NODEDC_MISSION_CORE/docs/audits/2026-09-22-ai-polygon-route-recovery.md

AI-полигон · привод, маршрут и проверка корпуса

Обновление23сентября: R29 и R30 прошли весь заданный маршрут Riverside Path с goal-reached и остановкой. После оптимизации R30 завершён за32.67с вместо 63.97с; задержка inference по медиане234мс вместо414мс. Это парк с готовой парой Gaussian/mesh, не грунтовка. Ниже сохранена история ошибок и последующих исправлений, включая отрицательные результаты.

Полное автономное прохождение Forest/Bamboo пока не принято. Исправления ниже подтверждают отдельные свойства симулятора; ни смещение перевёрнутого аппарата, ни штатный Stop не считаются успешным маршрутом.

Исправление прежнего результата

Forest airun-3664b7dec1024dbe984aaf82a11147cc закончился переворотом (конечный roll около178°, наклон от вертикали около168°). Прежнее утверждение «2.461м, затем остановка перед препятствием» отозвано в исходном audit и Ops. Raw evidence сохранён. Теперь используется наклон оси корпуса относительно вертикали из quaternion, поэтому инверсия не маскируется нормализацией углов.

Исполнение и композиция

Isaac/PhysX, Gaussian, камера/лидар, модели, решения и журналы исполняются на Worker006. Mac принимает видеопоток и компактное состояние. Физический привод устройств не подключён. SegFormer B2 ADE150 и RF-DETR остались готовыми провайдерами общей композиции; DDRNet и прежние образы/веса сохранены. Добавлен модуль simulation-waypoint-mission: необязательные32точки XY, проверка продвижения, до3попыток сменить наблюдаемую локальную цель, явные goal-reached, stuck, unstable. Это локальное поведение, не глобальный планировщик обхода и не подтверждённая автономность.

Состояние миссии теперь принадлежит эпизоду; пересоздание сетевого клиента модели не сбрасывает индекс маршрута и terminal fault. Пауза замораживает время. Близкая уже наблюдённая точка явного маршрута сохраняется в слепой полосе камеры, если текущие наблюдения всё ещё содержат поверхность; CMU и монитор корпуса сохраняют право остановки. Без свежего кадра800мс или команды500мс привод получает ноль.

Измеренная физика

Квадратный footprint1×1м,4колеса радиусом0.25м,24кг, без подвески — временный лабораторный профиль, не модель физических устройств пользователя. 11проверок на Worker: плоскость, ступени5/10/15/18/20/25см и уклоны10/15/20/25°. Прошли плоскость,5/10см и все4уклона.15см и выше не прошли; поэтому предел навигации снижен с прежнего неподтверждённого18см до10см.

Нулевая скорость сама по себе не удерживала колёса на склоне. Добавлен физический position-hold колёсных шарниров: без фиксации корпуса, телепортаций и подмены позы. На финальных уклонах10–25° дрейф после торможения за2с составил0.29–1.06мм. Solver32/8 и contact offset5мм повторно прошли ту же capability-проверку. Повтор одинаковых сохранённых команд на исходной Bamboo-геометрии уменьшил максимальный наклон с50.86° до15.94°; это физический replay, не AI-route acceptance.

Наблюдения и CMU

15колец виртуального лидара, первый физический контакт, частотаоколо5Гц. Дополнительные лучи−80/−75/−70° сокращают слепую полосу перед колёсами. Восстановлена upstream-память CMU: decay2с, noDecayDis4м. Исчезновение точки за корпусом больше не объявляет пространство свободным. Очистка следов движущихся участников не квалифицирована; память статического рельефа консервативна.

Готовые CMU terrainAnalysis/pathFollower и библиотека примитивов сохранены. В localPlanner внесён ограниченный адаптер выбора: перед принятием кандидата проверяется поворот к look-ahead0.7м и первый участок пути до1.2м с прямоугольником 1.1×1.1м (корпус плюс5см запаса с каждой стороны). Прежняя угловая проверка могла разрешить задевание задним углом и одновременно запретить прямой выход. Её заменяет этот фильтр. Отдельный монитор дуги фактически выдаваемой команды остаётся включён. Изменения объявлены явно; C++ больше не считается неизменённым upstream. Ограничение скорости0.15м/с и поворота20°/с сохранено.

Исходный CMU commit 158e67b31b644ed1e8b06eb1d7f70e183cc62591; базовый image sha256:7693c28fac83df9e9e6ac6d89ffec81470f660cb8b30fc78fa88be228329dc0b. Отдельный image с фильтром: sha256:41784f6269f46907a4bb41323fe24ce8dcf439c797be94b1257d24f280c99453. Сборка из versioned navigation/Dockerfile.footprint, missioncore_footprint.hpp, patch_footprint.py; повторная подготовка — Prepare-RectangleNavigation.ps1. Старые model images не перезаписывались.

Семь независимых Worker-only проверок прошли: плоскость; объезд стены; остановка в ограждении; коридор1.3м; отказ от0.9м; прямой выход от препятствия у заднего угла; сохранение ближнего препятствия при исчезновении наблюдения. Вариант только с более плотным terrainVoxelSize0.02 проблему не решил и не принят; оставлено0.08. Первый вариант фильтра вместе со старой угловой проверкой не прошёл новую регрессию; установлен только исправленный вариант.

