feat(perception): add occupied-only low-step shadow

experiments/perception/worker/Invoke-M48NNativeReferenceGraph.ps1

@@ -20,6 +20,7 @@ param(
     [double]$MinimumEffectiveWorldStateFps = 9.5,
     [ValidateRange(1.0, 10000.0)]
     [double]$MaximumWorldStateCompletionP95Ms = 125.0,
+    [switch]$AdditiveLowStep,
     [string]$OutputRoot = (
         "D:\NDC_MISSIONCORE\runtime\results\m48n-native-reference-graph-shadow"
     )
@@ -109,6 +110,15 @@ $expectedConfigs = [ordered]@{
         "8c3a5aa837da1f028f5998fb504a1381f9b2b68de6420a32160410b6dc0887c7"
     )
 }
+if ($AdditiveLowStep) {
+    $expectedConfigs.Remove("m48n-rf-detr-native-reference-graph-shadow-v0.json")
+    $expectedConfigs["m48r3-native-low-step-reference-graph-shadow-v1.json"] = (
+        "d5434825c3a73a9a070aea37927755771e07d38a017111d2014a8e8c88969227"
+    )
+    $expectedConfigs["m48r3-additive-low-step-occupancy-v1.json"] = (
+        "62dd41400169080e1a38f713b283b67cdf201078c4c7fd807783fe6c1838082c"
+    )
+}
 foreach ($entry in $expectedConfigs.GetEnumerator()) {
     $null = Assert-File (Join-Path $release $entry.Key) $entry.Value (
         "M48N config {0}" -f $entry.Key
@@ -203,8 +213,16 @@ if (-not $canonicalTriton.State.Running -or $canonicalTriton.State.Health.Status
     throw "Canonical Triton must remain healthy during M48N shadow"
 }
 $canonicalTritonId = [string]$canonicalTriton.Id
-$tritonName = "ndc-mission-core-m48n-native-reference-graph-triton"
-$graphName = "ndc-mission-core-m48n-native-reference-graph"
+$tritonName = if ($AdditiveLowStep) {
+    "ndc-mission-core-m48r3-low-step-triton"
+} else {
+    "ndc-mission-core-m48n-native-reference-graph-triton"
+}
+$graphName = if ($AdditiveLowStep) {
+    "ndc-mission-core-m48r3-low-step-reference-graph"
+} else {
+    "ndc-mission-core-m48n-native-reference-graph"
+}
 foreach ($name in @($tritonName, $graphName)) {
     if (& docker ps -a --format "{{.Names}}" --filter "name=^/$name$") {
         throw "M48N candidate container $name already exists"
@@ -263,6 +281,19 @@ try {
         throw "M48N Triton published a host port"
     }
 
+    $graphConfigName = if ($AdditiveLowStep) {
+        "m48r3-native-low-step-reference-graph-shadow-v1.json"
+    } else {
+        "m48n-rf-detr-native-reference-graph-shadow-v0.json"
+    }
+    $additiveArguments = if ($AdditiveLowStep) {
+        @(
+            "--additive-low-step-profile",
+            "/release/m48r3-additive-low-step-occupancy-v1.json"
+        )
+    } else {
+        @()
+    }
     $arguments = @(
         "run", "--name", $graphName,
         "--label", "com.nodedc.product=mission-core",
@@ -294,7 +325,7 @@ try {
         "--entrypoint", "python3",
         $image,
         "/release/run_m48s_reference_graph_shadow_worker.py",
-        "--graph-config", "/release/m48n-rf-detr-native-reference-graph-shadow-v0.json",
+        "--graph-config", ("/release/{0}" -f $graphConfigName),
         "--baseline-profile", "/release/m4-recorded-realtime-baseline-v1.json",
         "--detector-profile", "/release/rf-detr-large-native-kb4-risk-shadow-v0.json",
         "--geometry-profile", "/release/m4-geometry-association-v1.json",
@@ -331,7 +362,7 @@ try {
         "--output", "/output/result.json",
         "--progress", "/output/progress.jsonl",
         "--frame-ledger", "/output/frames.jsonl"
-    )
+    ) + $additiveArguments
     & docker @arguments
     Assert-LastExitCode "M48N native complete reference graph shadow"
     foreach ($name in @("result.json", "frames.jsonl", "progress.jsonl")) {