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External perception worker contract

Boundary

K1
  -> XGRIDS device plugin / Mission Core Edge
  -> authoritative raw session on Mac
  -> bounded missioncore.compute-job/v1
  -> replaceable GPU worker / Triton
  -> content-addressed missioncore.compute-result/v1
  -> future optional Rerun derived layer

The GPU worker cannot discover, provision, start or stop a K1. It receives an observation package and returns derived observations. The Mac archive is never rewritten when a job is prepared or a result is received.

Recorded camera job v1

k1link compute prepare-camera-job accepts a sealed cataloged session, one camera source and one physical codec epoch. It performs the canonical camera checks before and after copying into a private staging directory:

summary schema/source/epoch and per-segment durability contract;
exact ordered JSONL index and its summary SHA-256;
init SHA-256, every segment length/SHA-256 and complete stream SHA-256;
continuous ISO-BMFF decode timeline and finite media duration;
source session-time mapping through the captured host clock origin.

Publication atomically renames this layout below ignored storage:

<jobs>/<job-id>/
├── job.json
└── input/camera/<source-id>/epoch-N/
    ├── summary.json
    ├── index.jsonl
    ├── init.mp4
    └── segments/*.m4s

input_sha256 is SHA-256 over canonical JSON for the complete path-free input descriptor. job_id includes its first 96 bits and validators require the full digest, so a prefix collision fails closed.

Recorded result v1

The accepted worker profile verifies every transferred file, reconstructs the stream outside the job, decodes frames and preserves strictly increasing best-effort timestamps in session seconds. Its result identity is canonical JSON covering:

job and full input generation;
pipeline ID/version;
model ID/version/weight SHA-256;
score/NMS thresholds, tensor shape, color order and letterbox policy.

The identity's full SHA-256 names an immutable result-<sha256> directory. The result manifest binds the detection artifact's length and SHA-256. A repeat with the same identity validates the existing directory and returns it without calling Triton.

Accepted model profile

YOLOX-S official ONNX from upstream release 0.1.1rc0;
Apache-2.0;
SHA-256 c5c2d13e59ae883e6af3b45daea64af4833a4951c92d116ec270d9ddbe998063;
FP32 input [1,3,640,640], BGR, bilinear top-left letterbox, pad 114;
FP32 output [1,8400,85], official grid/stride decode, COCO-80;
Triton 2.70.0 / ONNX Runtime GPU backend in the pinned 26.06 image.

This generic model is useful for proving the contract and timing path. It is not accepted for obstacle avoidance, free-space estimation or safety decisions.

Open gates

Import the accepted result as an optional session-timestamped Rerun layer.
Qualify TEST007's 206-second epoch and record throughput/resource telemetry.
Replace SSH/SCP with a reviewed authenticated worker transport.
Add bounded live queues, sampling/drop policy and acquisition-isolation tests.
Introduce tracking, segmentation/free-space, calibration and point-cloud models as separate versioned pipelines.

3.2 KiB Raw Blame History