fix(perception): reuse M4.8 for vegetation evidence

2026-08-28 00:13:58 +03:00
parent 57204b3b0b
commit 67e6ae98e2
12 changed files with 482 additions and 226 deletions
@@ -4,11 +4,25 @@ const RESULT_ID = /^lab-v1-vegetation-shadow-[a-f0-9]{64}$/;
 const SHA256 = /^[a-f0-9]{64}$/;
 const CANDIDATES = ["ddrnet", "ppliteseg"] as const;
 const ROUTE_MODES = ["source", "ddrnet", "ppliteseg", "urban", "rural", "offroad"] as const;
-const VALIDATION_MODES = ["source", "truth", "ddrnet", "ppliteseg"] as const;
+const VALIDATION_ASSETS = [
+  "source",
+  "truth",
+  "ddrnet",
+  "ppliteseg",
+  "ddrnet_error",
+  "ppliteseg_error",
+] as const;

 export type VegetationCandidateKey = typeof CANDIDATES[number];
 export type VegetationRouteMode = typeof ROUTE_MODES[number];
-export type VegetationValidationMode = typeof VALIDATION_MODES[number];
+
+export interface VegetationVisualFocus {
+  className: string;
+  labelId: number;
+  truthPixels: number;
+  truthFraction: number;
+  stratumRank: number;
+}

 export interface VegetationCandidateMetrics {
  candidate: VegetationCandidateKey;
@@ -33,6 +47,7 @@ export interface VegetationVisualCase {
  height: number;
  centerCropXyxy: readonly [number, number, number, number];
  outsideCropState: "undefined" | "not-applicable";
+  focus: VegetationVisualFocus | null;
  assets: Readonly<Record<string, string>>;
 }

@@ -174,7 +189,7 @@ function visualCaseValue(
      .join("/")}`;
  }
  const expectedAssets = expectedKind === "goose"
-    ? VALIDATION_MODES
+    ? VALIDATION_ASSETS
    : ROUTE_MODES;
  if (expectedAssets.some((key) => !projected[key])) {
    throw new VegetationShadowContractError(`vegetation.case.assets: ${expectedKind} набор неполон.`);
@@ -183,6 +198,23 @@ function visualCaseValue(
  if (outsideCropState !== "undefined" && outsideCropState !== "not-applicable") {
    throw new VegetationShadowContractError("vegetation.case.outside_crop_state: контракт изменён.");
  }
+  let focus: VegetationVisualFocus | null = null;
+  if (expectedKind === "goose") {
+    const rawFocus = objectValue(row.focus, "vegetation.case.focus");
+    const truthFraction = numberValue(rawFocus.truth_fraction, "vegetation.case.focus.truth_fraction");
+    if (truthFraction <= 0 || truthFraction > 1) {
+      throw new VegetationShadowContractError("vegetation.case.focus.truth_fraction: диапазон изменён.");
+    }
+    focus = {
+      className: textValue(rawFocus.class_name, "vegetation.case.focus.class_name"),
+      labelId: integerValue(rawFocus.label_id, "vegetation.case.focus.label_id"),
+      truthPixels: integerValue(rawFocus.truth_pixels, "vegetation.case.focus.truth_pixels"),
+      truthFraction,
+      stratumRank: integerValue(rawFocus.stratum_rank, "vegetation.case.focus.stratum_rank"),
+    };
+  } else if (row.focus !== null) {
+    throw new VegetationShadowContractError("vegetation.case.focus: RAVNOVES focus отсутствует.");
+  }
  return {
    caseId,
    sourceKind: expectedKind,
@@ -190,6 +222,7 @@ function visualCaseValue(
    height: integerValue(row.height, "vegetation.case.height"),
    centerCropXyxy: crop as unknown as readonly [number, number, number, number],
    outsideCropState,
+    focus,
    assets: projected,
  };
 }
@@ -233,8 +266,8 @@ function parseResult(value: unknown, resultId: string): VegetationShadowResult {
    .map((item) => visualCaseValue(item, resultId, "ravnoves"));
  const validationCases = arrayValue(catalogs.goose, "vegetation.catalogs.goose")
    .map((item) => visualCaseValue(item, resultId, "goose"));
-  if (routeCases.length !== 12 || validationCases.length !== 12) {
-    throw new VegetationShadowContractError("vegetation.catalogs: ожидалось 12 + 12 случаев.");
+  if (routeCases.length !== 0 || validationCases.length !== 12) {
