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Produces a coherent offline + shadow dataset pair for models A (baseline) and
B (candidate) with a PLANTED root cause. The aggregate story is always the
same -- offline says B is ~+5pp better, shadow says B is ~-2pp worse -- but
the unit-level data carries the planted cause's downstream signatures, so the
diagnostic battery (not the generator) is what identifies the cause.
All randomness flows from a single seed (numpy default_rng), so scenarios are
deterministic and test-reproducible.
"""
from __future__ import annotations
from dataclasses import dataclass
from typing import Dict, List, Optional, Tuple
import numpy as np
import pandas as pd
from sensorflow.rca.models import ROOT_CAUSES
SEGMENT_DIMS = ("scene", "time_of_day", "object_class")
SCENES = ("urban", "highway", "suburban")
TIMES = ("day", "dusk", "night")
CLASSES = ("vehicle", "pedestrian", "cyclist")
FEATURES = ("obj_distance_m", "ego_speed_mps", "occlusion_ratio",
"points_in_box", "track_age_s", "ambient_lux")
OFFLINE_MIX = {
"scene": {"urban": 0.45, "highway": 0.30, "suburban": 0.25},
"time_of_day": {"day": 0.62, "dusk": 0.24, "night": 0.14},
"object_class": {"vehicle": 0.60, "pedestrian": 0.25, "cyclist": 0.15},
}
# Shadow mix drifts slightly from offline for every cause (production is never
# identical); DISTRIBUTION_SHIFT replaces this with a heavy night/urban tilt.
SHADOW_MIX_DEFAULT = {
"scene": {"urban": 0.48, "highway": 0.28, "suburban": 0.24},
"time_of_day": {"day": 0.58, "dusk": 0.25, "night": 0.17},
"object_class": {"vehicle": 0.58, "pedestrian": 0.26, "cyclist": 0.16},
}
SHADOW_MIX_SHIFTED = {
"scene": {"urban": 0.58, "highway": 0.18, "suburban": 0.24},
"time_of_day": {"day": 0.28, "dusk": 0.22, "night": 0.50},
"object_class": {"vehicle": 0.52, "pedestrian": 0.30, "cyclist": 0.18},
}
LABEL_MATURITY_HOURS = 72.0
CAUSE_EXPLANATIONS: Dict[str, str] = {
"TRUE_MODEL_REGRESSION":
"B genuinely regresses on current production data (concept drift since "
"the offline eval window). The offline +5% is real for June data, but "
"stale. Signature: uniform within-segment shadow regression, all parity "
"checks clean, significance stage confirms a practical regression.",
"DISTRIBUTION_SHIFT":
"Production traffic is night/urban heavy while the offline set is "
"day-dominated. B is better in daytime segments and worse at night IN "
"BOTH environments -- a Simpson's paradox: the aggregate sign flips "
"purely from the population mix.",
"FEATURE_SKEW":
"The online feature pipeline emits obj_distance_m in feet (x3.281) "
"while offline uses meters. B depends on that feature more than A, so "
"shadow degrades B most where distance matters (highway). Signature: "
"one feature tops the parity report with a huge within-segment delta.",
"SERVING_MISMATCH":
"Shadow serving applies confidence threshold 0.50 + int8 quantization "
"vs the offline harness's 0.35/fp32. B's (recalibrated, lower) "
"confidences fall into the suppressed band far more often. Signature: "
"config diff + regression transitions concentrated in the 0.35-0.50 "
"confidence band.",
"LABEL_LATENCY":
"40% of shadow labels are provisional pseudo-labels from the incumbent "
"auto-labeler (which mirrors A) and are wrong mostly on hard cases. A "
"gets credit for matching wrong labels; B is penalized for disagreeing. "
"Signature: mature-label subset shows B ahead; provisional fraction is "
"difficulty-correlated.",
"SAMPLING_BIAS":
