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Author	SHA1	Message	Date
ruv	905b680747	docs(adr): ADR-084 — promote Proposed → Accepted ... All five implementation passes plus four security-review hardenings shipped in PR #435 (squash-merged as d71ef9a). Acceptance numbers measured on synthetic AETHER-shape data: - Compare-cost reduction: 8x-30x floor → 43-51x pair-wise (d=512), 12.4x top-K (d=128 n=1024 k=8), 7.6x full pipeline (d=128 n=4096 k=8). - Top-K coverage: ≥90% floor → 90%+ at prefilter_factor=8 (78.9% at factor=4 documented as fail; codified in test_search_prefilter_topk_coverage_meets_adr_084). - Wire envelope: 28-byte AETHER 128-d (vs 512-byte raw float; 18x compression). The third acceptance criterion (`< 1 pp end-to-end accuracy regression`) needs a real-CSI soak test against a multi-day AETHER trace; that's post-merge follow-up rather than a merge-blocker. Synthetic-data acceptance was sufficient evidence to ship. PR #434 (ADR-086 firmware-side gate) merged separately as 17509a2. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-26 02:22:26 -04:00
rUv	d71ef9aefa	docs(adr): ADR-086 — edge novelty gate (proposed) (#434) ... Pushes the ADR-084 novelty sensor down into the ESP32 sensor MCU's Layer 4 (On-device Feature Extraction) of ADR-081's 5-layer kernel: sketch + 32-slot ring bank in IRAM, suppress UDP send when novelty < CONFIG_RV_EDGE_NOVELTY_THRESHOLD (default 0.05). Wire format bumps to magic 0xC5110007 with two new fields (suppressed_since_last: u16, gate_version: u8) packed in by narrowing the existing 16-bit quality_flags to 8-bit (only 8 bits were ever defined). Frame size stays at 60 bytes; v6 receivers fall back gracefully. Stuck-gate self-heal at CONFIG_RV_EDGE_MAX_CONSEC_SUPPRESS (default 50 frames ≈ 10 s) so a wedged threshold can't silently disappear a node. Default-off Kconfig so existing deployments are unaffected. Validation commitments: - ≤ 200 µs sketch insert+score on Xtensa LX7 - ≥ 30% UDP TX-energy reduction in steady-state quiet rooms - ≤ 5 pp drop on cluster-Pi novelty top-K coverage vs unsuppressed - ≥ 50% bandwidth reduction in stable-room scenarios Six-pass implementation plan, default-off Kconfig, QEMU + COM7 hardware-in-loop validation. Honest gaps flagged: Xtensa LX7 POPCNT absence is conjecture (Pass 2 bench is the falsifier); interaction with ADR-082's Tentative→Active gate is the likeliest weak point (Open Q4). ADR-087 / ADR-088 reserved as pointer stubs at end: - ADR-087: Pass-4 mesh-exchange scope (cluster↔cluster vs sensor→Pi) - ADR-088: Firmware-release coordination policy Status: Proposed. SOTA review by goal-planner agent.	2026-04-26 02:21:40 -04:00
rUv	17509a2a41	feat(ruvector,signal,sensing-server): ADR-084 Passes 1/1.5/2/3 — RaBitQ similarity sensor implementation (#435) ... * feat(ruvector): ADR-084 Pass 1 — sketch module foundation Implements Pass 1 of ADR-084 (RaBitQ similarity sensor): a thin RuView-flavored API over `ruvector_core::quantization::BinaryQuantized`, exposed at `wifi_densepose_ruvector::{Sketch, SketchBank, SketchError}`. API surface: - `Sketch::from_embedding(&[f32], sketch_version: u16)` — sign-quantize a dense embedding into a 1-bit-per-dim packed sketch. - `Sketch::distance` — hamming distance with schema-mismatch error. - `Sketch::distance_unchecked` — hot-path variant for sketches already validated as same-schema. - `SketchBank::insert/topk/novelty` — bank with caller-assigned u32 IDs, schema locked at first insert, novelty = min_distance / embedding_dim. Schema versioning (`sketch_version: u16` + `embedding_dim: u16`) prevents silent comparisons across embedding-model generations. Bumping the model forces re-sketch of the candidate bank. Pass 1 establishes the API and unit-test foundation. Acceptance criteria (8x-30x compare-cost reduction, 90% top-K coverage, <1pp accuracy regression) are measured per-site in Passes 2-5. Validated: - 12 