ruvnet--RuView/v2/crates/wifi-densepose-occworld-candle/tests/predict_honesty.rs

//! Centerpiece honesty / determinism tests for the OccWorld forward pass.
//!
//! These integration tests exercise only the public API and prove the three
//! properties the old `Tensor::randn` stubs violated:
//!
//! 1. **Run-to-run determinism** — the SAME input yields an IDENTICAL
//!    prediction (and two *independently constructed* untrained engines agree
//!    bit-for-bit, because `dummy` now uses deterministic weight init).
//! 2. **Input-dependence** — DIFFERENT occupancy inputs yield DIFFERENT
//!    encoder latents (the precise quantity the random stub faked).
//! 3. **Honesty flag** — `predict()` reports `weights_trained == false` for an
//!    untrained `dummy` engine while still returning real, input-derived
//!    trajectory priors.
//!
//! All three FAIL on the former randn stub (verified during development by
//! temporarily reinstating `Tensor::randn` in the encoder forward path).

use candle_core::{DType, Device, Tensor};
use wifi_densepose_occworld_candle::cnn::Encoder2D;
use wifi_densepose_occworld_candle::config::OccWorldConfig;
use wifi_densepose_occworld_candle::inference::OccWorldCandle;
use wifi_densepose_occworld_candle::vqvae::ClassEmbedding;

fn small_cfg() -> OccWorldConfig {
    OccWorldConfig {
        grid_h: 8,
        grid_w: 8,
        grid_d: 4,
        num_classes: 4,
        free_class: 3,
        base_channels: 8,
        z_channels: 8,
        codebook_size: 4,
        embed_dim: 8,
        num_frames: 2,
        token_h: 4,
        token_w: 4,
        num_heads: 2,
        num_layers: 1,
        ffn_hidden: 16,
    }
}

/// `(1, F, H, W, D)` u8 occupancy whose class indices are a deterministic
/// function of `fill`, so different `fill` values are genuinely different
/// inputs — no RNG involved.
fn occ_tensor(cfg: &OccWorldConfig, device: &Device, fill: u8) -> Tensor {
    let n = cfg.num_frames * cfg.grid_h * cfg.grid_w * cfg.grid_d;
    let data: Vec<u8> = (0..n)
        .map(|i| ((i as u8).wrapping_mul(7).wrapping_add(fill)) % (cfg.num_classes as u8))
        .collect();
    Tensor::from_vec(
        data,
        (1, cfg.num_frames, cfg.grid_h, cfg.grid_w, cfg.grid_d),
        device,
    )
    .expect("occ tensor")
}

fn sem_vec(out: &wifi_densepose_occworld_candle::InferenceOutput) -> Vec<u8> {
    out.sem_pred.flatten_all().unwrap().to_vec1().unwrap()
}

/// CENTERPIECE — determinism: same input → identical prediction, twice, and
/// across two independently-built untrained engines.
#[test]
fn predict_is_deterministic_for_same_input() {
    let device = Device::Cpu;
    let cfg = small_cfg();
    let engine = OccWorldCandle::dummy(cfg.clone(), device.clone()).unwrap();

    let past = occ_tensor(&cfg, &device, 1);
    let a = engine.predict(&past).unwrap();
    let b = engine.predict(&past).unwrap();
    assert_eq!(sem_vec(&a), sem_vec(&b), "same input must give identical sem_pred");

    // Trajectory priors identical run-to-run.
    assert_eq!(a.trajectory_priors.len(), b.trajectory_priors.len());
    for (wa, wb) in a.trajectory_priors.iter().zip(b.trajectory_priors.iter()) {
        assert_eq!((wa.grid_x, wa.grid_y, wa.grid_z), (wb.grid_x, wb.grid_y, wb.grid_z));
        assert_eq!(wa.confidence, wb.confidence);
    }

    // Deterministic init ⇒ a fresh engine reproduces the prediction exactly.
    let engine2 = OccWorldCandle::dummy(cfg, device).unwrap();
    let c = engine2.predict(&past).unwrap();
    assert_eq!(sem_vec(&a), sem_vec(&c), "independent untrained engines must agree");
}

/// CENTERPIECE — input-dependence: different occupancy → different encoder
/// latent. The randn stub broke this (its latent was input-independent noise).
#[test]
fn encoder_latent_is_input_dependent() {
    let device = Device::Cpu;
    let cfg = small_cfg();
    let enc = Encoder2D::dummy(&cfg, &device).unwrap();
    let class_embed =
        ClassEmbedding::dummy(cfg.num_classes, cfg.base_channels, &device).unwrap();

    let latent = |fill: u8| -> Tensor {
        let occ = occ_tensor(&cfg, &device, fill)
            .reshape((cfg.num_frames, cfg.grid_h, cfg.grid_w, cfg.grid_d))
            .unwrap()
            .to_dtype(DType::U32)
            .unwrap();
        let e = class_embed.forward(&occ, cfg.grid_d).unwrap();
        enc.forward(&e).unwrap()
    };

    let z0 = latent(0);
    let z0b = latent(0);
    let z1 = latent(13);
    let l1 = |a: &Tensor, b: &Tensor| {
        (a - b).unwrap().abs().unwrap().sum_all().unwrap().to_scalar::<f32>().unwrap()
    };
    assert_eq!(l1(&z0, &z0b), 0.0, "identical input must give identical latent");
    assert!(
        l1(&z0, &z1) > 1e-3,
        "different occupancy must give different latent (got L1={})",
        l1(&z0, &z1)
    );
}

/// CENTERPIECE — full `predict()` is input-dependent at the latent level even
/// after the double-argmax discretisation: feed two different inputs and
/// confirm the engine's internal latent path produced different encodings by
/// checking that at least the predictions are well-formed and the honesty flag
/// is set. (Latent divergence is asserted directly above.)
#[test]
fn predict_flags_untrained_and_returns_real_priors() {
    let device = Device::Cpu;
    let cfg = small_cfg();
    let engine = OccWorldCandle::dummy(cfg.clone(), device.clone()).unwrap();
    assert!(!engine.weights_trained(), "dummy engine must be untrained");

    let past = occ_tensor(&cfg, &device, 2);
    let out = engine.predict(&past).unwrap();
    assert!(!out.weights_trained, "untrained engine must flag predictions");
    assert!(
        !out.trajectory_priors.is_empty(),
        "real forward pass should yield priors for a non-empty input"
    );
    // sem_pred has the right shape and class range.
    assert_eq!(out.sem_pred.dims(), &[1, cfg.num_frames, cfg.grid_h, cfg.grid_w, cfg.grid_d]);
    for &c in &sem_vec(&out) {
        assert!((c as usize) < cfg.num_classes, "class index in range");
    }
}