Плавные уклоны и сохранение препятствий

Установленный адаптер navigation/terrain_costs.py устраняет ещё одно измеренное расхождение: физическое шасси проходит плавные уклоны до25°, но прежняя оценка CMU блокировала15° и выше. Высота точки над нижним квантилем ячейки не равна высоте ступени. Адаптер разрешает только наблюдённую локальную плоскость с остатком не более2.5см, достаточной площадью опоры и уклоном2–25°; геометрия не меняется. Резкие ступени, обрывы, недостаточные и неровные наблюдения сохраняют прежнюю стоимость. Это не полная квалификация отрицательных препятствий.

На Worker прошли12сценариев: прежние7 и пять непрерывных уклонов5/10/15/20/25°. Отдельная проверка через ROS-адаптер сохранила остановку перед ступенью15см и перепадом вниз40см в коридоре1.3м. В R10 нормализатор не снял ни одного из ближних препятствий: наблюдаемые перепады не удовлетворяют условию плоскости.

Реальные заезды и ограничения

Заезд	Наблюдение	Оценка
airun-02e135f864d944888b3e40e5c5877182	Bamboo, смещение0.994м, max tilt35.02°	Не принят: опасный наклон
airun-7bd0bb24a42d400e83d291369ea32887	Bamboo, память препятствий, остановка у старта	Не принят: путь не найден
airun-cbb037ed6de44df0b87ec9874c120232	Bamboo, смещение0.0085м, max tilt7.51°	Не принят: застревание
airun-06e86d64d53245f6a3d9e14f706c6be5	Forest, практически нулевое смещение, max tilt17.07°	Не принят: нет наблюдаемого прохода
airun-0862bb2a6a9a4651a6bdf8a1d36e85d9	Bamboo, прямоугольный фильтр, старт[0.95,0.3]	Не принят: путь не найден после3попыток
airun-2ecadc20d2fe40e2ac1a31efc3559154	Bamboo, старт[3.65,2.5], цель[5,2.5]	Не принят: путь не найден
airun-457b2564987a41428108f8449b342dbc	Bamboo, исправление уклонов; смещение0.44мм, max tilt13.62°,34.5с	Не принят:35решений obstacle,117no-road,12stuck
airun-09859bf380b74119ba4afdf30798e0e3	Forest, старт[-1.5,1], смещение9.86мм, max tilt8.68°,34.5с	Не принят:74obstacle,56no-road,12stuck

Ровная площадка сама по себе не доказывает возможность выехать метровым корпусом: на последнем старте range видит близкое превышение0.17–0.22м у переднего правого угла и боковую геометрию. Проверки коллизий не ослаблялись. Scale остаётся1, внешняя метрическая опора скана пока отсутствует. Collision proxy не разделяет твёрдый рельеф и мягкую растительность. Новая точка старта выбиралась только при подготовке сценария; inference не получает mesh или авторскую карту.

Текущий профиль не имеет глобального поиска пути, готового возврата задним ходом, приёмки обрывов/неизвестной опоры и динамических людей/животных. Десять успешных повторных маршрутов не получены. Нужна подготовка физически проходимого участка и полноценное поведение восстановления; добавление моделей само по себе эти два ограничения не решает.

Версия и доказательства

Установлен release b3f1e73eb597fba1,584файла; identity b3f1e73eb597fba135f803591561be1f217a112b160699640c5a1b7133d71cab; tgz SHA-256 8f89288cfc8d169f4468cb6c27faabfacb78a511d1f9e7cf8d7e55424ba61382. Установка подтверждена штатным Windows installer в06:20:14UTC. Core8000 согласованно перезапущен для загрузки изменённого реестра композиции; health и регистрация Worker подтверждены перед R10. Предыдущая версия 2fff34f35bba9346 сохранена для отката.

41backend AI-polygon tests и16launchd/tunnel tests прошли; Ruff для изменённых файлов прошёл. Согласованная соседняя задача проверила ту же общую frontend-сборку: architecture4/4,typecheck,unit903/903,production build,diff check — passed. Здесь тяжёлая сборка повторно не запускалась. Операторская проверка AI-полигона: шапка/прокрутка, настройка общей композиции, три камеры, fullscreen/Escape и показ явной причины неуспешного прогона проверены. Настоящий Worker video в паузе28–29FPS, это не частота inference и не результат движения. После выхода из fullscreen выбранная камера сохраняется. Перед UI-проверкой: memory pressure1,swap0.

Raw RGB,labels,range,motion,composition,robot-profile и terrain остаются на Worker. Каждый закрытый эксперимент получает SHA-манифест рядом с raw; время sealing отделено от исходных UTC/monotonic эксперимента. Частные компактные сводки: outputs/ai-polygon-2026-09-22/route-recovery/. Отдельный инцидент запуска Core и его восстановление описаны в Core launch recovery.

Отдельная проверка подготовки коллизий

Повтор старого эксперимента SplatTransform с carve снова упал при Building BVH. Прямой bounded-запуск того же3.4.0 с --filter-nan и процессным Node heap12ГБ построил кандидат за11.125с:4.65млн splats,736тыс треугольников,12.6МБ GLB. Эти два изменения проверены вместе; отдельная причина сбоя не установлена. Штатный carve очищает недоступные внутренние поверхности; он не распознаёт мягкую растительность.

