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

tests/test_lab_v1_goose_vegetation_benchmark.py

@@ -44,6 +44,19 @@ def test_benchmark_contract_is_bounded_and_fail_closed() -> None:
     )
     assert config["ravnoves"]["expected_frame_count"] == 4489
     assert len(config["ravnoves"]["frame_indices"]) == 12
+    assert config["visual_case_contract"]["selection_basis"] == (
+        "ground-truth-class-support-only"
+    )
+    assert config["visual_case_contract"]["case_count"] == 12
+    assert sum(
+        row["count"] for row in config["visual_case_contract"]["strata"]
+    ) == 12
+    assert {row["class_name"] for row in config["visual_case_contract"]["strata"]} >= {
+        "high_grass",
+        "low_grass",
+        "bush",
+        "tree_trunk",
+    }
     assert config["invariants"] == {
         "one_heavy_candidate_at_a_time": True,
         "raw_fisheye_is_immutable": True,
@@ -68,6 +81,8 @@ def test_runner_uses_exact_visible_pairs_and_never_grants_authority() -> None:
     assert '"prewarm_inference_count": len(warmup_latencies_ms)' in source
     assert '"prewarm_latency_ms": round(warmup_latencies_ms[0], 4)' in source
     assert '"prewarm_latency_ms_last": round(warmup_latencies_ms[-1], 4)' in source
+    assert "truth_focused_visuals(items, names, visual_contract)" in source
+    assert 'files["vegetation_material_error"]' in source
 
 
 def test_worker_wrapper_is_isolated_from_canonical_triton() -> None:

tests/test_vegetation_shadow_lab.py

@@ -28,7 +28,7 @@ def _worker_result(root: Path, *, candidate: str, mode: str, vegetation_iou: flo
         case_root.mkdir(parents=True)
         keys = ["source", "prediction_semantic", "policy_urban", "policy_rural", "policy_offroad"]
         if mode == "goose":
-            keys.append("truth_semantic")
+            keys.extend(("truth_semantic", "vegetation_material_error"))
         files = {}
         for key in keys:
             path = case_root / f"{key}.png"
@@ -44,6 +44,13 @@ def _worker_result(root: Path, *, candidate: str, mode: str, vegetation_iou: flo
                 "source_height": 600 if mode == "ravnoves" else 512,
                 "center_crop_xyxy": [100, 0, 700, 600] if mode == "ravnoves" else [0, 0, 512, 512],
                 "outside_crop_state": "undefined" if mode == "ravnoves" else "not-applicable",
+                "focus": {
+                    "class_name": "high_grass",
+                    "label_id": 51,
+                    "truth_pixels": 16384,
+                    "truth_fraction": 0.0625,
+                    "stratum_rank": index + 1,
+                } if mode == "goose" else None,
                 "files": files,
             }
         )
@@ -99,9 +106,12 @@ def test_vegetation_shadow_lab_seals_autonomous_visual_evidence(tmp_path: Path)
     assert manifest["ground_truth"] is False
     assert manifest["authority"]["commands_enabled"] is False
     assert manifest["authority"]["navigation_or_safety_accepted"] is False
-    assert len(manifest["catalogs"]["ravnoves"]) == 12
+    assert len(manifest["catalogs"]["ravnoves"]) == 0
     assert len(manifest["catalogs"]["goose"]) == 12
-    assert len(manifest["artifacts"]) == 124
+    assert len(manifest["artifacts"]) == 76
+    assert manifest["catalogs"]["goose"][0]["focus"]["class_name"] == "high_grass"
+    assert "ddrnet_error" in manifest["catalogs"]["goose"][0]["assets"]
+    assert "ppliteseg_error" in manifest["catalogs"]["goose"][0]["assets"]
     assert "all_classes" not in manifest["metrics"]["candidates"]["ddrnet"]["validation_metrics"]
     assert (result_root / "result.json").stat().st_size <= 64 * 1024
 
@@ -111,7 +121,7 @@ def test_vegetation_shadow_lab_seals_autonomous_visual_evidence(tmp_path: Path)
     )
     proof = verify_laboratory_evidence_result(definition, result_root)
     assert proof["result_id"] == result_root.name
-    assert proof["artifact_count"] == 124
+    assert proof["artifact_count"] == 76
 
     app = FastAPI()
     app.include_router(build_vegetation_shadow_lab_router(root_provider=lambda: result_root.parent))
@@ -119,7 +129,7 @@ def test_vegetation_shadow_lab_seals_autonomous_visual_evidence(tmp_path: Path)
     response = client.get(f"/api/v1/laboratory/vegetation-shadow/{result_root.name}")
     assert response.status_code == 200
     assert response.json()["access"] == "read-only"
-    asset_path = manifest["catalogs"]["ravnoves"][0]["assets"]["offroad"]["path"]
+    asset_path = manifest["catalogs"]["goose"][0]["assets"]["ddrnet_error"]["path"]
     asset = client.get(
         f"/api/v1/laboratory/vegetation-shadow/{result_root.name}/assets/{asset_path}"
     )