"The shadow sampler oversamples hard, low-confidence traffic (triage-"
"driven selection). B is slightly weaker only on very hard cases. The "
"full eligible stream agrees with offline (+); the sampled subset "
"flips negative. Signature: sampled-vs-eligible distribution mismatch "
"in the traffic audit.",
"STATISTICAL_NOISE":
"True delta is ~0 in both environments. Small n plus cluster-"
"correlated drive segments make the effective sample tiny, so +5%/-2% "
"are both within noise. Signature: overlapping CIs, low effective n, "
"significance stage returns insufficient evidence.",
"OFFLINE_CONTAMINATION":
"A quarter of the offline eval set are near-duplicates of B's training "
"data (row-level split leak), inflating B's offline score. Signature: "
"leakage scan fires, baseline re-run fails to reproduce, version pins "
"missing; shadow shows no reliable regression.",
}
@dataclass
class ScenarioBundle:
cause: str
seed: int
offline: pd.DataFrame
shadow: pd.DataFrame
meta: Dict
# ------------------------------------------------------------------ helpers
def _sigmoid(x: np.ndarray) -> np.ndarray:
return 1.0 / (1.0 + np.exp(-x))
def _pick(rng: np.random.Generator, table: Dict[str, float], n: int) -> np.ndarray:
keys = list(table.keys())
probs = np.array([table[k] for k in keys], dtype=float)
probs = probs / probs.sum()
return rng.choice(keys, size=n, p=probs)
def _sample_units(rng: np.random.Generator, n: int, mix: Dict, cluster_size: int,
entity_prefix: str) -> pd.DataFrame:
"""Sample units grouped into drive-segment entities. Scene and time of day
are entity-level (a drive segment is one place, one time); object class is
unit-level."""
n_entities = max(2, int(np.ceil(n / cluster_size)))
ent_scene = _pick(rng, mix["scene"], n_entities)
ent_time = _pick(rng, mix["time_of_day"], n_entities)
ent_ids = np.array([f"{entity_prefix}-{i:05d}" for i in range(n_entities)])
idx = rng.integers(0, n_entities, size=n)
scene = ent_scene[idx]
time_of_day = ent_time[idx]
entity_id = ent_ids[idx]
object_class = _pick(rng, mix["object_class"], n)
dist_mu = np.where(scene == "urban", np.log(18.0),
np.where(scene == "highway", np.log(45.0), np.log(28.0)))
obj_distance = np.exp(rng.normal(dist_mu, 0.45))
speed_mu = np.where(scene == "urban", 9.0,
np.where(scene == "highway", 27.0, 14.0))
ego_speed = np.clip(rng.normal(speed_mu, 3.5), 0.0, None)
occ_a = np.where(scene == "urban", 2.5, np.where(scene == "highway", 1.5, 2.0))
occ_b = np.where(scene == "urban", 3.5, np.where(scene == "highway", 6.0, 5.0))
occlusion = rng.beta(occ_a, occ_b)
points = np.exp(rng.normal(6.8 - 1.1 * np.log(obj_distance / 20.0), 0.5))
track_age = rng.exponential(4.0, size=n)
lux_mu = np.where(time_of_day == "day", 10.3,
np.where(time_of_day == "dusk", 7.5, 3.6))
lux_sd = np.where(time_of_day == "day", 0.3,
np.where(time_of_day == "dusk", 0.4, 0.5))
ambient_lux = np.exp(rng.normal(lux_mu, lux_sd))
difficulty = np.clip(
rng.beta(2.2, 3.2, size=n)
+ 0.20 * (time_of_day == "night")
+ 0.12 * occlusion
+ 0.08 * (obj_distance > 40.0)
- 0.10, 0.0, 1.0)
return pd.DataFrame({
"entity_id": entity_id,
"scene": scene,
"time_of_day": time_of_day,
"object_class": object_class,
"obj_distance_m": obj_distance,
"ego_speed_mps": ego_speed,
"occlusion_ratio": occlusion,
"points_in_box": points,
"track_age_s": track_age,
"ambient_lux": ambient_lux,
"difficulty": difficulty,
})
def _segment_adj(df: pd.DataFrame) -> np.ndarray:
"""Shared (model-A) segment difficulty adjustments on the logit scale."""