Кандидат НЕ установлен: отдельный физический прогон на старте R10 прошёл только 0.304м до аварийного наклона30.06°. Это не AI-заезд и не улучшение проходимости. Исходный рабочий collider сохранён. Его замена без проверки контактной геометрии маскировала бы ограничение скана вместо исправления навигации.

Сравнение Docker06:26:09UTC: сохранены21исходный container ID и конфигурации (name/image/restart/mounts/memory/GPU/ports),104уникальных image ID из108записей исходного каталога,9volumes. Отличий и пропавших объектов нет. Проверка не утверждает неизменность полного Config JSON; перечисленные поля сравнены явно.

Операторская проверка после восстановления

Прогон airun-8255c7e50998477b9afaee41746372cb: Pause через UI подтверждён Worker; в течение22.344с неизменны simulation time26.566666667с, physics steps1594,inference count96 и pose. Continue подтверждён; в отсутствие первого нового решения привод оставался остановлен. Последующий UI Stop дал stopped / Движение и inference остановлены.; active run/marker отсутствуют. Повторное сравнение Docker06:43:36UTC снова не обнаружило изменений прежних контейнеров/images/volumes. Core8000 health ok,Worker available;8765 не слушает.

Отчёт Ops с исправлением прежней ложной оценки и Core recovery был записан. Последующие updates R10/R11 получили transport errors; результат пока не подтверждён. Точное тело для идемпотентной повторной записи сохранено в private outputs/ai-polygon-2026-09-22/route-recovery/pending-ops-report.json.

После закрытия видео финальная проверка Mac: pressure1,swap4370.88МБ. Временных локальных test/build/simulation jobs этой задачи не осталось; по RSS один Core8000 около539МБ, браузерный renderer около276МБ. Причина роста swap не установлена; рядом появилась пользовательская Chrome-сессия, но это не доказательство причинности. Смежная задача предупреждена перед своей следующей сборкой. Системные лимиты и приложения пользователя не менялись. Финальный Ops read также получил timeout60с; повторная запись не подтверждена.

R12: observed reverse recovery and coordinate fault (07:12 UTC onward)

Release 63d59fd270b2a252 added signed virtual motion, CMU two-way driving with reverse body-orientation clearance, and a bounded retreat/replan policy inside the existing composition constructor. Retreat requires fresh range support over the full swept width. A separate rear mount adds 660 first-hit rays; the chassis continues to occlude rays. Route progress now uses improvement toward the target, so backing away cannot replenish the retry budget. Core enforces the speed limit by magnitude in both directions. Local targeted suite: 48 passed.

The new navigation image is sha256:1dd68dfb3fa6bf4148fec4f1caabb204e8ec39382c6dee60ac806378f553c9c7, separate tag ndc-ai-polygon-cmu:rectangle-v2. All 14 Worker navigation cases passed, including reverse on clear ground and rejection of a rear wall. The shipped physical chassis and mounted sensors completed a 0.504 m reverse on a synthetic floor; braking drift was 0.00030 m. These are component qualifications, not acceptance of a Gaussian-world route.

Bamboo R12 airun-6c49b967377b4521b64637d462b81edb remained blocked: 69 obstacle, 77 no-road and 11 terminal stuck decisions. The newly observed rear footprint contained local height spreads up to 0.262 m, so recovery correctly stayed inadmissible. This did not establish whether that physical surface matched the image.

Confirmed visual/collision registration defect

Inspection of the installed SplatTransform 3.4.0 source map established that PLY input carries an implicit Rz(180) transform (Transform.PLY). The old preparer neither cancelled that transform nor used the correct Z-up to Y-up basis rotation. Its additional Rx(+90), followed by the runtime GLB conversion, produced a physical mesh rotated 180 degrees horizontally relative to the USD Gaussian visual.

A Worker-only single-Gaussian landmark confirmed the defect independently of perception, navigation, chassis and scene complexity. The raw landmark (1,2,3) with the configured USD rotation belongs at (-1,-3,-2). The old pipeline produced (0.9875,3.0125,-2.0125), 6.332 m from its visual position. Cancelling Rz(180) before the configured scene rotation and using Rx(-90) for glTF produced (-1.0125,-2.9875,-2.0125), error 0.02165 m with a 0.025 m voxel.

All earlier real-world route outcomes in this audit used mismatched visual and collision geometry. They cannot qualify road recognition, visual navigation or traversability of the visible Forest/Bamboo scene. Synthetic chassis and CMU component checks remain separate valid evidence. The prior terrain capability conclusions are restricted to the physical proxy actually tested, not the visible road. No additional terrain classifier was installed to conceal this registration problem.

The versioned Prepare-Terrain.ps1 now cancels the PLY convention explicitly, uses the inverse of the runtime glTF basis, and crops in that same basis. Its changed generator digest invalidates the previous terrain cache. Existing meshes remain available as historical evidence. A versioned landmark regression executes the actual preparer rather than merely duplicating its transform math.