+    throw new VegetationShadowContractError("vegetation.catalogs: ожидалось 12 truth-backed GOOSE случаев без route viewer.");
  }
  return {
    resultId,
@@ -28,6 +28,119 @@ const ATLAS_MODES = [
 ] as const;
 type AtlasMode = typeof ATLAS_MODES[number]["value"];

+const MASK_COMPARISON_MODES = [
+  { value: "source", label: "SOURCE" },
+  { value: "truth", label: "TRUTH" },
+  { value: "prediction", label: "PREDICTION" },
+  { value: "error", label: "ERROR" },
+] as const;
+const MASK_COMPARISON_CANDIDATES = [
+  { value: "ddrnet", label: "DDRNET" },
+  { value: "ppliteseg", label: "PPLITE" },
+] as const;
+type MaskComparisonMode = typeof MASK_COMPARISON_MODES[number]["value"];
+type MaskComparisonCandidate = typeof MASK_COMPARISON_CANDIDATES[number]["value"];
+
+export interface M48MaskComparisonCase {
+  caseId: string;
+  title: string;
+  context?: string;
+  sourceUrl: string;
+  truthUrl: string;
+  predictions: Readonly<Record<MaskComparisonCandidate, string>>;
+  errors: Readonly<Record<MaskComparisonCandidate, string>>;
+}
+
+function M48MaskComparisonScene({
+  item,
+  mode,
+  candidate,
+}: {
+  item: M48MaskComparisonCase;
+  mode: MaskComparisonMode;
+  candidate: MaskComparisonCandidate;
+}) {
+  const overlay = mode === "truth"
+    ? item.truthUrl
+    : mode === "prediction"
+      ? item.predictions[candidate]
+      : mode === "error"
+        ? item.errors[candidate]
+        : null;
+  return (
+    <div className="recorded-evidence-image-scene">
+      <img src={item.sourceUrl} alt="" draggable={false} />
+      {overlay ? <img src={overlay} alt="" draggable={false} /> : null}
+    </div>
+  );
+}
+
+export function M48MaskComparisonVisual({
+  cases,
+  initialCandidate,
+}: {
+  cases: readonly M48MaskComparisonCase[];
+  initialCandidate: MaskComparisonCandidate;
+}) {
+  const [index, setIndex] = useState(0);
+  const [mode, setMode] = useState<MaskComparisonMode>("error");
+  const [candidate, setCandidate] = useState<MaskComparisonCandidate>(initialCandidate);
+  const [expanded, setExpanded] = useState(false);
+  const item = cases[index] ?? null;
+  return (
+    <LaboratoryEvidenceViewer
+      label="M4.8 vegetation truth comparison"
+      className="m48-atlas-visual"
+      mode={mode}
+      modes={MASK_COMPARISON_MODES}
+      secondaryMode={{
+        value: candidate,
+        modes: MASK_COMPARISON_CANDIDATES,
+        label: "Сравниваемая модель",
+        onChange: setCandidate,
+      }}
+      expanded={expanded}
+      onModeChange={setMode}
+      onExpandedChange={setExpanded}
+      chromeLayout="stacked"
+      actions={(
+        <>
+          <IconButton
+            label="Предыдущий vegetation hard case"
+            disabled={!cases.length}
+            onClick={() => setIndex((current) => (current - 1 + cases.length) % cases.length)}
+          >
+            <Icon name="chevron-left" size={16} />
+          </IconButton>
+          <IconButton
+            label="Следующий vegetation hard case"
+            disabled={!cases.length}
+            onClick={() => setIndex((current) => (current + 1) % cases.length)}
+          >
+            <Icon name="chevron-right" size={16} />
+          </IconButton>
+        </>
+      )}
+      overlay={item ? (
+        <div className="m48-atlas-visual__case">
+          <StatusBadge tone="accent">GOOSE TRUTH · {index + 1}/{cases.length}</StatusBadge>
+          <strong>{item.title}</strong>
+          {item.context ? <small>{item.context}</small> : null}
+        </div>
+      ) : null}
+    >
+      {item ? (
+        <M48MaskComparisonScene item={item} mode={mode} candidate={candidate} />
+      ) : (
+        <div className="m48-atlas-visual__state" role="alert">
+          <Icon name="alert" size={18} />
+          Vegetation hard-case каталог пуст.