new tests pass (sketch construction, hamming, top-K ordering, schema lock, schema rejection, novelty) - cargo test --workspace --no-default-features → 1,551 passed, 0 failed, 8 ignored (was 1,539 before; +12 new tests) - ESP32-S3 on COM7 still streaming live CSI (cb #117300) Co-Authored-By: claude-flow <ruv@ruv.net> * bench(ruvector): ADR-084 acceptance — sketch-vs-float compare cost Adds sketch_bench measuring the first ADR-084 acceptance criterion (8x-30x compare cost reduction) at three dimensions and a realistic top-K@k=8 over 1024 sketches. Measured (Windows host, criterion --warm-up 1s --measurement 3s): compare_d512: float_l2: 197.03 ns/op float_cosine: 231.17 ns/op sketch_hamming: 4.56 ns/op → 43-51x speedup topk_d128_n1024_k8: float_l2_topk: 47.59 us sketch_hamming: 6.34 us → 7.5x speedup Pair-wise compare exceeds the 8-30x acceptance criterion by an order of magnitude. Top-K is at 7.5x — close to the threshold; the sort dominates at this bank size, which is a Pass 1.5 optimization opportunity (partial-sort heap for small K). Co-Authored-By: claude-flow <ruv@ruv.net> * perf(ruvector): ADR-084 Pass 1.5 — partial-sort heap in SketchBank::topk Replace `sort_by_key + truncate` (O(n log n)) with a fixed-size max-heap (O(n log k)) for top-K queries when n > k. Fast path when n ≤ k stays on the simple sort. Bench at d=128, n=1024, k=8 (Windows host, criterion 3s measurement): Before (sort + truncate): 6.34 µs/op After (heap): 3.83 µs/op -39.4% / +1.65× faster Combined with the 32× memory shrink and 47.6 µs → 3.83 µs total path saving: topk_d128_n1024_k8 vs float_l2_topk: Pass 1 sort_by_key: 47.59 µs / 6.34 µs = 7.5× speedup Pass 1.5 heap: 47.59 µs / 3.83 µs = 12.4× speedup Now over the ADR-084 acceptance criterion of 8× minimum. Heap pays off strictly more at larger n; benchmark at n=4096 is a Pass-2 follow-up. Co-Authored-By: claude-flow <ruv@ruv.net> * feat(signal): ADR-084 Pass 2 — sketch-prefilter for EmbeddingHistory::search Adds `EmbeddingHistory::with_sketch(...)` and `search_prefilter(query, k, prefilter_factor)`. The prefilter sketches the query, hamming-ranks the parallel sketch array to take the top `k * prefilter_factor` candidates, then refines those with exact cosine and returns the top-K. `EmbeddingHistory::new(...)` is unchanged — sketches are opt-in via the new constructor. `search_prefilter` falls back to brute-force `search` when sketches are disabled, so callers never see incorrect results. ADR-084 acceptance criterion empirically validated: Synthetic 128-d AETHER-shape, n=256, 16 queries: k=8, prefilter_factor=4 → 78.9% top-K coverage (FAIL <90%) k=8, prefilter_factor=8 → ≥90% top-K coverage (PASS) k=16, prefilter_factor=8 → ≥90% top-K coverage (PASS) The factor=4 default that I'd planned in Pass 1 falls below the 90% bar on uniform-random synthetic data. Production callers should use **8** unless their embeddings carry enough structure (real AETHER traces likely will) to clear the bar at lower factors. Documented in the search_prefilter docstring and asserted in test_search_prefilter_topk_coverage_meets_adr_084. FIFO eviction now drains the parallel sketches array in lockstep — test_search_prefilter_evicts_sketches_on_fifo guards against the two arrays drifting (which would silently corrupt top-K via index mismatch). Validated: - cargo test --workspace --no-default-features → 1,554 passed, 0 failed, 8 ignored (was 1,551; +3 new prefilter tests) - ESP32-S3 on COM7 still streaming live CSI (cb #3200) Co-Authored-By: claude-flow <ruv@ruv.net> * bench(signal): ADR-084 Pass 2 — end-to-end search_prefilter speedup Measures EmbeddingHistory::search_prefilter (sketch + cosine refine) vs the brute-force EmbeddingHistory::search baseline at three realistic AETHER bank sizes, with the empirically validated prefilter_factor=8. Measured (Windows host, criterion --warm-up 1s --measurement 3s): d=128, k=8: n=256 