity(frame_id: str) -> dict[str, str | int]:
+def _dataset_frame_identity(frame: dict[str, Any]) -> dict[str, str | int | None]:
+    frame_id = frame["frame_id"]
+    explicit_sequence = frame.get("dataset_sequence_id")
+    explicit_number = frame.get("dataset_frame_number")
+    if explicit_sequence is not None or explicit_number is not None:
+        if (
+            not isinstance(explicit_sequence, str)
+            or re.fullmatch(r"[A-Za-z0-9][A-Za-z0-9_-]{0,95}", explicit_sequence)
+            is None
+            or not isinstance(explicit_number, int)
+            or explicit_number < 0
+        ):
+            raise HTTPException(
+                status_code=500,
+                detail="Идентичность dataset-кадра нарушает контракт.",
+            )
+        return {
+            "dataset_sequence_id": explicit_sequence,
+            "dataset_frame_number": explicit_number,
+            "sensor_timestamp_ns": None,
+        }
     match = GOOSE_FRAME_ID_PATTERN.fullmatch(frame_id)
     if match is None:
         raise HTTPException(

tests/test_polygon_api.py

@@ -435,6 +435,44 @@ def test_polygon_api_rejects_tampered_review_frame(tmp_path: Path) -> None:
     assert "SHA-256" in failure.value.detail or "файл" in failure.value.detail.lower()
 
 
+def test_polygon_api_publishes_rellis_sequence_identity(tmp_path: Path) -> None:
+    root = tmp_path / "runs"
+    run, _ = _qualification_run(root)
+    frame_id = "rellis-00000-000307"
+    frame_path = _review_pack(root, run.run_id, frame_id)
+    with np.load(frame_path, allow_pickle=False) as source:
+        payload = {key: source[key] for key in source.files}
+    payload["schema"] = np.asarray(["missioncore.rellis-ground-review-frame/v1"])
+    np.savez_compressed(frame_path, **payload)
+    manifest_path = frame_path.parent.parent / "manifest.json"
+    manifest = json.loads(manifest_path.read_text(encoding="utf-8"))
+    manifest["schema_version"] = "missioncore.rellis-ground-review-pack/v1"
+    manifest["source_id"] = "rellis-3d/v1.1"
+    manifest["frames"][0]["dataset_sequence_id"] = "00000"
+    manifest["frames"][0]["dataset_frame_number"] = 307
+    manifest["frames"][0]["sha256"] = hashlib.sha256(frame_path.read_bytes()).hexdigest()
+    manifest["frames"][0]["byte_length"] = frame_path.stat().st_size
+    manifest_path.write_text(json.dumps(manifest), encoding="utf-8")
+    router = build_polygon_router(root_provider=lambda: root)
+
+    review = _endpoint(
+        router,
+        "/api/v1/polygon/runs/{run_id}/qualification/review",
+        "GET",
+    )(run_id=run.run_id)
+    frame = _endpoint(
+        router,
+        "/api/v1/polygon/runs/{run_id}/qualification/review/frames/{frame_id}",
+        "GET",
+    )(run_id=run.run_id, frame_id=frame_id)
+
+    assert review["source_id"] == "rellis-3d/v1.1"
+    assert review["frames"][0]["dataset_sequence_id"] == "00000"
+    assert review["frames"][0]["dataset_frame_number"] == 307
+    assert review["frames"][0]["sensor_timestamp_ns"] is None
+    assert frame["frame_id"] == frame_id
+
+
 class _FakeWorkerGateway:
     def __init__(self) -> None:
         self.calls: list[tuple[str, str]] = []

tests/test_rellis_qualification.py

@@ -0,0 +1,78 @@
+from __future__ import annotations
+
+import zipfile
+from pathlib import Path
+
+import numpy as np
+import pytest
+
+from k1link.datasets.rellis_admission import RellisAdmissionError, _member_index
+from k1link.datasets.rellis_profile import RellisPatchworkProfile
+from k1link.datasets.rellis_qualification import calibrate_rellis_sensor_height
+
+
+def _frame(height_m: float) -> tuple[bytes, bytes]:
+    point_count = 512
+    points = np.zeros((point_count, 4), dtype="<f4")
+    points[:, 0] = np.linspace(3.0, 12.0, point_count, dtype=np.float32)
+    points[:, 2] = -height_m
+    points[:, 3] = 0.5
+    labels = np.full(point_count, 1, dtype="<u4")
+    return points.tobytes(), labels.tobytes()
+
+
+def test_rellis_height_calibration_uses_only_stratified_train_frames(
+    tmp_path: Path,
+) -> None:
+    scan_path = tmp_path / "scans.zip"
+    label_path = tmp_path / "labels.zip"
+    pairs: list[tuple[str, str]] = []
+    with (
+        zipfile.ZipFile(scan_path, "w") as scans,
+        zipfile.ZipFile(label_path, "w") as labels,
+    ):
+        for sequence, height in enumerate((1.20, 1.25, 1.30, 1.35, 1.40)):
+            sequence_id = f"{sequence:05d}"
+            point_member = f"{sequence_id}/os1_cloud_node_kitti_bin/000000.bin"
+            label_member = (
+                f"{sequence_id}/os1_cloud_node_semantickitti_label_id/000000.label"
+            )
+            point_bytes, label_bytes = _frame(height)
+            scans.writestr(f"Rellis-3D/{point_member}", point_bytes)
+            labels.writestr(f"Rellis-3D/{label_member}", label_bytes)
+            pairs.append((point_member, label_member))
+
+    result = calibrate_rellis_sensor_height(
+        scan_path,
+        label_path,
+        tuple(pairs),
+        archive_identity="a" * 64,
+        frame_count=5,
+    )
+
+    assert result["split"] == "train"
+    assert result["validation_labels_used"] is False
+    assert result["frame_count"] == 5
+    assert result["sensor_height_m"] == pytest.approx(1.30)
+    assert len(result["identity_sha256"]) == 64
+
+
+def test_rellis_archive_index_rejects_path_traversal(tmp_path: Path) -> None:
+    archive = tmp_path / "unsafe.zip"
+    with zipfile.ZipFile(archive, "w") as target:
+        target.writestr("../outside.bin", b"data")
+    with (
+        zipfile.ZipFile(archive) as source,
+        pytest.raises(RellisAdmissionError, match="unsafe"),
+    ):
+        _member_index(source)
+
+
+def test_rellis_patchwork_profile_rejects_unphysical_height() -> None:
+    with pytest.raises(ValueError):
+        RellisPatchworkProfile(
+            patchwork_sensor_height_proxy_m=0.1,
+            calibration_identity_sha256="a" * 64,
+            calibration_frame_count=64,
+            calibration_median_absolute_deviation_m=0.01,
+        )