feat(perception): add E34 temporal occupied layer

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

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+# 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.