+        </div>
+      )}
+    </LaboratoryEvidenceViewer>
+  );
+}
+
 function message(error: unknown): string {
  return error instanceof Error && error.message.trim() ? error.message : "M4.8 evidence недоступно.";
 }
@@ -6,14 +6,45 @@ import {
 } from "../../components/laboratory/LaboratoryPresentation";
 import type { VegetationShadowResult } from "../../core/laboratory/vegetationShadow";
 import {
-  VegetationRouteVisual,
-  VegetationValidationVisual,
-} from "./VegetationShadowVisual";
+  M48MaskComparisonVisual,
+  type M48MaskComparisonCase,
+} from "./M48FailureAtlasVisual";

 function decimal(value: number, digits = 1): string {
  return value.toLocaleString("ru-RU", { maximumFractionDigits: digits });
 }

+const VEGETATION_LABELS: Readonly<Record<string, string>> = {
+  high_grass: "Высокая трава",
+  low_grass: "Низкая трава",
+  bush: "Куст",
+  tree_trunk: "Ствол дерева",
+  tree_crown: "Крона дерева",
+  hedge: "Живая изгородь",
+  forest: "Лесная растительность",
+  crops: "Посевы",
+};
+
+function comparisonCases(result: VegetationShadowResult): readonly M48MaskComparisonCase[] {
+  return result.validationCases.map((item) => {
+    const focus = item.focus!;
+    return {
+      caseId: item.caseId,
+      title: `${VEGETATION_LABELS[focus.className] ?? focus.className} · truth ${decimal(focus.truthFraction * 100, 1)}% кадра`,
+      sourceUrl: item.assets.source,
+      truthUrl: item.assets.truth,
+      predictions: {
+        ddrnet: item.assets.ddrnet,
+        ppliteseg: item.assets.ppliteseg,
+      },
+      errors: {
+        ddrnet: item.assets.ddrnet_error,
+        ppliteseg: item.assets.ppliteseg_error,
+      },
+    };
+  });
+}
+
 export function VegetationShadowResultView({
  rigLabel,
  result,
@@ -31,21 +62,21 @@ export function VegetationShadowResultView({
    <LaboratoryWorkTemplate
      summary={(
        <LaboratorySummary
-          title="LAB V1 · растительность и mission-policy пресеты"
-          description="Две готовые fine-64 модели GOOSE проверены на полном validation split и перенесены в автономный визуальный shadow по RAVNOVES00. Интерфейс читает sealed-кадры локально и не зависит от доступности Worker 006."
-          status="Визуальный shadow готов · navigation authority OFF"
+          title="LAB V1 · готовые модели растительности"
+          description="Штатный M4.8-инструмент сравнивает две готовые fine-64 модели на полном GOOSE validation split и на 12 truth-backed hard cases, выбранных только по наличию нужной растительности. Sealed evidence открывается локально без Worker 006."
