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" },
+  );
+});
@@ -1,6 +1,6 @@
 {
  "schema_version": "missioncore.laboratory-value-review-registry/v1",
-  "reviewed_at_utc": "2026-08-27T20:20:14Z",
+  "reviewed_at_utc": "2026-08-27T20:59:10Z",
  "entries": [
    {
      "catalog_id": "e28-local-surface",
@@ -285,7 +285,7 @@
    {
      "catalog_id": "lab-v1-vegetation-shadow",
      "evidence_id": "lab-v1-vegetation-shadow-ad4d9fbbb21ff8a270b77f559b4e78dcdaf0455afd61afb5033009623984e554",
-      "signal": "progress",
+      "signal": "failed",
      "lifecycle": "current",
      "visual_evidence": "available"
    }
@@ -79,6 +79,27 @@
    "hedge",
    "tree_root"
  ],
+  "visual_case_contract": {
+    "selection_basis": "ground-truth-class-support-only",
+    "case_count": 12,
+    "minimum_focus_pixels": 2048,
+    "strata": [
+      { "class_name": "high_grass", "count": 2 },
+      { "class_name": "low_grass", "count": 2 },
+      { "class_name": "bush", "count": 2 },
+      { "class_name": "tree_trunk", "count": 2 },
+      { "class_name": "tree_crown", "count": 1 },
+      { "class_name": "hedge", "count": 1 },
+      { "class_name": "forest", "count": 1 },
+      { "class_name": "crops", "count": 1 }
+    ],
+    "error_overlay": {
+      "correct_material_rgba": [34, 197, 94, 72],
+      "missed_vegetation_rgba": [239, 68, 68, 220],
+      "false_vegetation_rgba": [245, 158, 11, 220],
+      "wrong_vegetation_material_rgba": [168, 85, 247, 220]
+    }
+  },
  "policy_action_colors": {
    "ALLOW": "#22c55e",
    "HIGH_COST": "#f59e0b",
@@ -161,18 +161,81 @@ def find_goose_pairs(root: Path) -> list[tuple[Path, Path]]:
    return pairs


-def visual_indices(count: int, visual_count: int) -> set[int]:
+def visual_indices(count: int, visual_count: int) -> dict[int, dict[str, Any]]:
    if count <= 0 or visual_count <= 0:
-        return set()
+        return {}
    selected_count = min(count, visual_count)
    if selected_count == 1:
-        return {0}
+        return {0: {}}
    return {
-        round(index * (count - 1) / (selected_count - 1))
+        round(index * (count - 1) / (selected_count - 1)): {}
        for index in range(selected_count)
    }


