feat(perception): add E34 temporal occupied layer

docs/13_LIDAR_WORKER_PRODUCT_AND_ROADMAP.md

@@ -681,10 +681,23 @@ workloads and are evidence of node visibility, not E33 process consumption.
 E33 qualifies downstream publication against the immutable E10→E32 chain; it
 does not rerun or independently requalify upstream inference.
 
-Execution was strictly sequential through E33: E30 determined what E31 was
+E34 accepted immutable temporal-layer result
+`e34-temporal-occupied-8d9abb3f2cc072cfdbb16cc4e55798e05c35a0abe0b8f691096770e091573a73`.
+It consumes all `2,119,302` accepted E32 point rows, keeps current occupied
+cells separate from held/expired unknown state and preserves the persistent
+reconstruction. Peak state is 37 components and 324 cells per component;
+component continuity is `82.15%`, geometry-only re-association is `81.78%`,
+logical TTL emission delay is zero and coherent global map-frame jump count is
+zero. The earlier rejected immutable run exposed and retained a `0.333 s`
+source gap plus an incoherent nearest-neighbor jump detector; the fixed
+implementation uses an independent TTL deadline and coherent translation
+support without changing the frozen profile.
+
+Execution was strictly sequential through E34: E30 determined what E31 was
 allowed to change; E31 determined the E32 profile; E32 determined the E33
-runtime input. Exact accounting is now closed, so E34 and E35 are the active
-critical path.
+runtime input; E32/E33 then bound the E34 layer. Exact accounting and the
+bounded nominal temporal layer are now closed, so E35 is the active critical
+path.
 E36 is the first generalization gate. A separate product decision follows:
 either keep the result as operator/shadow evidence, or start L5 occupied-space
 integration. No LAB in this cycle can enable navigation, commands or safety

docs/16_ARCHITECTURE_AUDIT_EXECUTION_ROADMAP.md

@@ -192,7 +192,17 @@ p95 was `2.668 ms`, process RSS peaked at `92.34 MiB`, both queues remained
 bounded at depth two and the exact physical worker/container identity is
 retained. This qualifies the final TrackGeometry publication stage against the
 immutable upstream E10→E32 chain; it is not a new model-inference benchmark.
-A8/E34+E35 is now the critical path.
+A8/E34 is complete in immutable result
+`e34-temporal-occupied-8d9abb3f2cc072cfdbb16cc4e55798e05c35a0abe0b8f691096770e091573a73`.
+It consumes all `2,119,302` accepted E32 point rows across all 4,489 frames,
+keeps hit-only occupied evidence separate from persistent reconstruction,
+publishes held/expired state as unknown, peaks at 37 active components and 324
+cells per component, and emits no free cells. Geometry-only re-association is
+`81.78%`; overall component continuity is `82.15%`. Expiration uses an
+independent `0.75 s` deadline and records the `0.283 s` worst source-gap
+materialization delay separately. The first immutable run remains a rejected
+artifact documenting the frame-clock and incoherent-jump implementation
+failures. E35 is now the critical path.
 
 - [x] Reproduce all 4,489 immutable E29 frames with the exact frozen profile
   before applying E31/E30 changes.
@@ -212,7 +222,7 @@ A8/E34+E35 is now the critical path.
   and publish per-frame health/timing plus resource telemetry.
 - [x] Bind the accepted result to physical worker `DESKTOP-OPJ8J04` and the
   pinned container image; independently verify all result artifacts.
-- [ ] Build E34 as a separate short-TTL occupied/unknown temporal layer over
+- [x] Build E34 as a separate short-TTL occupied/unknown temporal layer over
   accepted E32/E33 evidence.
 - [ ] Run E35 deterministic degradation/recovery variants without changing
   the immutable source or accepted E32/E33 results.