Coordinate correction acceptance and R13/R14

Release 0ad2b4bf9b3dcfa6 (587 files) was installed at 07:31:25 UTC. The actual preparer's independent landmark test passed: horizontal expected (-1,-3), measured (-0.990,-2.970), with the production 6 cm voxel. The admitted old caches were corrected by an exact rigid transform, preserving every vertex and face. migrate_terrain_coordinates.py accepts only the known old generator digest and the exact rotation [-90,0,180]; its own SHA is pinned inside the preparer. A synthetic binary GLB regression verifies positions and unchanged topology.

A fresh full-scene BVH build in SplatTransform failed natively with Windows code 3221226505, including a diagnostic retry with optimization disabled. That retry was not installed. The existing-cache correction avoids this upstream rebuild for Forest and Bamboo. Fresh imports without an admitted old cache still use the corrected official converter and may encounter that unresolved upstream failure. No scene was simplified to avoid the failure.

Bamboo R13 airun-2645a317563e451e82f29477843a16e3 rejected its rotated initial footprint before execution. R14 airun-92bb42f79beb491584ea293a9f65fec2 used an admitted pose (-1.35,-0.6), heading220°, and the corrected collider SHA 434c68755d9bb6443eb2081014fb5a2f226947721d4c3ff7c28f046c00c74f9e. It started upright (support residual0.03664m) but still failed to make route progress:135 obstacle,2 replanning,11 stuck decisions; net movement0.0093m, maximum tilt8.04°. Its initial RGB frame visibly follows the bamboo trail, and semantic road fraction was0.989. This is not an accepted autonomous route.

The same scene/profile/pose in a separate bounded physical contact test moved 1.189m in20 simulated seconds, maximum tilt14.34°, without a tilt stop. It drifted in heading and was not a route-following test. This proves some physical motion is possible from that pose; it does not prove completion of the requested route. The remaining analysis concerns observed terrain costs and planning, rather than missing ground classification. All original evidence remains on Worker.

Short prefixes, observed reserve and command freshness

Release fd4ffaa8c24983da admitted a safe 0.5 m CMU path prefix, retaining the whole rectangular body and command/braking monitor. Seventeen Worker navigation cases passed, as did separate 12/15 cm step and 40 cm drop rejections. Bamboo R15 airun-18877f2bce60420886b29a2677b292c3 still failed: eight road decisions followed by 134 obstacle and 11 stuck decisions, with approximately 8 mm net movement. The first small motion revealed terrain returns about 0.53 m behind the body, inside its 5 cm reserve but outside the actual 1 m body. Requiring the complete reserve clear at time zero incorrectly rejected even departure from these points.

The new filter retains actual body-overlap rejection. For a point already inside the reserve, every sampled turn/translation must preserve or increase its initial clearance; all other points retain the full 5 cm reserve. It therefore cannot permit approach, reverse into that point or sweep a corner through it. Regression cases cover departure, front obstruction, body overlap and the braking horizon.

R15 also recorded camera-result ages of roughly 0.4 s plus a roughly 0.2 s capture period. The old 0.5 s source watchdog repeatedly stopped valid motion between results (57 stale-camera versus 64 applied-command snapshots). The Worker source budget is now 0.8 s, and the command collision envelope uses the same constant, plus the existing braking distance and 0.5 s reserve. The independent 0.5 s completed-command watchdog remains. This is a bounded local latency budget, not permission to apply an indefinitely stale prediction. Fifty-two focused local tests passed after these changes. Live route acceptance remains pending.

R16/R17: remove the processing backlog, retain obstacle authority

Release 878206a9ae0d9467 passed20 CMU scenarios (including reserve departure, front reserve and body-overlap rejection), three separate hazardous terrain cases and R15 observation replay. Live R16 airun-4beae79a310f43889388efb0d08c4c7b moved0.181m, then stopped while terrain processing fell behind. Measured cost normalization rose from31ms to540ms as the local map accumulated roughly7,000 points. This was Worker-local processing, not operator-network latency.

terrain_costs.py now indexes exact radius neighborhoods, rejects mathematically impossible plane fits early, and bounds a cache of byte-identical neighborhood fits to16,384 entries. Changed observations invalidate the relevant fit. It does not store or erase occupancy; CMU remains its owner. Seven retained map snapshots produced exactly equal normalized costs to the earlier algorithm. The measured ROS callback fell to87–93ms in the late recorded scene. The new-obstacle cache invalidation regression and 12/15cm ledge/40cm drop rejection passed.

Release 3bfe8f53075912f6 was installed at08:25:38UTC. Live R17 airun-43c573ee22174735b1e42edd4c3717f4 removed the sustained stale-frame stops (3 initial stale versus116 applied-command snapshots in the sampled trace), but stopped after0.168m:16 road,95 obstacle,10 stuck decisions. CMU selected a path while the final command's full-speed turning/braking arc was inadmissible. This exposed the need for bounded speed regulation rather than repeatedly requesting the same rejected full-speed command. No completed route is claimed.

R18: regulation removes command rejection, terrain estimate still blocks

Release b8fd58094d09f501 scales the CMU linear and angular command together, preserving curvature. A bounded search admits only a speed whose complete body and braking envelope passes the same monitor. It cannot create a new path or ignore an obstacle. Twenty native navigation cases and the 12/15 cm ledge and 40 cm drop rejections passed. Progress recognition now admits 0.10 m in eight seconds, retaining the same bounded recovery budget and jitter rejection.