+def truth_focused_visuals(
+    items: list[tuple[str, Path, Path | None]],
+    names: dict[int, str],
+    contract: dict[str, Any],
+) -> dict[int, dict[str, Any]]:
+    if contract.get("selection_basis") != "ground-truth-class-support-only":
+        raise RunnerError("visual selection basis changed")
+    case_count = contract.get("case_count")
+    minimum_pixels = contract.get("minimum_focus_pixels")
+    strata = contract.get("strata")
+    if (
+        not isinstance(case_count, int)
+        or case_count <= 0
+        or not isinstance(minimum_pixels, int)
+        or minimum_pixels <= 0
+        or not isinstance(strata, list)
+        or sum(row.get("count", 0) for row in strata if isinstance(row, dict)) != case_count
+    ):
+        raise RunnerError("visual case contract is invalid")
+    ids_by_name = {class_name: label_id for label_id, class_name in names.items()}
+    supports: list[dict[int, int]] = []
+    for _, _, label_path in items:
+        if label_path is None:
+            raise RunnerError("truth-focused selection requires labels")
+        truth = preprocess_label(Image.open(label_path))
+        values, counts = np.unique(truth, return_counts=True)
+        supports.append({int(value): int(count) for value, count in zip(values, counts)})
+
+    selected: dict[int, dict[str, Any]] = {}
+    for raw in strata:
+        if not isinstance(raw, dict):
+            raise RunnerError("visual stratum is invalid")
+        class_name = raw.get("class_name")
+        count = raw.get("count")
+        if class_name not in ids_by_name or not isinstance(count, int) or count <= 0:
+            raise RunnerError("visual stratum identity changed")
+        label_id = ids_by_name[class_name]
+        ranked = sorted(
+            (
+                (support.get(label_id, 0), items[index][0], index)
+                for index, support in enumerate(supports)
+                if index not in selected and support.get(label_id, 0) > 0
+            ),
+            key=lambda row: (-row[0], row[1]),
+        )
+        admitted = [row for row in ranked if row[0] >= minimum_pixels]
+        if len(admitted) < count:
+            admitted = ranked
+        if len(admitted) < count:
+            raise RunnerError(f"visual stratum {class_name} has fewer than {count} cases")
+        for rank, (truth_pixels, _, index) in enumerate(admitted[:count], start=1):
+            selected[index] = {
+                "class_name": class_name,
+                "label_id": label_id,
+                "truth_pixels": truth_pixels,
+                "truth_fraction": round(truth_pixels / float(512 * 512), 8),
+                "stratum_rank": rank,
+            }
+    if len(selected) != case_count:
+        raise RunnerError("truth-focused visual selection did not produce the frozen case count")
+    return selected
+
+
 def load_model(candidate: str, checkpoint: Path) -> tuple[torch.nn.Module, str, list[str]]:
    failures: list[str] = []
    for model_name in MODEL_NAMES[candidate]:
@@ -297,6 +360,9 @@ def write_visual_case(
    policy_palettes: dict[str, np.ndarray],
    crop_box: tuple[int, int, int, int],
    truth: np.ndarray | None = None,
+    focus: dict[str, Any] | None = None,
+    material_codes: np.ndarray | None = None,
+    error_colors: dict[str, list[int]] | None = None,
    preserve_source_size: bool = False,
 ) -> dict[str, Any]:
    case_root = output / "cases" / case_id
@@ -343,6 +409,26 @@ def write_visual_case(
            "relative_path": truth_semantic_path.relative_to(output).as_posix(),
            "sha256": save_image(truth_semantic_path, semantic_palette[truth_image], "RGBA"),
        }
+        if material_codes is None or error_colors is None:
+            raise RunnerError("truth visual case requires the material-error contract")
+        truth_material = material_codes[truth_image]
+        predicted_material = material_codes[prediction_image]
+        truth_vegetation = truth_material > 0
+        predicted_vegetation = predicted_material > 0
+        error_overlay = np.zeros((*truth_image.shape, 4), dtype=np.uint8)
+        correct = truth_vegetation & (truth_material == predicted_material)
+        missed = truth_vegetation & ~predicted_vegetation
+        false_positive = ~truth_vegetation & predicted_vegetation
+        wrong_material = truth_vegetation & predicted_vegetation & (truth_material != predicted_material)
+        error_overlay[correct] = error_colors["correct_material_rgba"]
+        error_overlay[missed] = error_colors["missed_vegetation_rgba"]
+        error_overlay[false_positive] = error_colors["false_vegetation_rgba"]
+        error_overlay[wrong_material] = error_colors["wrong_vegetation_material_rgba"]
+        error_path = case_root / "vegetation-material-error.png"
+        files["vegetation_material_error"] = {
+            "relative_path": error_path.relative_to(output).as_posix(),
+            "sha256": save_image(error_path, error_overlay, "RGBA"),
+        }
    return {
        "schema_version": VISUAL_SCHEMA,
        "case_id": case_id,
@@ -350,6 +436,7 @@ def write_visual_case(
        "source_height": source_image.height,
        "center_crop_xyxy": list(crop_box),
        "outside_crop_state": "undefined" if preserve_source_size else "not-applicable",
+        "focus": focus,
        "files": files,
    }

@@ -400,6 +487,27 @@ def run() -> None:
        )
        for preset in ("urban", "rural", "offroad")
    }
+    provider_labels = provider_map["providers"]["goose-fine-64"]["labels"]
+    vegetation_materials = sorted(
+        {
+            material
+            for material in provider_labels.values()
+            if material in {
+                "grass",
+                "herbaceous_vegetation",
+                "cultivated_vegetation",
+                "woody_shrub",
+                "tree_or_trunk",
+                "vegetation_unknown",
+            }
+        }
+    )
+    material_code_by_name = {
+        material: index for index, material in enumerate(vegetation_materials, start=1)
+    }
+    material_codes = np.zeros(CLASS_COUNT, dtype=np.uint8)
+    for label_id, class_name in names.items():
+        material_codes[label_id] = material_code_by_name.get(provider_labels.get(class_name), 0)

    if args.mode == "goose":
        pairs = find_goose_pairs(mapping_root)
@@ -423,6 +531,17 @@ def run() -> None:
    if not items:
        raise RunnerError("no inputs were selected")

+    visual_contract = config.get("visual_case_contract")
+    if not isinstance(visual_contract, dict):
+        raise RunnerError("visual case contract is unavailable")
+    configured_visual_count = visual_contract.get("case_count")
+    if args.mode == "goose":
+        if args.visual_count != configured_visual_count:
+            raise RunnerError("GOOSE visual count differs from the truth-focused contract")
+        selected_visuals = truth_focused_visuals(items, names, visual_contract)
+    else:
+        selected_visuals = visual_indices(len(items), args.visual_count)
+
    args.output.mkdir(parents=True, exist_ok=False)
    torch.cuda.empty_cache()
    model, model_name, architecture_failures = load_model(args.candidate, args.checkpoint)
@@ -430,7 +549,6 @@ def run() -> None:
    warmup_tensor, _ = preprocess(warmup_source)
    warmup_latencies_ms = [infer(model, warmup_tensor)[1] for _ in range(3)]
    torch.cuda.reset_peak_memory_stats()
-    selected_visuals = visual_indices(len(items), args.visual_count)
    confusion = np.zeros((CLASS_COUNT, CLASS_COUNT), dtype=np.int64)
    latencies_ms: list[float] = []
    visuals: list[dict[str, Any]] = []
@@ -454,6 +572,9 @@ def run() -> None:
                    policy_palettes,
                    crop_box,
                    truth=truth,
+                    focus=selected_visuals[index] or None,
+                    material_codes=material_codes,
+                    error_colors=visual_contract["error_overlay"],
                    preserve_source_size=args.mode == "ravnoves",
                )
            )
@@ -16,6 +16,16 @@ WORKER_SCHEMA: Final = "missioncore.lab-v1-goose-vegetation-run/v1"
 RESULT_PREFIX: Final = "lab-v1-vegetation-shadow-"
 _CANDIDATES: Final = ("ddrnet", "ppliteseg")
 _MODES: Final = ("goose", "ravnoves")
+_FOCUS_ORDER: Final = (
+    "high_grass",
+    "low_grass",
+    "bush",
+    "tree_trunk",
+    "tree_crown",
+    "hedge",
+    "forest",
+    "crops",
+)
 _IMAGE_KEYS: Final = (
    "source",
    "prediction_semantic",
@@ -93,6 +103,22 @@ def _case_map(result: dict[str, Any], label: str) -> dict[str, dict[str, Any]]:
    return rows


