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[AZ-776] Open-loop ESKF composition profile via c4_pose.enabled

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ADR-012: add c4_pose.enabled (default True) and enforce the
(c4_pose.enabled, c5_state.strategy) 2x2 pairing matrix at compose
time. When enabled=false, compose_root removes c4_pose from the
selection map and build_pre_constructed omits c5_isam2_graph_handle.
Replay protocol Invariant 13 owns the gate. Tier-2 conftest YAML
writes the open-loop profile; un-xfails AC-1/2/5 and both AC-6
variants in Derkachi (AC-3 stays xfailed for AZ-777). 319/319
runtime_root + c4_pose + c5_state tests green.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-21 13:40:01 +03:00
parent 6044a33197
commit 8de2716500
10 changed files with 687 additions and 83 deletions
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tests/e2e/replay/test_derkachi_1min.py
+7 -67
View File
@@ -58,22 +58,6 @@ _HEAVY_SKIP = pytest.mark.skipif(
@pytest.mark.tier2
@_HEAVY_SKIP
@pytest.mark.xfail(
reason=(
"Blocked by AZ-776: the replay compose root cannot wire "
"c5_state=eskf because c4_pose hard-requires an iSAM2 graph "
"handle that ESKF does not provide (handle=None by design). "
"The CLI exits non-zero at compose time before the per-frame "
"loop runs, so this test cannot pass against the current "
"runtime. Once AZ-776 ships, an open-loop C1+C5(ESKF) "
"composition will allow the CLI to exit 0 and this AC-1 "
"test (emit one EstimatorOutput per video frame) can pass. "
"Full-pipeline accuracy still requires AZ-777 (Derkachi C6 "
"reference tile cache) but AC-1 only needs successful exit, "
"not anchor-quality, so AZ-776 alone is sufficient."
),
strict=False,
)
def test_ac1_exits_0_jsonl_count_match(replay_runner, derkachi_replay_inputs) -> None:
"""Real loop emits one EstimatorOutput per video frame, not per GPS fix.
@@ -135,17 +119,6 @@ _ESTIMATOR_OUTPUT_KEYS = frozenset(
@pytest.mark.tier2
@_HEAVY_SKIP
@pytest.mark.xfail(
reason=(
"Blocked by AZ-776 (replay compose root cannot use "
"c5_state=eskf). The CLI exits non-zero before any JSONL "
"rows are written, so the schema cannot be validated against "
"the current runtime. Schema lives in EstimatorOutput and is "
"stable; AC-2 can pass as soon as AZ-776 makes the loop "
"actually emit rows."
),
strict=False,
)
def test_ac2_jsonl_schema_match(replay_runner) -> None:
# Act
result = replay_runner(pace="asap")
@@ -174,18 +147,13 @@ def test_ac2_jsonl_schema_match(replay_runner) -> None:
@pytest.mark.xfail(
reason=(
"AC-3 requires the C1+C2+C3+C4+C5 satellite-re-anchoring "
"pipeline. Two blockers, both tracked: "
"(1) AZ-776 — the replay compose root cannot currently wire "
"c5_state=eskf at all (c4_pose hard-requires an iSAM2 "
"handle ESKF does not provide); the CLI exits non-zero "
"before any tick is emitted. "
"(2) AZ-777 — once AZ-776 lands, the open-loop C1+C5(ESKF) "
"composition will run end-to-end but with NO satellite "
"anchoring (no C2/C3/C4) because the Derkachi fixture has "
"no reference C6 tile cache. ESKF integrates open-loop, so "
"position drifts unbounded over the 8-min flight and the "
"≤100m threshold cannot be met by physics. "
"AC-3 stays xfail until BOTH AZ-776 and AZ-777 ship."
"pipeline. Blocked by AZ-777: with AZ-776 landed, the "
"open-loop C1+C5(ESKF) composition now runs end-to-end but "
"with NO satellite anchoring (no C2/C3/C4) because the "
"Derkachi fixture has no reference C6 tile cache. ESKF "
"integrates open-loop, so position drifts unbounded over "
"the 8-min flight and the ≤100 m threshold cannot be met "
"by physics until the reference tile cache (AZ-777) lands."
),
strict=False,
)
@@ -410,17 +378,6 @@ def test_ac4_encoder_byte_equality_via_transport_seam() -> None:
@pytest.mark.tier2
@_HEAVY_SKIP
@pytest.mark.xfail(
reason=(
"Blocked by AZ-776: with the compose root failing for "
"c5_state=eskf the CLI exits non-zero on both runs, so "
"determinism cannot be observed. Once AZ-776 ships, the "
"open-loop C1+C5 path is deterministic by construction "
"(KLT/RANSAC uses fixed seeds, ESKF is closed-form) and "
"AC-5 should pass."
),
strict=False,
)
def test_ac5_determinism_two_runs_diff(replay_runner) -> None:
# Act
r1 = replay_runner(pace="asap")
@@ -450,14 +407,6 @@ def test_ac5_determinism_two_runs_diff(replay_runner) -> None:
@pytest.mark.tier2
@_HEAVY_SKIP
@pytest.mark.xfail(
reason=(
"Blocked by AZ-776: the CLI exits non-zero at compose time, "
"so the realtime pacing loop is never reached. Once AZ-776 "
"ships, AC-6 realtime can pace the open-loop C1+C5 path."
),
strict=False,
)
def test_ac6_pace_realtime_60s_within_5pct(replay_runner) -> None:
# Act — cap to 60 s so a full 490-second flight doesn't pin the test
# to an 8-minute realtime run; the pacing correctness is validated
@@ -476,15 +425,6 @@ def test_ac6_pace_realtime_60s_within_5pct(replay_runner) -> None:
@pytest.mark.tier2
@_HEAVY_SKIP
@pytest.mark.xfail(
reason=(
"Blocked by AZ-776: the CLI exits non-zero at compose time, "
"so the ASAP pacing loop is never reached. Once AZ-776 "
"ships, AC-6 ASAP can run the open-loop C1+C5 path "
"to completion."
),
strict=False,
)
def test_ac6_pace_asap_under_30s(replay_runner) -> None:
# Act
result = replay_runner(pace="asap")