JRDB dual-loop shadow replay R0

状态：DIAGNOSTIC / ENGINEERING_SHADOW_CYCLE

This module freezes the host-only source JRDB_ANNOTATION_CONDITIONED_LIDAR_CENTROID_REPLAY_V1. It joins existing immutable JRDB observation packets to their sensor-support ledgers, derives a signed target-relative range rate from consecutive real LiDAR centroids, and writes a deterministic TSV for the real AssistDecisionKernel shadow seam.

The 2D target identity and LiDAR association come from JRDB source annotations. This is therefore not an independent perception source, runtime Android evidence, an alert-effect evaluation, or a safety/product claim.

稳定 Interface

Producer:

python produce.py \
  --canary-packet <observation-packet.json> \
  --canary-ledger <ledger.json> \
  --cross-manifest <input-manifest.json> \
  --cross-ledger <ledger.json> \
  --output <artifacts.local replay.tsv> \
  --receipt <artifacts.local producer_receipt.json>

Kernel replay:

./gradlew :core:assist:runDualLoopJrdbShadowReplay \
  --args="<replay.tsv> <producer_receipt.json> <kernel_receipt.json>"

输出

All generated outputs belong under ignored artifacts.local/. Both stages refuse to overwrite an existing namespace.

安全边界

• independence unit: one baseline-selected target in one current frame;
• clock: REPLAY_TIMELINE, with image capture time as capturedAtNs;
• availability: the maximum of current RGB, lower-LiDAR, and upper-LiDAR timestamps; decision occurs no earlier than that value;
• source target set: exact JRDB 3D-to-2D joined annotations only;
• 2D regions: source boxes are deterministically clamped to the 3760x480 stitched-frame bounds, with clamp counts recorded;
• geometry: (|p_previous| - |p_current|) / dt, positive means approaching;
• support: both endpoint object rows and their motion pair must be sensor-supported, and both endpoints must have an exact 2D join;
• quality: 1.0 denotes that the already-frozen binary sensor-support contract passed; it is not a calibrated probability;
• TTL: 100 ms;
• behavior source: replay detections remain DetectionSource.OBJECT_DETECTOR so the production object-detector path is exercised; annotation conditioning is carried separately as DualLoopTargetProvenance.REPLAY_ANNOTATION;
• receipt binding: the JVM runner verifies the producer receipt identity, exact producer implementation hash, input hash, and unopened outcome flag, then recomputes the frozen per-sequence row/frame/eligible denominators from the actual TSV before any kernel call;
• allowlist: explicit replay harness only; production remains empty;
• success: at least one actual kernel admission and zero risk/event/feedback parity mismatches.

停止条件

Any hash/binding/count mismatch, non-monotonic time, missing exact join, non-finite rate, adapter abstention, or decision parity mismatch makes the cycle invalid. An engineering-valid terminal is limited to ENGINEERING_SHADOW_CYCLE_VALID / DIAGNOSTIC_ONLY / NO_EFFECT_CLAIM.