fix(perception): reject material ties and trace gpu pacing

tests/test_perception_joint_pilot.py

@@ -135,10 +135,16 @@ def test_triton_statistics_exclude_warmup_and_reject_counter_reset(pilot):
 def test_ddrnet_triton_transport_is_bounded_and_validates_output_identity(pilot):
     module = pilot("pilot_ddrnet_triton")
     mask = np.zeros((512, 512), np.uint8)
-    descriptor = {"outputs": [{
-        "name": "mask", "datatype": "UINT8", "shape": [1, 512, 512],
-        "parameters": {"binary_data_size": mask.nbytes},
-    }]}
+    descriptor = {
+        "outputs": [
+            {
+                "name": "mask",
+                "datatype": "UINT8",
+                "shape": [1, 512, 512],
+                "parameters": {"binary_data_size": mask.nbytes},
+            }
+        ]
+    }
     header = json.dumps(descriptor).encode()
 
     class Response:
@@ -214,6 +220,61 @@ def test_nvml_sampler_reuses_one_session_without_spawning_processes(pilot):
     assert library.nvmlDeviceGetUtilizationRates.calls == 2
 
 
+def test_material_vote_tie_never_allows_by_class_order(pilot):
+    choose = pilot("pilot_graph").select_material
+    # unknown=0, hard_surface=1, bare_soil=2, grass=3
+    votes = np.array(
+        [[0, 0, 0, 2], [0, 1, 0, 1], [0, 2, 0, 1], [0, 0, 0, 0], [1, 1, 0, 0], [0, 0, 2, 2]]
+    )
+    np.testing.assert_array_equal(choose(votes), [3, 0, 1, 0, 0, 0])
+    with pytest.raises(ValueError, match="invalid material"):
+        choose(np.array([[0, -1, 0]]))
+
+
+def test_numeric_diagnostic_counts_transitions_and_score_ties(pilot):
+    module = pilot("diagnose_ddrnet_numeric")
+    reference, candidate = np.array([[3, 3], [1, 0]]), np.array([[1, 3], [0, 0]])
+    assert module.compare_masks(reference, reference)["different_pixels"] == 0
+    assert module.compare_masks(reference, candidate) == {
+        "different_pixels": 2,
+        "transitions": [
+            {"reference": 1, "candidate": 0, "pixels": 1},
+            {"reference": 3, "candidate": 1, "pixels": 1},
+        ],
+    }
+    logits = np.array([[[[100.0]], [[101.0]]]], dtype=np.float32)
+    details = module.score_details(logits, np.ones_like(logits), np.array([[0]]), [(0, 0)])
+    assert details[0]["selected"] == 0 and details[0]["logit_margin"] == 1
+    assert details[0]["max_score_ties"] == [0, 1]
+
+
+def test_optional_nvml_device_state_distinguishes_unavailable_from_zero(pilot):
+    class Function:
+        def __init__(self, code, value):
+            self.code, self.value = code, value
+
+        def __call__(self, *args):
+            args[-1]._obj.value = self.value
+            return self.code
+
+    module = pilot("pilot_telemetry")
+    sampler = object.__new__(module.NvmlSampler)
+    sampler.closed, sampler.handle = False, None
+    sampler.library = SimpleNamespace(
+        nvmlDeviceGetClockInfo=Function(0, 2685),
+        nvmlDeviceGetPerformanceState=Function(0, 0),
+        nvmlDeviceGetPowerUsage=Function(3, 0),
+    )
+    state = sampler.sample_device_state()
+    assert state["sm_clock_mhz"] == 2685 and state["pstate"] == 0
+    assert state["power_mw"] is None and state["device_state_errors"] == {"power_mw": 3}
+    del sampler.library.nvmlDeviceGetClockInfo
+    assert sampler.sample_device_state()["sm_clock_mhz"] is None
+    sampler.closed = True
+    with pytest.raises(RuntimeError, match="closed"):
+        sampler.sample_device_state()
+
+
 def test_body_history_is_bounded_and_never_reads_future(pilot):
     store = pilot("pilot_graph").CurrentStore(None)
     for index in range(100):