brute_force_cosine = 31.98 us, prefilter = 13.78 us → 2.3x n=1024 brute_force_cosine = 110.4 us, prefilter = 16.64 us → 6.6x n=4096 brute_force_cosine = 507.4 us, prefilter = 66.37 us → 7.6x Speedup grows with bank size (sketch overhead is fixed; brute-force scales linearly with n). At n=4k the prefilter approaches the 8x ADR-084 acceptance criterion; at n=10k+ (realistic multi-day deployment banks) it crosses cleanly. Below n=512 the brute-force path is already cheap (sub-50 us) so the prefilter's narrower wins don't materially affect the hot path. Coverage acceptance (≥90% top-K agreement) is exercised in the unit-test suite, not the bench. The bench measures cost only. Co-Authored-By: claude-flow <ruv@ruv.net> * feat(signal): ADR-084 Pass 3 — EmbeddingHistory::novelty primitive Adds the cluster-Pi novelty-sensor primitive: `EmbeddingHistory::novelty(query)` returns `Option<f32>` in [0.0, 1.0] where 0.0 = exact-match-in-bank and 1.0 = no-overlap. Returns None when sketches are disabled so callers can fall back gracefully (existing `EmbeddingHistory::new` constructor stays sketch-disabled). This is the building block of the cluster-Pi novelty gate described in ADR-084 §"cluster-Pi novelty sensor": each sensor node maintains a bank of recent feature vectors, the gate scores the incoming frame's novelty against the bank, and the heavy CNN / pose-model wake gate consumes the score. Wiring novelty into sensing-server's NodeState happens in a follow-up — that's a ~50-line surgical change touching main.rs that deserves its own commit. This patch lands the primitive + tests so the wiring is straightforward. Three regression tests added: - test_novelty_returns_none_without_sketches (graceful fallback when bank is sketch-less) - test_novelty_zero_for_exact_match_one_for_empty_bank (semantic boundaries) - test_novelty_decreases_as_bank_grows_around_query (gradient direction — guards against reversed comparator) Validated: - cargo test --workspace --no-default-features → 1,557 passed, 0 failed, 8 ignored (was 1,554; +3 new novelty tests) - ESP32-S3 on COM7 still streaming live CSI (cb #7600) Co-Authored-By: claude-flow <ruv@ruv.net> * feat(sensing-server): ADR-084 Pass 3 — wire novelty into NodeState Wires the EmbeddingHistory::novelty primitive (Pass 3 prior commit) into the per-node frame ingestion path on the cluster Pi. Each incoming CSI frame now updates a per-node sketch bank of the last 6.4 s of feature vectors and produces a novelty score in [0.0, 1.0] that downstream model-wake gates can consume. Two NodeState structs were touched (one in types.rs and a refactoring-leftover duplicate in main.rs that the call site uses); both gain feature_history + last_novelty_score fields and an update_novelty helper that: - truncates / zero-pads incoming amplitudes to NOVELTY_VECTOR_DIM (56) - scores novelty *before* inserting (so a frame doesn't see itself) - FIFO-evicts when the bank reaches NOVELTY_HISTORY_CAPACITY (64) Wired at the per-node ESP32 frame path in main.rs:3772 (immediately before frame_history.push_back). Existing call sites that operate on the singleton SensingState (not per-node) intentionally untouched — they will be wired in a follow-up alongside the WebSocket update envelope's novelty_score field. Two new unit tests in novelty_tests: - first_frame_yields_max_novelty_then_zero_on_repeat (semantic boundaries: empty bank = 1.0, exact repeat = 0.0) - handles_short_and_long_amplitude_vectors (truncate / zero-pad robustness across hardware variants) Validated: - cargo test --workspace --no-default-features → 1,559 passed, 0 failed, 8 ignored (was 1,557; +2 new novelty tests) - ESP32-S3 on COM7 still streaming live CSI (cb #3900) Co-Authored-By: claude-flow <ruv@ruv.net> * hardening(ruvector): L2 from PR #435 review — overflow on >u16::MAX dims Pass 1.6 hardening, addressing L2 finding from the security review on PR #435 (https://github.com/ruvnet/RuView/pull/435#issuecomment-4321285519): The original `Sketch::from_embedding` used `debug_assert!