+          status="Truth-backed model comparison · route transfer не принят"
          statusTone="warning"
          facts={[
-            { label: "Источник", value: `${rigLabel} RIGHT · 12 raw KB4 кадров + GOOSE validation 962` },
+            { label: "Источник", value: "GOOSE validation · 962 размеченных кадра · 12 vegetation hard cases" },
            { label: "Сравнение", value: "DDRNet-39 vs PPLiteSeg · official fine-64 weights" },
-            { label: "Policy", value: "Urban / rural / off-road · mission-configurable" },
-            { label: "Authority", value: "SHADOW ONLY · commands OFF · geometry stays authoritative" },
+            { label: "Кейсы", value: "трава · куст · ствол · крона · изгородь · лес · посевы" },
+            { label: "Authority", value: `${rigLabel} · MODEL QUALIFICATION ONLY · commands OFF` },
          ]}
          brief={{
-            question: "Можно ли взять готовую сегментацию растительности, увидеть её на нашем маршруте и сразу проверить разные правила миссии?",
-            approach: "Обе модели последовательно прогнаны в одном изолированном CUDA-runtime: сначала 962 размеченных GOOSE-кадра, затем 12 детерминированных кадров RAVNOVES00. Для каждого кадра запечатаны source, обе семантики и три policy-проекции.",
-            principalResult: `${selected.loadedModelName} выбран по vegetation IoU ${decimal(selected.vegetationMeanIouPercent, 2)}% при shadow p95 ${decimal(selected.shadowLatencyP95Ms, 2)} ms. Визуальный результат доступен локально без Worker.`,
-            limitation: "RAVNOVES00 не размечен по fine-64, поэтому это перенос и визуальная проверка, а не доказательство точности или безопасности. Камерная семантика не может очищать жёсткую LiDAR/TGS occupancy.",
+            question: "Какие готовые веса лучше различают проезжаемую траву, кусты и стволы на размеченных off-road кадрах?",
+            approach: "Обе модели последовательно прогнаны в одном изолированном CUDA-runtime на 962 кадрах. 12 визуальных кейсов выбраны детерминированно по truth-поддержке восьми растительных классов; один M4.8 viewer показывает source, truth, prediction и material-error для выбранной модели.",
+            principalResult: `${selected.loadedModelName} лидирует по vegetation IoU: ${decimal(selected.vegetationMeanIouPercent, 2)}% против ${decimal(alternative.vegetationMeanIouPercent, 2)}%. Ошибки по каждому типу теперь проверяются в одном штатном инструменте.`,
+            limitation: "Это внешний GOOSE-домен, а не наш fisheye/off-road маршрут. Папоротник отдельным классом отсутствует; RAVNOVES00 не содержит truth-backed vegetation island и не используется как главное визуальное доказательство.",
          }}
          method={{
            completeness: "complete",
@@ -62,29 +93,22 @@ export function VegetationShadowResultView({
        />
      )}
      evidence={(
-        <>
-          <LaboratoryEvidence
-            eyebrow="RAVNOVES00 · AUTONOMOUS VISUAL SHADOW"
-            title="Источник, обе модели и три правила миссии на одинаковых кадрах"
-            kind="diagnostic-model"
-            resizable
-          >
-            <VegetationRouteVisual result={result} />
-          </LaboratoryEvidence>
-          <LaboratoryEvidence
-            eyebrow="GOOSE · EXTERNAL VALIDATION EVIDENCE"
-            title="Независимая разметка: truth против DDRNet и PPLiteSeg"
-            kind="diagnostic-model"
-            resizable
-          >
-            <VegetationValidationVisual result={result} />
-          </LaboratoryEvidence>
-        </>
+        <LaboratoryEvidence
+          eyebrow="M4.8 · GOOSE VEGETATION HARD CASES"
+          title="ERROR: красный — пропуск · жёлтый — лишнее · фиолетовый — перепутан тип · зелёный — совпадение"
+          kind="diagnostic-model"
+          resizable
+        >
+          <M48MaskComparisonVisual
+            cases={comparisonCases(result)}
+            initialCandidate={result.selectedCandidate}
+          />
+        </LaboratoryEvidence>
      )}
      result={(
        <LaboratoryResultSummary
-          title="Готовые веса дают рабочую точку старта, но ещё не право ехать"
-          status={`${selected.loadedModelName} выбран для shadow`}
+          title="DDRNet — стартовые веса; перенос на ровер ещё не доказан"