adj = np.zeros(len(df))
adj += np.where(df["time_of_day"] == "night", -0.50,
np.where(df["time_of_day"] == "dusk", -0.15, 0.0))
adj += np.where(df["object_class"] == "pedestrian", -0.30,
np.where(df["object_class"] == "cyclist", -0.45, 0.0))
adj += np.where(df["scene"] == "urban", -0.15,
np.where(df["scene"] == "highway", 0.05, 0.0))
return adj
def _cluster_effects(rng: np.random.Generator, entities: pd.Series,
sigma_shared: float, sigma_b: float) -> Tuple[np.ndarray, np.ndarray]:
uniq = entities.unique()
shared = dict(zip(uniq, rng.normal(0.0, sigma_shared, size=len(uniq))))
b_only = dict(zip(uniq, rng.normal(0.0, sigma_b, size=len(uniq))))
return (entities.map(shared).to_numpy(), entities.map(b_only).to_numpy())
def _draw_correctness(rng: np.random.Generator, df: pd.DataFrame,
b_edge: np.ndarray, sigma_shared: float = 0.4,
sigma_b_cluster: float = 0.15) -> pd.DataFrame:
shared_eff, b_cluster = _cluster_effects(rng, df["entity_id"],
sigma_shared, sigma_b_cluster)
logit_a = 1.9 - 3.0 * df["difficulty"].to_numpy() + _segment_adj(df) + shared_eff
logit_b = logit_a + b_edge + b_cluster
p_a, p_b = _sigmoid(logit_a), _sigmoid(logit_b)
df = df.copy()
df["a_correct"] = (rng.random(len(df)) < p_a).astype(int)
df["b_correct"] = (rng.random(len(df)) < p_b).astype(int)
df["a_conf"] = np.clip(p_a + rng.normal(0, 0.07, len(df)), 0.02, 0.99)
df["b_conf"] = np.clip(p_b + rng.normal(0, 0.07, len(df)), 0.02, 0.99)
return df
def _calibrate(df: pd.DataFrame, target_delta: float, rng: np.random.Generator,
flip_mask: Optional[pd.Series] = None,
metric_mask: Optional[pd.Series] = None,
col_a: str = "a_correct", col_b: str = "b_correct") -> pd.DataFrame:
"""Flip a minimal number of candidate-model outcomes so the measured
aggregate delta lands on target. Flips are allocated proportionally across
scene x time_of_day strata so planted per-segment structure survives."""
df = df.copy()
if metric_mask is None:
metric_mask = pd.Series(True, index=df.index)
if flip_mask is None:
flip_mask = pd.Series(True, index=df.index)
m = df[metric_mask]
n_metric = len(m)
if n_metric == 0:
return df
cur = m[col_b].mean() - m[col_a].mean()
need = target_delta - cur
k = int(round(abs(need) * n_metric))
if k == 0:
return df
want_value = 1 if need > 0 else 0
cand = df[flip_mask & metric_mask & (df[col_b] != want_value)]
if len(cand) == 0:
cand = df[metric_mask & (df[col_b] != want_value)]
k = min(k, len(cand))
strata = cand.groupby(["scene", "time_of_day"]).indices
chosen: List[int] = []
total = len(cand)
for _, idx in strata.items():
take = int(round(k * len(idx) / total))
take = min(take, len(idx))
if take > 0:
sel = rng.choice(idx, size=take, replace=False)
chosen.extend(cand.index[sel])
# Round-off top-up.
remaining = k - len(chosen)
if remaining > 0:
pool = cand.index.difference(pd.Index(chosen))
if len(pool) > 0:
extra = rng.choice(pool.to_numpy(), size=min(remaining, len(pool)),
replace=False)
chosen.extend(extra.tolist())
df.loc[chosen, col_b] = want_value
return df
# --------------------------------------------------------------- meta builder
def _base_configs() -> Tuple[Dict, Dict]:
offline = {
"metric_definition": "object-level accuracy (IoU>=0.5 match, class-aware)",
"aggregation": "micro-average over objects",
"eval_window": "2026-06-01 .. 2026-06-30",
"population_source": "curated holdout eval set (holdout-2026Q2)",
"confidence_threshold": 0.35,
"quantization": "fp32",
"runtime_version": "trt-9.2.1",
"nms_iou": 0.50,
"feature_pipeline_version": "fp-2.4.1",
"label_policy_version": "human-audited-v3",
"label_maturity_policy": "labels frozen post-audit",
"sampling_policy": "full eval set, no sampling",
}
shadow = dict(offline)
shadow.update({
"eval_window": "2026-08-01 .. 2026-08-10 (live)",
"population_source": "live shadow traffic",
"sampling_policy": "uniform 60% shadow sampler",
"label_maturity_policy": "mixed: audited after 72h maturity",
})
return offline, shadow
def _traffic_meta(rng: np.random.Generator, eligible: int, sampled: int,
biased: bool) -> Dict:
if biased:
return {
"eligible_count": eligible,
"sampled_count": sampled,
"sampling_rate": round(sampled / eligible, 4),
"dropped_count": int(eligible * 0.041),
"timeout_count": int(eligible * 0.018),
"fallback_count": int(eligible * 0.062),
"eligibility_filters": [
"exclude frames with fallback stack engaged",
"triage-priority sampler v2 (uplifts low-confidence / "
"disagreement traffic)",
],
"sampler": "engaged-triage-sampler-v2",
}
return {
"eligible_count": eligible,
"sampled_count": sampled,
"sampling_rate": round(sampled / eligible, 4),
"dropped_count": int(eligible * 0.012),
"timeout_count": int(eligible * 0.006),
"fallback_count": int(eligible * 0.009),
"eligibility_filters": ["exclude frames with fallback stack engaged"],
"sampler": "uniform-shadow-sampler-v1",
}
# ------------------------------------------------------------------ generator
def generate_scenario(cause: str, seed: int = 7) -> ScenarioBundle:
if cause not in ROOT_CAUSES:
raise ValueError(f"Unknown root cause {cause!r}; expected one of {ROOT_CAUSES}")
rng = np.random.default_rng(seed)
n_off, off_cluster = 3000, 8
n_sh, sh_cluster = 6000, 10
sampled_rate = 0.6
sigma_b_cluster = 0.15
shadow_mix = SHADOW_MIX_DEFAULT
off_target, sh_target = 0.05, -0.02
if cause == "STATISTICAL_NOISE":
n_off, off_cluster = 500, 25
n_sh, sh_cluster = 420, 20
sampled_rate = 1.0
sigma_b_cluster = 0.60
elif cause == "TRUE_MODEL_REGRESSION":
n_sh = 20000
sh_target = -0.023
elif cause == "DISTRIBUTION_SHIFT":
shadow_mix = SHADOW_MIX_SHIFTED
elif cause == "OFFLINE_CONTAMINATION":
sh_target = -0.010
off = _sample_units(rng, n_off, OFFLINE_MIX, off_cluster, "off-seg")
sh = _sample_units(rng, n_sh, shadow_mix, sh_cluster, "sh-seg")
# ---------------------------------------------------------- B's true edge
def zeros(df):
return np.zeros(len(df))
b_edge_off, b_edge_sh = zeros(off), zeros(sh)
if cause == "TRUE_MODEL_REGRESSION":
b_edge_off = np.full(n_off, 0.35)
b_edge_sh = np.full(n_sh, -0.18) # concept drift hits B uniformly
elif cause == "DISTRIBUTION_SHIFT":
def mix_edge(df):
return np.where(df["time_of_day"] == "day", 0.60,
np.where(df["time_of_day"] == "dusk", 0.10, -0.55))
b_edge_off, b_edge_sh = mix_edge(off), mix_edge(sh)
elif cause == "FEATURE_SKEW":
b_edge_off = np.full(n_off, 0.35)
w = np.where(sh["scene"] == "highway", 1.0,
np.where(sh["scene"] == "suburban", 0.5, 0.2))
# Skewed distance feature degrades both models online, B far more.
b_edge_sh = 0.35 - 1.25 * w
elif cause == "SERVING_MISMATCH":
b_edge_off = np.full(n_off, 0.35)
b_edge_sh = np.full(n_sh, 0.35) # B is genuinely better...
elif cause == "LABEL_LATENCY":
b_edge_off = np.full(n_off, 0.35)
b_edge_sh = np.full(n_sh, 0.32)
elif cause == "SAMPLING_BIAS":
# B slightly weaker only on very hard cases, in BOTH environments.
b_edge_off = 0.55 - 1.1 * off["difficulty"].to_numpy()
b_edge_sh = 0.55 - 1.1 * sh["difficulty"].to_numpy()
elif cause == "STATISTICAL_NOISE":
pass # true delta ~ 0 everywhere
elif cause == "OFFLINE_CONTAMINATION":
b_edge_off = np.full(n_off, 0.02)
b_edge_sh = np.full(n_sh, -0.05)
off = _draw_correctness(rng, off, b_edge_off, sigma_b_cluster=sigma_b_cluster)
sh = _draw_correctness(rng, sh, b_edge_sh, sigma_b_cluster=sigma_b_cluster)
# -------------------------------------------------- offline contamination
off["is_near_duplicate"] = False
off["dup_similarity"] = 0.0
train_entity_ids: List[str] = []
if cause == "OFFLINE_CONTAMINATION":
entities = off["entity_id"].unique()
n_dup_ent = int(len(entities) * 0.25)
dup_entities = set(rng.choice(entities, size=n_dup_ent, replace=False))
dup_mask = off["entity_id"].isin(dup_entities)
off.loc[dup_mask, "is_near_duplicate"] = True
off.loc[dup_mask, "dup_similarity"] = rng.uniform(0.93, 0.999, dup_mask.sum())
# B memorized these rows during training.
mem = dup_mask & (rng.random(n_off) < 0.985)
off.loc[mem, "b_correct"] = 1
off.loc[dup_mask, "b_conf"] = np.clip(
off.loc[dup_mask, "b_conf"] + 0.15, 0.02, 0.995)
train_entity_ids = sorted(dup_entities)
# ------------------------------------------------------ shadow mechanisms
sh["a_correct_true"] = sh["a_correct"]
sh["b_correct_true"] = sh["b_correct"]
sh["a_conf_serving"] = sh["a_conf"]
sh["b_conf_serving"] = sh["b_conf"]
if cause == "FEATURE_SKEW":
# Online pipeline logs/consumes distance in feet.
sh["obj_distance_m"] = sh["obj_distance_m"] * 3.281
if cause == "SERVING_MISMATCH":
# int8 quantization nudges confidences down slightly (B more).
sh["a_conf_serving"] = np.clip(sh["a_conf"] - 0.01, 0.02, 0.99)
sh["b_conf_serving"] = np.clip(sh["b_conf"] - 0.05, 0.02, 0.99)
band = (sh["b_conf_serving"] >= 0.35) & (sh["b_conf_serving"] < 0.50)
suppressed = band & (rng.random(n_sh) < 0.9)
sh.loc[suppressed, "b_correct"] = 0
sh["label_is_provisional"] = False
sh["label_age_hours"] = rng.uniform(80.0, 400.0, n_sh)
if cause == "LABEL_LATENCY":
prov = rng.random(n_sh) < 0.40
sh["label_is_provisional"] = prov
sh.loc[prov, "label_age_hours"] = rng.uniform(1.0, 60.0, prov.sum())
diff = sh["difficulty"].to_numpy()
pseudo_wrong = prov & (rng.random(n_sh) < np.clip(0.65 * diff, 0, 0.9))
# Wrong pseudo-labels mirror the incumbent (A-like) auto-labeler:
# A "matches" the wrong label often; B rarely does.
a_match = pseudo_wrong & (rng.random(n_sh) < 0.75)
b_match = pseudo_wrong & (rng.random(n_sh) < 0.12)
sh.loc[pseudo_wrong, "a_correct"] = 0
sh.loc[pseudo_wrong & a_match, "a_correct"] = 1
sh.loc[pseudo_wrong, "b_correct"] = 0
sh.loc[pseudo_wrong & b_match, "b_correct"] = 1
# ---------------------------------------------------------- shadow sampling
if cause == "SAMPLING_BIAS":
disagree = (sh["a_correct_true"] != sh["b_correct_true"]).to_numpy()
w = 0.12 + 0.55 * disagree + 0.55 * sh["difficulty"].to_numpy() \
+ 0.25 * (sh["a_conf"].to_numpy() < 0.5)
p_sample = np.clip(w, 0.02, 0.98)
sh["sampled"] = rng.random(n_sh) < p_sample
else:
sh["sampled"] = rng.random(n_sh) < sampled_rate
# ------------------------------------------------------------- calibration
off_flip_mask = off["is_near_duplicate"] if cause == "OFFLINE_CONTAMINATION" else None
off = _calibrate(off, off_target, rng, flip_mask=off_flip_mask)
if cause == "SERVING_MISMATCH":
flip = (sh["b_conf_serving"] >= 0.33) & (sh["b_conf_serving"] < 0.52)
elif cause == "LABEL_LATENCY":
flip = sh["label_is_provisional"]
else:
flip = None
if cause == "SAMPLING_BIAS":
