feat: wire physical K1 surface shadow

README.md

@@ -168,6 +168,18 @@ and scalar results matched the immutable replay derivative exactly. This is a
 recorded-source-paced execution gate only; physical K1 worker binding,
 free-space, commands, navigation and safety authority remain unavailable.
 
+The physical shadow seam is now implemented but not yet physically qualified.
+The authenticated external worker can bind decoded map-frame `lio_pcl` and
+`lio_pose` in either arrival order through
+`missioncore.k1-local-surface-pose-binder/v1`, then feed the accepted estimator
+without blocking camera cadence. Point input and estimator work are
+capacity-two latest-wins queues; pose history and result history are bounded.
+The pinned `e28_physical_k1_local_surface_profile.json` rejects the run unless
+at least 100 point frames bind and exact accounting, pose misses, queue drops,
+p95 result age, profile identity and shadow-only authority all pass. No
+physical acceptance result is claimed until that profile is executed against
+an attached K1 on the NVIDIA worker.
+
 The complete RELLIS-3D v1.1 release is now admitted there and its full
 `2,413`-frame validation split is available in **Полигон → Датасеты**. The
 sealed Current/Patchwork++ comparison rejected Patchwork++ for navigation: