DCCONSTRUCTIONS
e515ab1b8c
Preserve the completed teach-and-repeat laboratory stage: reference preparation, cascaded acquisition, local tracking and recovery, recording lifecycle, replay qualification, and persistent Rerun scene controls. Document the open grid-picking regression and Rerun upgrade contract. No autonomous driving or loop-closure optimization is claimed.
85 lines
4.6 KiB
Markdown
85 lines
4.6 KiB
Markdown
# Stationary physical start: initial acquisition did not complete
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Read-only investigation of the operator's stationary attempt on 19 September
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2026. No replay, numerical recalculation, threshold change, application restart,
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scanner command or new capture was performed during this review.
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## Evidence and method
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The completed live report, input arrays, per-hypothesis registration results,
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receipt metadata and raw transport were inspected together with the current
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entry-search and presentation code. A private immutable copy is retained at
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`data_dir/missions/diagnostics/20260919-physical-start-001`: 37 files, 26,806,716
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bytes, all SHA-256 verified. Manifest SHA-256:
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`bf1f5810cf9052fe4766d862c230e323ea1d66b5e66293a31eac2a0d6ea84b20`.
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Its UTC/monotonic creation time, source identifiers and operator account are
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retained privately. The code copy records the inspected dirty working tree,
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not independent attestation of the original running process's build.
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The selected reference was the previously recorded second pass, first 30.050 m,
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43,886 reference points. It differs from the first-pass reference used by the
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earlier successful archived qualification. The reference trajectory contains
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the already known 10.407 m step; this review does not establish that the step
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caused the initial-search rejection.
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## Observed sequence (UTC)
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- 13:33:14.066: collection of the stationary prefix.
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- 13:33:24.366: bounded entry search.
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- 13:33:51.695: `lost / initialization-rejected`.
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- 13:37:46.709: input ended; no tracking had been established.
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The ten-second prefix contained 188 derived source events, 6,098 query points
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and maximum K1-reported movement of 0.006441 m. The stationary gate passed. This
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movement is a scanner estimate, not an independent physical measurement.
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Search completed 47 of the required 108 hypotheses in 25.234 s against a 25 s
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limit. The outer worker finished normally after 27.221 s; its 30 s process
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timeout did not fire. The persisted rejection is `incomplete-search`, with no
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selected candidate and no confirmation on fresh windows.
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All 47 hypotheses were rejected. Two converged fits had overlap of 96.749% and
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96.603%, with inlier RMSE of approximately 0.165 m. Both were rejected solely by
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the local correction bound: 3.087 m and 4.901 m against 3 m. These corrections
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are measured at the observed patch centre relative to each artificial seed;
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they are not the operator's physical error relative to the recorded start.
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Overlap counts query points within 0.5 m of a reference point. It is not
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independent localization accuracy or proof of unique place recognition.
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Seed iteration is lexicographic over translation and yaw. Indices 0–46 were
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evaluated. The central translation (0,0), beginning at index 48, was not reached.
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No accepted cluster existed at termination. Raising the time limit alone is
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not evidence that the full search would pass support, ambiguity and fresh-data
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checks. The final report's zero overlap is the rejected-result fallback, not
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evidence that the actual clouds had zero overlap.
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## Additional findings
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The bootstrap performs one initial search. Its rejection terminates acquisition;
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waiting longer does not retry it. Both backend and frontend presentation map
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this initial failure to the generic lost-binding wording. The observed message
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incorrectly suggests that previously established tracking was lost.
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The derived planning ingress recorded 102 overflow drops out of 851 published
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LiDAR events and two out of 889 pose events. An empty receipt-gap list applies
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only to delivered pose-window gaps; it does not establish lossless ingestion.
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These counters do not establish raw-recorder loss, and they have not been
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isolated as the cause of this rejection. They require a separate bounded check.
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## Decision and next stage
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The physical start has not passed acceptance. It failed in initial acquisition,
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before tracking or movement, and is not evidence of localization loss during a
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walk. Preserve the passing stationary observation and the failed result.
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Next, use the frozen input to qualify a complete, bounded search, examine seed
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ordering and repeated preprocessing cost, and retain the multistart support,
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ambiguity and fresh-confirmation gates. Compare against the previous positive
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and wrong-reference controls. Distinguish unsuccessful initial binding from
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loss of established tracking in the shared product status. Verify derived
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ingress under the same bounded scenario before another physical walk. Do not
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weaken acceptance thresholds merely to turn this example green.
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Only this diagnostic report and private evidence were added. Product code and
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running device state were unchanged; no new algorithmic acceptance is claimed.
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