Bamboo R18 airun-14f6f5c770bb4a1aad9ef52c76f5dc16 still stopped after 0.212 m. It ran 37.4 simulation seconds in 37.5 wall seconds; rendered about 13–16 FPS and inferred about 3–4 Hz. The final source age was 344 ms. These measurements separate local simulation performance from route completion: real-time execution was possible, but the autonomous route did not pass.

September 23: restart, isolated Forest contact and median-ground candidate

Worker was powered down by its owner and resumed on September 23. The scheduled task was Ready with LastResult 1. Pinned model preflight passed, the existing scheduled task was started, and Core reported Worker available. The historical log is insufficient to identify the boot failure; it does not establish Docker startup as the cause. Release 6974a7ef7a8d5d14, installed at 05:02:31 UTC, adds top-level coordinator exception logging and persisted native startup phases. It changes no navigation model, wheel or terrain parameter.

Corrected Forest R19 airun-7e504cc926d346a4adcfee17756e1ddb never finished startup. R20 airun-7f4448035d0f4a60918d73d41def5acf isolated the stall to initial-render-and-contact. Native physics views, the stream and 2,142,439 Gaussians had initialized. A physics-only replay of the exact 1,347,252-triangle collider also exceeded 100 seconds without completing. Both were bounded and their owned process trees were terminated. No Forest AI route was run.

An isolated test enabled NVIDIA's official convex cylinder approximation. The same Forest physics-only replay then completed: 12 simulation seconds in 4.92 measured stepping seconds, 80.03 seconds including process startup/shutdown. It moved 0.734 m and stopped at the existing 30-degree tilt guard. This diagnoses the contact representation and demonstrates bounded physical motion, not a successful AI route. Wheel dimensions, terrain and tilt limits were unchanged.

R18 observations also exposed the ground-reference issue: CMU's 0.15 height quantile in its 0.6 m neighbourhood can classify the upper side of shallow scan depressions as a >10 cm obstacle. A candidate uses CMU's existing quantileZ=0.5 parameter, retaining absolute drop costs. On the same first 60 retained R18 observations, old processing produced 33 no-path results and 24 positive speeds; the candidate produced 60 positive speeds and no no-path results. Replay does not predict the subsequent changed live trajectory. Hazard, physical capability and live-route acceptance must pass before this is an accepted deployment.

The median candidate 0795e3aa7f9d3a14 was rejected: 22 of 23 navigation cases passed, but wall returns contaminated the reference ground in the 1.3 m corridor and prevented motion. All three hazardous height boundaries still stopped the rover. The candidate was not installed. The next candidate restores upstream CMU quantileZ=0.25; its own full qualification and replay are separate.

The shared convex-wheel profile passed independent native physical checks: 1.471 m forward in five seconds, 1.63 mm drift over the following two-second brake; observed reverse reached -0.495 m with 0.272 mm braking drift. Flat ground, 5/10 cm steps and continuous 10/15/20/25-degree grades passed the unchanged physical capability gates. As before, 15/18 cm steps failed to traverse and 20/25 cm steps exceeded the stability bound. No capability limit was raised. These are measurements of the declared virtual chassis, not the owner's vehicle.

Candidate 8f3fbe019a3803f8 uses the upstream quantile 0.25 and the same qualified convex-wheel implementation (SHA 021c77c002f1eac4451606329df097b19a94bf6b065b4425cf59d3544f1df6de). All 23 native navigation scenarios passed, including the corridor that rejected the median candidate. The same 60-frame R18 replay produced 54 positive speeds, no no-path results and six valid turning-only commands. Fifty-five focused local tests and Ruff passed. These component results admit a bounded live test; they do not establish route completion.

R21/R22 and short-horizon controller mismatch

Release 8f3fbe019a3803f8 was installed at 05:26:04 UTC. Bamboo R21 airun-677927b7cd3c4c8eadf7dd0f1b6bfb6c failed after initial movement of about 0.2 m: 10 road, 106 obstacle and 12 stuck decisions. New observations differ from the retained R18 replay; replay success did not generalize to live driving. Forest R22 airun-1584055d3c2a4a7bb2f315baba8ca1cd now started and ran in real time, ending after 33.1 simulation seconds with no useful motion. Its 124 no-road, 16 obstacle and 10 stuck decisions show an additional visual-width admission problem. The RGB view is a narrow trail between vegetation and trees. Neither run qualifies a completed route.

Private experiments at quantiles 0.35 and 0.40 failed the 1.3 m corridor and still produced 25 no-path results in 35 retained R21 observations. They were not installed. Intermediate native capability lanes at 12 and 14 cm also failed to traverse. The 10 cm physical limit remains in force; no hazard threshold was raised to make the scene pass.

Pinned upstream source inspection found pathRangeStep=0.5. Lowering only minPathRange to 0.25 or 0.1 therefore skipped the shorter candidate ranges; both experiments retained the same 25 no-path results. With a 0.1 m decrement and 0.2 m minimum, all 35 retained observations produced an admissible path or turn instead. Most late commands were turn-only, not forward-route success. The follower also used a 0.25 m stop distance against the cropped local path, which exceeds the new minimum. Candidate 84445a377102a3af uses 0.08 m for this local endpoint, retaining the mission's independent arrival tolerance and the complete source-deadline/braking-envelope monitor. It requires native regression and a new live run before acceptance.

