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feat(lab): publish fail-closed TGS evidence

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DCCONSTRUCTIONS
2026-08-26 21:32:35 +03:00
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docs/23_TRAVERSABILITY_AND_STATIC_OBSTACLE_STACK_DECISION.md
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@@ -326,7 +326,11 @@ invocation. It emits a deterministic `0.45 m`, `12 m` local evidence grid while
preserving unobserved cells. See
[`experiments/perception/M49_TGS_FAIL_CLOSED_EVIDENCE_2026-08-26.md`](../experiments/perception/M49_TGS_FAIL_CLOSED_EVIDENCE_2026-08-26.md).
Representation/accounting is accepted for the visual gate; obstacle and
traversability quality are not yet accepted.
traversability quality are not yet accepted. The sealed result is now published
in the canonical LAB as
`m49-tgs-fail-closed-9d5cb089bb5cc23f829acb47eda52eaa886db3b60f8fa7d57e02e27f642e837b`,
linked to the current M4 v3 recorded timeline. Publication adds no navigation
or actuation authority.
### T4 — Candidate C occupancy/ESDF probe
@@ -345,12 +349,14 @@ traversability quality are not yet accepted.
## Immediate next action
Import the sealed gravity-aligned TGS evidence pack into one laboratory review
surface and review the ten anchors in metric 3D/costmap space. Preserve
Review the published gravity-aligned TGS evidence pack across all ten anchors
in metric 3D/costmap space. Preserve
`GROUND_SUPPORT`, `NONGROUND_OCCUPIED`, `UNKNOWN_REJECTED` and `UNOBSERVED` as
separate products; do not use AOS or infer free cells from absent
republication. Add diagnostic camera projection only after the metric evidence
is accepted. Candidate A T2 replay remains blocked by the failed unmodified T1
gate. No LOW-STEP tuning, new object model, camera resize, fisheye
rectification, manual dataset or parallel heavy Worker job is authorized by
this decision.
is accepted. If occupied evidence carpets the route, soft traversable
vegetation or usable gaps, reject TGS without tuning it against the review
anchors; otherwise advance it to a full recorded-source shadow. Candidate A T2
replay remains blocked by the failed unmodified T1 gate. No LOW-STEP tuning,
new object model, camera resize, fisheye rectification, manual dataset or
parallel heavy Worker job is authorized by this decision.