+def _visual_case_order(row: dict[str, Any]) -> tuple[int, int, str]:
+    focus = _object(row.get("focus"), "GOOSE visual focus")
+    class_name = focus.get("class_name")
+    stratum_rank = focus.get("stratum_rank")
+    case_id = row.get("case_id")
+    if (
+        not isinstance(class_name, str)
+        or class_name not in _FOCUS_ORDER
+        or not isinstance(stratum_rank, int)
+        or stratum_rank <= 0
+        or not isinstance(case_id, str)
+    ):
+        raise VegetationShadowLabError("GOOSE visual focus ordering is invalid")
+    return _FOCUS_ORDER.index(class_name), stratum_rank, case_id
+
+
 def _file_from_case(
    root: Path,
    case: dict[str, Any],
@@ -198,8 +224,14 @@ def seal_vegetation_shadow_lab(
    artifacts: list[dict[str, object]] = []
    catalogs: dict[str, list[dict[str, object]]] = {"goose": [], "ravnoves": []}
    try:
-        for mode in _MODES:
-            for case_id in sorted(cases[("ddrnet", mode)]):
+        # RAVNOVES is retained in the immutable Worker proof and timing summary,
+        # but it has no vegetation truth island. Publishing those urban frames
+        # as primary visual cases would misrepresent the operator question.
+        for mode in ("goose",):
+            for case_id in sorted(
+                cases[("ddrnet", mode)],
+                key=lambda value: _visual_case_order(cases[("ddrnet", mode)][value]),
+            ):
                ddr_case = cases[("ddrnet", mode)][case_id]
                pplite_case = cases[("ppliteseg", mode)][case_id]
                row: dict[str, object] = {
@@ -209,8 +241,13 @@ def seal_vegetation_shadow_lab(
                    "height": ddr_case.get("source_height"),
                    "center_crop_xyxy": ddr_case.get("center_crop_xyxy"),
                    "outside_crop_state": ddr_case.get("outside_crop_state"),
+                    "focus": ddr_case.get("focus"),
                    "assets": {},
                }
+                if ddr_case.get("focus") != pplite_case.get("focus"):
+                    raise VegetationShadowLabError(
+                        f"{mode} case {case_id} focus contract differs between candidates"
+                    )
                asset_map = _object(row["assets"], "sealed assets")
                sources: list[tuple[str, str, dict[str, Any], str]] = [
                    ("source", "ddrnet", ddr_case, "source"),
@@ -218,7 +255,23 @@ def seal_vegetation_shadow_lab(
                    ("ppliteseg", "ppliteseg", pplite_case, "prediction_semantic"),
                ]
                if mode == "goose":
-                    sources.append(("truth", "ddrnet", ddr_case, "truth_semantic"))
+                    sources.extend(
+                        (
+                            ("truth", "ddrnet", ddr_case, "truth_semantic"),
+                            (
+                                "ddrnet_error",
+                                "ddrnet",
+                                ddr_case,
+                                "vegetation_material_error",
+                            ),
+                            (
+                                "ppliteseg_error",
+                                "ppliteseg",
+                                pplite_case,
+                                "vegetation_material_error",
+                            ),
+                        )
+                    )
                else:
                    selected_case = cases[(selected, mode)][case_id]
                    sources.extend(
@@ -328,7 +381,7 @@ def seal_vegetation_shadow_lab(
            },
            "limitations": [
                "GOOSE validation is external-domain qualification, not RAVNOVES ground truth.",
-                "The RAVNOVES island is visual shadow evidence without independent labels.",
+                "The RAVNOVES shadow remains in Worker proofs and is not catalogued as vegetation evidence because it has no independent labels.",
                "Vegetation semantics never clears rigid LiDAR/TGS occupancy.",
                "Undefined pixels outside the 600x600 center crop remain fail-closed.",
            ],
@@ -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:
@@ -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}"
    )