feat: add passive K1 local surface replay

docs/13_LIDAR_WORKER_PRODUCT_AND_ROADMAP.md

@@ -2,8 +2,8 @@
 
 Date: 2026-07-25
 Status: accepted architecture plan; L0/L1 implemented; L2 diagnostic A/B
-complete; full GOOSE and RELLIS qualification complete; K1 local-world-model
-gate next
+complete; full GOOSE and RELLIS qualification complete; L2.6a K1 replay
+local-surface slice implemented; operator review and live shadow next
 Scope: passively received real-time K1 point/pose evidence, immutable replay and
 future live shadow processing
 Explicitly out of scope: K1 firmware modification, a new onboard exporter, new
@@ -384,28 +384,51 @@ showed that Patchwork++ slightly improved Ground IoU while reducing obstacle
 non-ground recall from `80.46%` to `69.70%`; the candidate was rejected.
 Dataset expansion is no longer the next gate.
 
-### L2.6 — K1 local world model — next
+### L2.6 — K1 local world model — in progress
 
-- [ ] Bind the immutable `RAVNOVES00` source and replay-pack-v2 evidence without
-  rewriting either generation.
-- [ ] Transform each admitted map increment through the nearest compatible
-  `T_map_from_lidar` and publish pose-binding age explicitly.
-- [ ] Estimate a time-varying local surface for ground-vehicle profiles using
+- [x] Bind the immutable `RAVNOVES00` E10 source by pack identity and artifact
+  hash without copying or rewriting the source generation.
+- [ ] Mirror the same accepted profile over replay-pack-v2 evidence while
+  preserving its separate identity and field-retention contract.
+- [x] Reject stale pose binding and publish pose-binding age explicitly; keep
+  map-native processing honest instead of claiming that pose inversion
+  recreates an original sensor sweep.
+- [x] Estimate a time-varying local surface for ground-vehicle profiles using
   robust spatial cells and temporal support; do not use the historical
   `1.27 m` value.
-- [ ] Publish surface height, slope, roughness, step/curb candidates and
-  confidence separately from semantic classes.
-- [ ] Produce short-TTL `occupied` and `unknown` layers from current evidence.
+- [x] Publish surface-relative height, slope, roughness and confidence
+  separately from semantic classes.
+- [ ] Add independently reviewable step/curb candidates; do not derive them
+  from a single global height threshold.
+- [x] Produce short-TTL observed-surface, `occupied` and `unknown` evidence.
   Do not infer `free` merely because a mapped point is absent.
-- [ ] Keep persistent reconstruction, recent collision evidence and dynamic
-  observations as separate derivatives of the same source.
+- [x] Leave the immutable persistent reconstruction untouched by the local
+  derivative.
+- [ ] Add recent-collision and dynamic-observation layers as separate
+  derivatives with independent decay and provenance.
 - [ ] Reuse the accepted camera-to-LiDAR projection as an optional semantic
   layer with source, confidence, freshness and conflict fields.
-- [ ] Measure latency, point age, pose-binding age, temporal stability, obstacle
-  preservation and memory growth over the complete recording.
+- [ ] Complete the qualification report with per-frame latency, point age,
+  temporal stability, obstacle preservation and memory growth.
 - [ ] Replay the same profiles through a bounded latest-wins live-shadow queue;
   no K1 command, navigation or safety authority is added.
 
+The implemented `missioncore.k1-local-surface/v1` derivative is reproducible
+through `experiments/perception/run_k1_local_surface.py` and is exposed
+read-only through `GET /api/v1/lidar/local-surfaces` plus the bound frame
+endpoint. **Парк → Диагностика LiDAR** reuses the five RAVNOVES00 scene
+selectors and shows the selected source frame as observed surface, observed
+occupied-above-surface, negative outlier and unclassified evidence. The React
+contract is provider-neutral; K1 remains a bound backend source rather than UI
+implementation knowledge.
+
+The complete RAVNOVES00 run covered all `526/526` available LiDAR samples.
+There were zero stale-pose, insufficient-surface or failed-fit frames. Observed
+diagnostic distributions are: derived sensor-to-surface height `1.295 m` p50,
+roughness `0.054 m` p95, slope `3.172°` p95 and pose-binding age `19.113 ms`
+p95. These values describe this recording only; they are not calibration,
+ground truth or a navigation gate. Free space remains unavailable.
+
 Exit: one immutable K1 session yields both a persistent reconstruction and a
 bounded local world state without hard-coded terrain height or scanner-side
 changes.
@@ -487,7 +510,10 @@ natural-ground recall from `51.76%` to `76.22%` and stays below `23.41 ms` p95
 across 961 frames. Full RELLIS qualification covers `2,413` validation frames
 and rejects Patchwork++ because the small Ground-IoU gain came with unacceptable
 obstacle loss. Public-dataset ground qualification is therefore complete
-enough for the current decision. The highest-value immediate work is the K1
-local world model over `RAVNOVES00`, followed by bounded live shadow. Nvblox,
-raw-scan detectors and alternative SLAM remain optional later gates because the
-current report contract does not carry their required ray/timing semantics.
+enough for the current decision. The first K1 local-surface replay slice now
+covers all available `RAVNOVES00` samples and is visible in the operator
+interface. The highest-value immediate work is operator review, explicit
+step/curb and temporal-stability qualification, followed by bounded live
+shadow. Nvblox, raw-scan detectors and alternative SLAM remain optional later
+gates because the current report contract does not carry their required
+ray/timing semantics.

docs/14_LIDAR_DATASET_GATEWAY.md

@@ -46,6 +46,12 @@ Implemented now:
 - count, finite-value and maximum-point safety gates;
 - immutable point-aligned arrays;
 - a fail-closed K1 `lio_pcl` boundary;
+- a content-addressed `missioncore.k1-local-surface/v1` replay derivative over
+  immutable `RAVNOVES00`, with dynamic height/slope/roughness/confidence,
+  explicit pose-binding age and conservative observed occupied/unknown policy;
+- a provider-neutral read-only local-surface view in
+  **Парк → Диагностика LiDAR**, synchronized to the five existing
+  RAVNOVES00 scene selectors;
 - worker storage admission for `D:\NDC_MISSIONCORE\datasets` and
   `/mnt/d/NDC_MISSIONCORE/datasets`;
 - a dedicated, honest dataset catalog in **Полигон → Датасеты**;