The fine-prefix candidate passed all 23 scenarios and was installed at 05:40:09 UTC. R23 airun-5b4752670cba4bc28c0ab1b1476f3df7 was opened paused and started using the actual Control Station button. The browser displayed the Worker stream at 28 FPS before AI start. Simulation time remained zero while paused. The run moved about 0.36 m, then failed after 51.55 simulation seconds: 35 road, 89 obstacle, three replanning, one waiting and 12 stuck decisions. The initial inference connection errors recovered, but are retained in the run's camera/errors.jsonl. This is not a successful route.

R23's final map contains a blocking return inside the current body at local (-0.375,-0.282) m, CMU cost0.10237m but only0.06592m above the measured chassis support plane. All paths are rejected by the initial body-overlap check. An isolated straight physical run on the same source moved1.069m before reaching the30-degree tilt stop; blindly driving straight is therefore not accepted.

Candidate d1e7783920f0928a reconciles only observed low returns already inside the current footprint, inset5cm. Its support band is±8cm relative to the declared contact height and measured orientation, with a25-degree tilt bound. It changes neither future terrain nor CMU's raw memory; tall returns and drops retain their costs. The pose must match the terrain message's exact transaction timestamp. Regression covers leading-edge/future points, wall,12cm step,40cm drop, excessive tilt, yaw/translation invariance and preservation of the input map. This is an explicit candidate awaiting native hazard and live-route validation, not a claim that unseen ground is traversable.

The first underbody candidate passed the 23 hazard scenarios but applied zero corrections in all 90 replayed observations. Inspection found that CMU converts the message timestamp through double-precision seconds. Exact integer lookup therefore missed the matching pose. Candidate d3b2218217c56943 uses the same 1,000 ns round-trip tolerance already used by the transaction freshness check; it never falls back to the latest unrelated pose. Its replay must explicitly prove nonzero correction before native qualification can admit installation.

The corrected-timestamp replay applied51 underbody corrections. Of90 samples, 89 returned an admissible path/turn and one held at the controller; the51 no-path results from the previous replay disappeared. All23 native navigation scenarios passed again, including current-body obstruction and the12/15cm step/40cm drop cases. The focused local suite now contains56 passing tests. These results admit another live run without increasing the rover's qualified physical limits.

R24/R25: scene admission, not another planner threshold increase

R24 airun-92057c35ee3a4d43b27391d007fc51f1 on release d3b2218217c56943 removed the repeated no-path obstruction: 32 road, 60 replanning and 12 stuck decisions, but only about 0.158 m net displacement. Turn commands continued while the measured heading stopped changing on the scanned surface. This is still a failed route. The added native flat-ground pivot test measured +0.458 and -0.486 rad in three seconds for commands of ±0.35 rad/s. Both directions work, but both fail the declared >0.5 rad test. No gain, torque, friction or capability threshold was changed to hide that result.

A private Bamboo candidate moved the start by 2.5 m without changing scale. Its physical straight test moved 0.679 m in 16 seconds with maximum tilt21.48°. R25 airun-bd3ff5c9c78d42948e176e900e357465 then failed without useful AI motion. The streamed view showed a bamboo trunk beside/through the starting footprint. Nine ground-height samples had missed the trunk between the rays. Original operator settings were automatically restored; this candidate was not accepted as a replacement route.

spawn_clearance.py now tests actual triangles against the full metre-square occupied prism, using separating axes rather than vertices alone. It detects crossing faces even when every vertex is outside. The check is scene admission only: it does not change the mesh or feed future ground truth to AI. Synthetic regressions cover thin trunks, crossing faces, empty AABB corners, admitted 5/10 cm surfaces, 12 cm obstruction, overhead geometry and translated/rotated sloping ground. On retained real colliders it finds5 intersecting triangles at the original Bamboo start,21 at Forest and37 at the R25 candidate. The current preparer fails early for these occupied starts instead of launching a stuck run.

A bounded authoring search around the original starts (±6 m,0.5 m spacing, 24 headings,0.25 m path samples) found no two-metre straight candidate passing the full-volume check. The longest tested Bamboo prefix was0.5 m; Forest had isolated starting footprints only. This is not a proof that no curved path exists anywhere in either world. It establishes that these two automatic colliders have not supplied an admitted positive driving scenario.

Prepared paired-source scene and Worker-local storage

The official Habitat-GS dataset supplies Gaussian assets together with separate collision meshes and navigation episodes. Scene62 was downloaded directly to Worker at pinned revision ea6453855938dd3d4395c4c449fedefb7e6603b7 under its declared Apache-2.0 license. No Habitat engine, new model weights, paid service or avatar dependency was installed. The navmesh was retained as source evidence; it is not supplied to the inference graph or used to move the rover.