+          status={`${selected.loadedModelName} выбран только как vegetation candidate`}
          statusTone="warning"
          metrics={[
            {
@@ -98,7 +122,7 @@ export function VegetationShadowResultView({
              hint: "агрегация классов grass/vegetation/bush/tree и родственных fine-64 labels",
            },
            {
-              label: "RAVNOVES p95",
+              label: "Worker shadow p95",
              value: `${decimal(selected.shadowLatencyP95Ms, 2)} / ${decimal(alternative.shadowLatencyP95Ms, 2)} ms`,
              hint: "чистый inference · одна тяжёлая модель за раз",
            },
@@ -108,7 +132,7 @@ export function VegetationShadowResultView({
              hint: "один явный inference до допуска кадров; исключён из steady-state p95",
            },
            {
-              label: "RAVNOVES throughput",
+              label: "Worker throughput",
              value: `${decimal(selected.shadowThroughputFps, 1)} / ${decimal(alternative.shadowThroughputFps, 1)} FPS`,
              hint: "изолированный Worker 006 · не realtime graph целиком",
            },
@@ -118,15 +142,15 @@ export function VegetationShadowResultView({
              hint: `${selected.candidate} / ${alternative.candidate} · RTX 4090`,
            },
            {
-              label: "Autonomous evidence",
-              value: "12 route + 12 validation",
-              hint: "только текущий кадр загружается в viewer; Worker не требуется",
+              label: "Hard-case evidence",
+              value: "12 truth-backed cases",
+              hint: "8 vegetation strata · Worker для открытия не требуется",
            },
          ]}
          conclusion={{
-            proved: "Обе официальные fine-64 модели запускаются на Worker 006, проходят полный GOOSE validation и дают воспроизводимые растительные маски на 12 фиксированных RAVNOVES00 кадрах. Urban/rural/off-road policy-проекции формируются без повторного inference.",
-            notProved: "Не доказаны accuracy на нашем fisheye-домене, различение тонкой травы от толстого ствола во всех условиях, temporal stability, collision safety и physical-live поведение ровера.",
-            decision: "Сохранить выбранную модель как shadow provider. Следующий критический блок — разметить небольшой hard-case island нашего офф-роуда: трава, папоротник, куст с толстыми стволами и дерево; затем калибровать policy без ослабления LiDAR/TGS fail-closed геометрии.",
+            proved: "Обе официальные fine-64 модели воспроизводимо запускаются на Worker 006; DDRNet лучше по aggregate vegetation IoU. Truth-backed hard cases прямо показывают траву, кусты и стволы, а не случайные автомобили и здания.",
+            notProved: "Не доказаны accuracy на нашем fisheye-домене, папоротник как отдельный материал, temporal stability, collision safety и physical-live поведение ровера.",
+            decision: "Сохранить DDRNet как стартовый vegetation candidate. Mission-policy и автоматическое переключение пресетов подключать только после truth-backed island нашего офф-роуда; LiDAR/TGS fail-closed геометрию не ослаблять.",
          }}
        />
      )}
@@ -1,157 +0,0 @@
-import { useState } from "react";
-import { Icon, IconButton, StatusBadge } from "@nodedc/ui-react";
-
-import { LaboratoryEvidenceViewer } from "../../components/laboratory/LaboratoryEvidenceViewer";
-import type {
-  VegetationRouteMode,
-  VegetationShadowResult,
-  VegetationValidationMode,
-  VegetationVisualCase,
-} from "../../core/laboratory/vegetationShadow";
-
-const ROUTE_MODES = [
-  { value: "source", label: "SOURCE" },
-  { value: "ddrnet", label: "DDRNET" },
-  { value: "ppliteseg", label: "PPLITE" },
-  { value: "urban", label: "URBAN" },
-  { value: "rural", label: "RURAL" },
-  { value: "offroad", label: "OFF-ROAD" },
-] as const;
-
-const VALIDATION_MODES = [
-  { value: "source", label: "SOURCE" },
-  { value: "truth", label: "TRUTH" },
-  { value: "ddrnet", label: "DDRNET" },
-  { value: "ppliteseg", label: "PPLITE" },
-] as const;
-
-function VegetationScene({
-  item,
-  mode,
-}: {
-  item: VegetationVisualCase;
-  mode: string;
-}) {
-  const overlay = mode === "source" ? null : item.assets[mode];
-  return (
-    <div className="recorded-evidence-image-scene">