# Only the triage-tilted sample regresses; the unsampled remainder of
# the eligible stream agrees with offline (B ahead).
sh = _calibrate(sh, sh_target, rng, metric_mask=sh["sampled"])
sh = _calibrate(sh, 0.06, rng, metric_mask=~sh["sampled"])
else:
# Calibrate the full stream, then a small touch-up on the scored
# sample, so sampled vs unsampled stay consistent (no spurious
# selection-bias signature).
sh = _calibrate(sh, sh_target, rng, flip_mask=flip)
sh = _calibrate(sh, sh_target, rng, flip_mask=flip,
metric_mask=sh["sampled"])
# Light feature missingness (parity report exercises missingness deltas).
for col, frac_off, frac_sh in (("points_in_box", 0.004, 0.009),
("track_age_s", 0.002, 0.004)):
off.loc[off.sample(frac=frac_off, random_state=seed).index, col] = np.nan
sh.loc[sh.sample(frac=frac_sh, random_state=seed + 1).index, col] = np.nan
off.insert(0, "unit_id", [f"off-{i:06d}" for i in range(len(off))])
sh.insert(0, "unit_id", [f"sh-{i:06d}" for i in range(len(sh))])
# ------------------------------------------------------------------- meta
off_cfg, sh_cfg = _base_configs()
if cause == "SERVING_MISMATCH":
sh_cfg["confidence_threshold"] = 0.50
sh_cfg["quantization"] = "int8"
sh_cfg["runtime_version"] = "trt-9.3.0"
if cause == "FEATURE_SKEW":
sh_cfg["feature_pipeline_version"] = None # nobody recorded it
if cause == "LABEL_LATENCY":
sh_cfg["label_policy_version"] = "auto-provisional-v1 (mixed)"
sh_cfg["label_maturity_policy"] = "provisional pseudo-labels until 72h audit"
if cause == "SAMPLING_BIAS":
sh_cfg["sampling_policy"] = "engaged-triage-sampler-v2 (priority traffic)"
if cause == "TRUE_MODEL_REGRESSION":
off_cfg["eval_window"] = "2026-05-20 .. 2026-06-10 (8 weeks stale)"
repro_ok = cause != "OFFLINE_CONTAMINATION"
sampled_count = int(sh["sampled"].sum())
measured_off = float(off["b_correct"].mean() - off["a_correct"].mean())
m = sh[sh["sampled"]]
measured_sh = float(m["b_correct"].mean() - m["a_correct"].mean())
meta = {
"cause": cause,
"seed": seed,
"offline_config": off_cfg,
"shadow_config": sh_cfg,
"model_a": {
"version": "detr3d-a-v41",
"train_window": "2025-11 .. 2026-04",
"train_entity_ids": [],
"split_strategy": "entity_level",
},
"model_b": {
"version": "detr3d-b-v42",
"train_window": "2025-12 .. 2026-05",
"train_entity_ids": train_entity_ids,
"split_strategy": ("row_level" if cause == "OFFLINE_CONTAMINATION"
else "entity_level"),
},
"reproducibility": {
"original_offline_metric_delta": measured_off,
"rerun_metric_delta": (measured_off + (0.001 if repro_ok else -0.031)),
"pins_present": repro_ok,
"environment_lock": ("conda-lock + image digest recorded" if repro_ok
else "requirements.txt without pins; image tag "
"'latest'"),
},
"traffic": _traffic_meta(rng, n_sh, sampled_count,
biased=(cause == "SAMPLING_BIAS")),
"label_maturity_hours": LABEL_MATURITY_HOURS,
"practical_margin_pp": 1.0,
"measured": {
"offline_delta": measured_off,
"shadow_delta": measured_sh,
"offline_n": len(off),
"shadow_scored_n": int(m.shape[0]),
},
"explanation": CAUSE_EXPLANATIONS[cause],
}
return ScenarioBundle(cause=cause, seed=seed, offline=off, shadow=sh, meta=meta)
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