# 系统流水线

> 本页由仓库源文件生成。请不要直接编辑本页；修改下方 source 文件后运行 `vp run docs:generate`。

> 中文支持说明：本页是中文站点镜像，保留论文标题、证据状态和来源字段的原始表述，避免未经核实的翻译改变证据边界。

> 来源: `system/pipeline.md`

## System Pipeline

Status: `inferred`

Implementation-facing record schemas are defined in `system/runtime-interfaces.md`. This file remains a high-level pipeline map.

```text
RGB/RGB-D camera
  -> YOLO object detection
  -> candidate manager
  -> candidate freeze
  -> SSVEP stimulus binding
  -> EEG acquisition
  -> SSVEP target decoding
  -> MI mode decoding
  -> decision fusion state machine
  -> robot planning
  -> approach and grasp execution
  -> visual/end-effector verification
```

## Interface Map

| Interface | Data | Open Questions |
| --- | --- | --- |
| Vision to candidate manager | `Vision Frame`, `Object Detection`, `Candidate` | tracking ID, jitter tolerance, max candidate count |
| Candidate manager to stimulus | `Candidate Freeze Set`, `Stimulus Binding` | refresh rate, target freeze duration |
| EEG to decoders | `EEG Window` | hardware, sampling rate, sync latency |
| Decoders to fusion | `SSVEP Decision`, `MI Decision` | threshold, consecutive-window rule |
| Fusion to robot | `Fused Intent`, `Safety Gate Result` | safety gate and recovery policy |
| Robot to verifier | `Robot Plan`, `Robot Execution`, `Verification Result` | success criteria and logging |