-      <img src={item.assets.source} alt="" draggable={false} />
-      {overlay ? <img src={overlay} alt="" draggable={false} /> : null}
-    </div>
-  );
-}
-
-export function VegetationRouteVisual({ result }: { result: VegetationShadowResult }) {
-  const [index, setIndex] = useState(0);
-  const [mode, setMode] = useState<VegetationRouteMode>("offroad");
-  const [expanded, setExpanded] = useState(false);
-  const item = result.routeCases[index] ?? null;
-  const selected = result.candidates.find(
-    (candidate) => candidate.candidate === result.selectedCandidate,
-  );
-  return (
-    <LaboratoryEvidenceViewer
-      label="RAVNOVES00 vegetation policy shadow"
-      className="m48-atlas-visual"
-      mode={mode}
-      modes={ROUTE_MODES}
-      expanded={expanded}
-      onModeChange={setMode}
-      onExpandedChange={setExpanded}
-      actions={(
-        <>
-          <IconButton
-            label="Предыдущий vegetation shadow кадр"
-            disabled={!result.routeCases.length}
-            onClick={() => setIndex((current) => (
-              current - 1 + result.routeCases.length
-            ) % result.routeCases.length)}
-          >
-            <Icon name="chevron-left" size={16} />
-          </IconButton>
-          <IconButton
-            label="Следующий vegetation shadow кадр"
-            disabled={!result.routeCases.length}
-            onClick={() => setIndex((current) => (current + 1) % result.routeCases.length)}
-          >
-            <Icon name="chevron-right" size={16} />
-          </IconButton>
-        </>
-      )}
-      overlay={item ? (
-        <div className="m48-atlas-visual__case">
-          <StatusBadge tone="warning">SHADOW ONLY</StatusBadge>
-          <strong>RAVNOVES00 · {item.caseId} · {mode.toUpperCase()}</strong>
-          <small>
-            {selected?.loadedModelName ?? result.selectedCandidate} policy provider
-            {" · "}center crop 600×600
-            {" · "}outside crop UNKNOWN
-          </small>
-        </div>
-      ) : null}
-    >
-      {item ? (
-        <VegetationScene item={item} mode={mode} />
-      ) : (
-        <div className="m48-atlas-visual__state" role="alert">
-          <Icon name="alert" size={18} />
-          RAVNOVES vegetation shadow каталог пуст.
-        </div>
-      )}
-    </LaboratoryEvidenceViewer>
-  );
-}
-
-export function VegetationValidationVisual({ result }: { result: VegetationShadowResult }) {
-  const [index, setIndex] = useState(0);
-  const [mode, setMode] = useState<VegetationValidationMode>("truth");
-  const [expanded, setExpanded] = useState(false);
-  const item = result.validationCases[index] ?? null;
-  return (
-    <LaboratoryEvidenceViewer
-      label="GOOSE validation vegetation comparison"
-      className="m48-atlas-visual"
-      mode={mode}
-      modes={VALIDATION_MODES}
-      expanded={expanded}
-      onModeChange={setMode}
-      onExpandedChange={setExpanded}
-      actions={(
-        <>
-          <IconButton
-            label="Предыдущий GOOSE validation кадр"
-            disabled={!result.validationCases.length}
-            onClick={() => setIndex((current) => (
-              current - 1 + result.validationCases.length
-            ) % result.validationCases.length)}
-          >
-            <Icon name="chevron-left" size={16} />
-          </IconButton>
-          <IconButton
-            label="Следующий GOOSE validation кадр"
-            disabled={!result.validationCases.length}
-            onClick={() => setIndex((current) => (current + 1) % result.validationCases.length)}
-          >
-            <Icon name="chevron-right" size={16} />
-          </IconButton>
-        </>
-      )}
-      overlay={item ? (
-        <div className="m48-atlas-visual__case">
-          <StatusBadge tone="accent">GOOSE VALIDATION</StatusBadge>
-          <strong>{item.caseId} · {mode.toUpperCase()}</strong>
-          <small>official fine-64 labels · fixed 512×512 preprocessing · visual sample</small>
-        </div>
-      ) : null}
-    >
-      {item ? (
-        <VegetationScene item={item} mode={mode} />
-      ) : (
-        <div className="m48-atlas-visual__state" role="alert">
-          <Icon name="alert" size={18} />
-          GOOSE validation каталог пуст.