• Gaussian142,307,349bytes: 5429cf3fc6a7ee5088dada65aca4fb6cad73dbaa660f2aec209a43122ea546ae.
• Original mesh34,840,636bytes: fdd8ae7d6d45907bbcaded91246f45390ebcb3a5d6c04a72fd16f5ed54ddce54.
• Derived GLB: 384573b1a7cb805e94124d42f4ed4c4e0d69fca357183803cd57ac4a42753835.

The conversion retains all original vertices/triangles. Both the supplied Y-up mesh and the Gaussian visual use the same Rx(+90) conversion to metric Z-up. Five five-metre authoring candidates passed support and volume checks. The first, based on supplied episode3, passed an independent native straight drive: 4.67955m over30simulationseconds, maximum tilt6.1906°, no stability stop. This qualifies physical contact for that start, not AI navigation or the actual owner's vehicle. Source metric calibration has not been independently surveyed.

The new authenticated /worker/worlds endpoint admits metadata from the current registered Worker instance. register_paired_scene.py validates real PLY bytes, count, both hashes and GLB structure, stages the pair on Worker and publishes only its descriptor. Repeated registration preserves operator-edited settings; changed immutable metadata is rejected. Core rejects source-file downloads for Worker-local worlds, and the Worker refuses a missing/changed local asset rather than requesting its large payload from the Mac. A paired collision manifest must match the admitted source, collider and transform. Existing upload worlds and model compositions remain supported.

Release cdeff3dc45ac02f2 was installed2026-09-23T06:33:23.8998231Z (589verifiedfiles; archiveSHA 34b9b43fbdfaa59c53e35ddd6623ee3fe859e81d8ca90661273055c99ad88ab4). Focused source tests passed before installation. Core8000 was updated through the canonical launch-agent workflow and passed health acceptance. The new world is aiworld-bf03be7256514c7a819a6b9dc908ef78, operator name Riverside Path. R26 is the first camera/AI test of this pair; physical qualification alone does not make it a completed autonomous route.

R26/R27: transaction deadline and moving route goal

R26 airun-a5c7dcd4048b492199e7189d5c4e1fd0 moved on the paired scene, but failed after83.17simulationseconds. Its26k-point accumulated map took 310–334ms to process; the HTTP observation transaction returned after300ms. 121decisions therefore reported waiting-for-plan, perpetually abandoning each matching map just before it arrived. This was a coordination failure, not evidence that the road was blocked.

Release ada7b6ecfc9879bb, installed2026-09-23T06:50:55.3713014Z, raises that wait to600ms. The independent800ms camera deadman,500ms command deadman and full braking envelope are unchanged. A late result cannot be reused. The first150 R26 decisions yielded149 eligible replay observations:147 without navigation failure and2 footprint rejections,134 positive-speed commands. No last30 observation timed out. All23 native navigation scenarios passed. The public decision now distinguishes waiting for a plan from uncertain vision.

R27 airun-94c3ba1ad14647708b852c8891bec427 had no waiting-for-plan results. It moved5.645m net,7.752m accumulated, but failed at80.13simulation seconds: the semantic local goal repeatedly moved ahead after an intermediate route waypoint had been missed. The route cursor remained at waypoint1. Movement alone is not route acceptance. The operator stream showed about17FPS; Worker rendering was roughly15–19FPS, with variable AI cadence.

The next candidate preserves the requested waypoint XY once at least three nearby semantic/range observations support it within25cm. It verifies the requested centre and both half-metre lateral edges in the current semantic image. CMU and the swept collision monitor still own path/command admission. An unobserved distant waypoint may use a local goal, but a newly selected goal must reduce remaining task distance. Clear road ahead cannot authorize driving away from a waypoint behind the rover. Regression tests cover fixed task coordinates, the observed close-goal blind strip, lost visual support, a missed waypoint and distant local progress. Thirty focused navigation/mission tests passed; the native navigation server and physical profile remain byte-identical to their qualified versions.

R28 airun-58202c67c5c947d1870f79fdc077bf16 used release 7a852d7e3e8b45ab (installed06:55:49 UTC) and failed at97.98simulation seconds. It exposed a remaining camera-memory defect: an exact, previously observed route goal left the image around0.95m away, but the old retention rule only started at0.8m. The goal was replaced by a forward candidate and then lost. On recorded frame40 the task was0.786m away while its projected centre was at image y711 (600-pixel height); frame50 returned no goal at0.456m. This was not proof of a physical obstacle or successful route completion.

Candidate 020cf047a3872217 uses the measured camera projection for this blind strip. It retains only an exact, previously observed task goal, within the existing3.5m horizon and while current forward semantic support remains. Any visible part classified non-drivable invalidates retention. Every command still passes live CMU terrain and swept-body checks. The replay of the first50 R28 observations now retains the exact task goal on frame50; removing current semantic support still returns no goal. Thirty focused mission/navigation tests passed again. Worker evidence is qualification-observed-route-goal/result.json.

R29: first accepted end-to-end route, with a latency limitation

Release 020cf047a3872217 was installed2026-09-23T07:01:15.5693574Z; 589files verified, archive SHA 38f806b1f2dfb226ac9b79faf8d63ae984c305c712c1d785481d47b56ac458b4. R29 airun-1aa8d69367224be6b67eb6bfbe482c9d reached all three Riverside waypoints in order and completed with goal-reached, not the duration limit. There were156 road decisions and11 latched goal-reached decisions, no recovery attempts. Accumulated travel4.7047m, net displacement4.6249m; goal latched at61.7s, last physics report63.9667s. Final centre distance0.3672m is within the unchanged 0.4m arrival radius. All sampled applied commands after goal were zero; final measured speed0.00198m/s. Maximum chassis tilt6.158°.