docs/adr/0027-e34-short-ttl-occupied-unknown-layer.md

@@ -0,0 +1,89 @@
+# ADR 0027 — E34 short-TTL occupied/unknown temporal layer
+
+Date: 2026-07-27
+
+Status: accepted for source-scoped diagnostic/shadow use
+
+## Context
+
+E32 published exclusive, source-indexed `PointSlab` ownership over all 4,489
+immutable RAVNOVES00 frames. E33 proved that the exact E32 publication stream
+can be delivered at recorded `1.0×` pace through bounded worker channels with
+closed accounting. Neither result is a local temporal model: geometry-only
+component keys are frame-local, current support disappears immediately when a
+source is unavailable, and there is no explicit expiration event.
+
+The K1 stream is already registered mapped evidence. It does not retain the
+beam origin and firing time required for honest ray-cleared free-space
+mapping. The accepted persistent reconstruction must also remain a separate,
+immutable derivative.
+
+## Predeclared decision
+
+1. E34 consumes only the accepted content-addressed E32 result under the
+   accepted E33 timing/accounting envelope. It never rewrites E32, E33, raw
+   evidence, the mapped stream or persistent reconstruction.
+2. The output is a separate `lidar-local-map/v1` diagnostic derivative in the
+   E32 `map` frame. It publishes only hit-backed `occupied` and conservatively
+   aged `unknown` state. It never publishes `free`.
+3. Current E32 point owners become `current/occupied` temporal components.
+   Camera track identity is retained only as source provenance. Geometry-only
+   components receive new temporal IDs and may be spatially re-associated
+   without inventing a semantic class.
+4. A component without current accepted points becomes `held/unknown` for at
+   most `0.75 s`. Its last hit-backed cells remain explicitly stale evidence,
+   not current measurement and not free-space proof.
+5. After the TTL, the component emits one `expired/unknown` tombstone and is
+   removed from the active occupied layer. Expired cells are never published
+   as occupied.
+6. Geometry-only re-association is deterministic, one-to-one and bounded to a
+   `0.35 s` gap and `0.9 m` centroid distance. It additionally requires either
+   a `0.05` neighbor-expanded voxel overlap or a centroid distance no greater
+   than one `0.45 m` voxel.
+7. The layer uses hit-only `0.45 m` voxels, at most `4,096` cells per component
+   and at most `256` active components. Crossing a bound fails closed; cells
+   are not silently truncated and components are not silently evicted.
+8. A map-frame jump candidate is diagnostic only. It requires at least four
+   adjacent matched components within `0.25 s`, median displacement of at
+   least `1.5 m` and 25th-percentile displacement of at least `0.9 m`.
+9. Acceptance requires complete 4,489-frame accounting, exact upstream
+   artifact identity, bounded state, no free-space publication, no component
+   held past TTL, expiry no later than one `0.25 s` observation interval after
+   the theoretical deadline and zero global map-frame jump candidates.
+10. Continuity, re-association, geometry-only persistence and ghost lifetime
+    are measured and reported. They are not converted into detector accuracy
+    or ground truth and are not retuned after inspecting this run.
+11. Dynamic class, traversability, planner input, commands, navigation and
+    safety authority remain unavailable.
+
+## Consequences
+
+- The E34 result can prove a bounded temporal contract without claiming
+  free-space quality or changing persistent mapping.
+- Camera-only, conflict, unknown and source-unavailable inputs can preserve
+  uncertainty but cannot create new occupied cells without prior accepted
+  hit-backed provenance.
+- A rejected run remains immutable evidence. Any later profile change requires
+  a new ADR decision, profile identity and LAB result rather than overwriting
+  E34.
+
+## Execution outcome
+
+The first immutable implementation result
+`e34-temporal-occupied-1bab293c1867100e172923b189f8273c47eacca3dd179fd54573200906affd7c`
+was rejected without changing the profile. It exposed two implementation-level
+architecture errors:
+
+- scalar nearest-neighbor displacement was not sufficient to call a jump
+  global; the corrected detector requires one coherent translation within the
+  already fixed voxel residual;
+- frame-driven expiry could not meet the TTL across a recorded `0.333 s`
+  source gap; expiration now uses an independent logical layer deadline and
+  retains the later replay materialization time separately.
+
+The accepted result is
+`e34-temporal-occupied-8d9abb3f2cc072cfdbb16cc4e55798e05c35a0abe0b8f691096770e091573a73`.
+It processes all 4,489 frames and all 2,119,302 E32 point rows, peaks at 37
+active components and 324 cells per component, emits zero free cells, meets
+the `0.75 s` TTL exactly and reports zero coherent global map-frame jump
+candidates. A8 now continues with E35 deterministic degradation/recovery.