-        </div>
-      )}
-    </LaboratoryEvidenceViewer>
-  );
-}
@@ -65,10 +65,10 @@ const rig = (rigLabel: string): string => rigLabel.trim() || "Сенсорный
 const KNOWN_WORKS: Readonly<Record<Exclude<LaboratoryWorkId, `session:${string}`>, KnownWorkDefinition>> = {
  "lab-v1-vegetation-shadow": {
    profileId: "rig-ravnoves-perception-gate-v1",
-    profileName: (rigLabel) => `${rig(rigLabel)} RIGHT · RAVNOVES00 vegetation shadow`,
+    profileName: (rigLabel) => `${rig(rigLabel)} · GOOSE vegetation qualification`,
    experimentId: "lab-v1-vegetation-mission-policy",
-    experimentName: "GOOSE ready weights → RAVNOVES vegetation policy",
-    variantName: "LAB V1 · DDRNet vs PPLiteSeg · urban/rural/off-road presets",
+    experimentName: "DDRNet vs PPLiteSeg · truth-backed vegetation hard cases",
+    variantName: "LAB V1 · готовые vegetation weights · GOOSE truth",
  },
  "m48-object-centric-quality": {
    profileId: "rig-dual-evidence-virtual-corridor-v1",
@@ -1,4 +1,5 @@
 import assert from "node:assert/strict";
+import { access, readFile } from "node:fs/promises";
 import { after, before, test } from "node:test";

 import { createServer } from "vite";
@@ -51,7 +52,7 @@ function candidate(candidateKey, vegetationIou) {
 function visualCase(sourceKind, index) {
  const caseId = `case-${index}`;
  const keys = sourceKind === "goose"
-    ? ["source", "truth", "ddrnet", "ppliteseg"]
+    ? ["source", "truth", "ddrnet", "ppliteseg", "ddrnet_error", "ppliteseg_error"]
    : ["source", "ddrnet", "ppliteseg", "urban", "rural", "offroad"];
  return {
    case_id: caseId,
@@ -60,6 +61,13 @@ function visualCase(sourceKind, index) {
    height: sourceKind === "goose" ? 512 : 600,
    center_crop_xyxy: sourceKind === "goose" ? [0, 0, 512, 512] : [100, 0, 700, 600],
    outside_crop_state: sourceKind === "goose" ? "not-applicable" : "undefined",
+    focus: sourceKind === "goose" ? {
+      class_name: "high_grass",
+      label_id: 51,
+      truth_pixels: 16384,
+      truth_fraction: 0.0625,
+      stratum_rank: index + 1,
+    } : null,
    assets: Object.fromEntries(keys.map((key) => [key, {
      path: `visual/${sourceKind}/${caseId}/${key}.png`,
      sha256: "d".repeat(64),
@@ -101,7 +109,7 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
        },
        catalogs: {
          goose: Array.from({ length: 12 }, (_, index) => visualCase("goose", index)),
-          ravnoves: Array.from({ length: 12 }, (_, index) => visualCase("ravnoves", index)),
+          ravnoves: [],
        },
        access: "read-only",
      }), { status: 200, headers: { "Content-Type": "application/json" } });
@@ -113,9 +121,10 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
  );
  assert.equal(result.selectedCandidate, "ddrnet");
  assert.equal(result.candidates[0].vegetationMeanIouPercent, 64);
-  assert.equal(result.routeCases.length, 12);
+  assert.equal(result.routeCases.length, 0);
  assert.equal(result.validationCases.length, 12);
-  assert.match(result.routeCases[0].assets.offroad, /\/assets\/visual\/ravnoves\//);
+  assert.equal(result.validationCases[0].focus.className, "high_grass");
+  assert.match(result.validationCases[0].assets.ddrnet_error, /\/assets\/visual\/goose\//);
  assert.deepEqual(result.authority, {
    commandsEnabled: false,
    navigationOrSafetyAccepted: false,
@@ -123,3 +132,17 @@ test("vegetation LAB keeps autonomous assets and fail-closed authority", async (
    cameraSemanticsCanClearRigidGeometry: false,
  });
 });
+
+test("vegetation LAB reuses the admitted M4.8 instrument", async () => {
+  const resultSource = await readFile(
+    new URL("../src/workspaces/laboratory/VegetationShadowResult.tsx", import.meta.url),
+    "utf8",
+  );
+  assert.match(resultSource, /M48MaskComparisonVisual/);
+  assert.equal(resultSource.match(/<LaboratoryEvidence\b/g)?.length, 1);
+  assert.doesNotMatch(resultSource, /VegetationRouteVisual|urban\/rural\/off-road presets/);
+  await assert.rejects(
+    access(new URL("../src/workspaces/laboratory/VegetationShadowVisual.tsx", import.meta.url)),
+    { code: "ENOENT" },
+  );
+});