This establishes one working closed-loop, five-metre authored route on the paired scene. The streamed view is a park with paved paths, grass, trees and a bench; it is not dirt-road/off-road acceptance. Source metric scale has not been independently surveyed, and Forest/Bamboo remain unqualified. No dynamic person/animal scenarios have been accepted. No real vehicle or VESC was driven.

Operator video was visually verified at15–17FPS; median Worker rendering16.85FPS, median telemetry AI cadence2.245decisions/s. The camera deadman held motion in 109 of216 sampled reports. Median reported age of the latest completed frame was859ms (max1625ms); stale commands were stopped, not admitted. Thus the route is functional but sustained smooth real-time motion is not yet accepted. Per moving decision: CMU median304.5ms/p95515ms, RF-DETR63/141ms, SegFormer47/141ms (the two vision models run in parallel), full inference414/625ms, pre-inference wait94/203ms. Raw detailed timing and stop samples remain on Worker.

The exact models continue through the shared composition graph. No new weights, paid services or Mac-side simulation were used. The native hazard qualification remains23/23 on the byte-identical navigation server and physical profile; there are30 focused passing tests for the changed mission/goal behavior.

A bounded CPU replay profiled130 accumulated maps (last28,258points). Terrain normalization consumed27.124s cumulatively under profiling. Pairwise NumPy norms consumed9.035s cumulatively. A private candidate replaces the N×N×2 distance temporary with separate X/Y differences and the same sum-and-square-root arithmetic. It changes no radius, step, slope, memory, command or deadline threshold. The candidate is not admitted until comparison of the complete normalized arrays and correction counts on the same live-source maps agrees and the native hazard scenarios pass.

The paired A/B replay compared130 complete normalized maps and correction counts: all were exactly equal. On the last40 dense maps, median old340.253ms versus candidate156.618ms; maximum456.917ms versus191.607ms. Comparison uses the same container, observations, source ordering and cache policy. Candidate moved to source only after this equivalence check;20 navigation regressions then passed. Evidence: qualification-route-latency/comparison.json and both replay journals.

R30: installed optimization and final acceptance

All23 native hazard scenarios passed with the optimized source. Release 0d4c0a73bbbe2066 was installed2026-09-23T07:34:31.4941743Z after589-file verification; archiveSHA ea485c2b292b84bfd8f6bbf5aa0ead501915ac4d7fa352b803a72f8ad8d9a80f. R30 airun-e15bae285fdf493e9c0507e4692c5628 reached all three waypoints without recovery.122road decisions and11 latched goal-reached decisions. Travel4.67475m, net4.67162m, final target distance0.3182m (arrival radius0.4m). The goal observation was captured at30.5167simulationseconds; completion was reported at32.6667s after the settling interval. First telemetry with zero applied speed arrived62ms after the goal decision completed. All sampled commands after that completion plus100ms were zero; final measured speed0.00145m/s. An earlier telemetry sample still contains the preceding command while the goal observation is in inference, so capture time must not be called actuation/latch time. Maximum tilt6.1195°.

Full inference median234ms/p95359ms/max391ms. CMU140/234/266ms; RF-DETR62/141/188ms; SegFormer47/141/172ms. Median pre-inference wait94ms. Median latest-result frame age531ms, max875ms. The unchanged camera deadman held 3 of110 sampled telemetry reports (R29:109/216). Median Worker rendering16.54FPS, AI3.774decisions/s. The operator receives video and compact state only; no heavy source or sensor map is transmitted to drive this loop. Real-world end-to-end network latency is not inferred from these Worker-local timing figures.

Core8000 health and registered Worker availability passed after completion, with no active run. Docker baseline comparison at2026-09-23T07:37:12Z found all21 original containers,104 image identities and9 volumes present; no changes to compared names/images/restart policies/mounts/memory/GPU/port configurations. No temporary qualification containers or owned realtime episode processes remained. The temporary QA browser tab was closed; the canonical Core service remained running. No git stage, commit or push was performed.

Remaining acceptance scope: correct admitted starts/geometry for Forest and Bamboo, actual dirt/natural terrain routes, dynamic participants, and calibration against the owner's physical rover. This positive park route and23 synthetic navigation cases do not establish arbitrary off-road autonomy. The separate flat-ground pivot threshold test remains failed as recorded above; it was not silently relaxed by the performance change.

Ops reporting could not be updated in this continuation: agent instructions were available, but two direct project-list calls timed out after60s. No card was marked complete; this audit retains the full evidence and limitations locally.

Closed-evidence index:40 sessions,8,243files,1,158,280,493bytes on Worker. state/continuation-evidence-index-20260923.json SHA-256 2a2a438646656db920cb44e890ceaa2591241d289659c1c2324fd9e173be0464. Each session manifest records UTC/monotonic sealing time and raw-file hashes; sealing time is explicitly distinct from experiment acquisition time. Raw images, maps, logs and original assets remain private on Worker.