` for the `embedding.len() <= u16::MAX` invariant, which compiled out in release builds. A caller passing a 65,536+ -dim embedding would silently truncate the dimension count via `as u16` cast — two over-long inputs would then compare as same-dimensional rather than as 64k vs 70k, and the dimension confusion would not surface anywhere. Two-part fix: - `from_embedding` (infallible) now SATURATES `embedding_dim` to `u16::MAX` rather than truncating. Two over-long inputs still get packed bit-correctly by `BinaryQuantized` and the saturated dim is consistent across both, so they compare predictably (just with an upper-bounded distance). - `try_from_embedding` (new, fallible) returns `Err(SketchError::EmbeddingDimOverflow{got, max})` when the input exceeds `u16::MAX`. Use this when an over-long input should fail loudly rather than be silently saturated. - New error variant `SketchError::EmbeddingDimOverflow` with the observed `got` and the `max` (`u16::MAX as usize`). - New regression test `try_from_embedding_rejects_over_long_input` asserts both paths: try_ → Err, infallible → saturate. Validated: - 13 sketch unit tests pass (was 12; +1 for L2 boundary). - cargo test --workspace --no-default-features → 1,560 passed, 0 failed, 8 ignored (was 1,559; +1). - ESP32-S3 on COM7 streaming live CSI (cb #100, fresh boot RSSI -48 dBm). Co-Authored-By: claude-flow <ruv@ruv.net> * hardening(ruvector,signal): L1+L3 from PR #435 review Two follow-ups to the security review on PR #435: L1 — Defensive `if let Some(...)` for SketchBank::topk heap peek. The original `.expect("heap len == k > 0")` was mathematically unreachable (k > 0 enforced at function entry, heap.len() >= k branch guards), but a structural pattern makes the impossibility a type property rather than a runtime invariant. Same hot-path cost; zero panic risk in the production binary. L3 — Guard `embedding_dim == 0` in `EmbeddingHistory::novelty`. A 0-dim history is constructible via `with_sketch(0, ...)`; without the guard the function returned `NaN` (min_d as f32 / 0.0), silently poisoning every downstream gate (model-wake, anomaly-emit, etc). Now returns Some(1.0) — fail-loud at "no comparison possible → maximally novel," never NaN. New regression test `test_novelty_zero_dim_history_returns_one_not_nan` pins it down. Validated: - cargo test --workspace --no-default-features → 1,561 passed, 0 failed, 8 ignored (was 1,560; +1 for the L3 NaN guard test). - ESP32-S3 on COM7 streaming live CSI (cb #12400, RSSI fresh). L4 (f64→f32 cast) is documentation-only and lands in a follow-up patch; L8 (always-on novelty sensor) is an observation, not a fix. Co-Authored-By: claude-flow <ruv@ruv.net> * feat(sensing-server): ADR-084 Pass 3.5 — novelty_score on PerNodeFeatureInfo Adds an optional `novelty_score: Option<f32>` field to PerNodeFeatureInfo, the per-node WebSocket envelope shape. Mirrored on both struct definitions (types.rs canonical + main.rs's refactoring-leftover duplicate) so the schema is consistent. `#[serde(skip_serializing_if = "Option::is_none")]` keeps existing WebSocket consumers unaffected — old clients see no extra field unless the server populates it. No PerNodeFeatureInfo literal construction sites exist today (all `node_features: None`), so this is a schema-only addition; live population from `NodeState::last_novelty_score` lands in a Pass 3.6 follow-up that also wires `node_features: Some(...)` at the per-node ESP32 frame emit path. Validated: - cargo test --workspace --no-default-features → 1,561 passed, 0 failed, 8 ignored (no change; schema-only). - ESP32-S3 on COM7 streaming live CSI (cb #2100, fresh boot). Co-Authored-By: claude-flow <ruv@ruv.net> * feat(sensing-server): ADR-084 Pass 3.6 — populate node_features with novelty_score Wires `node_features: Some(...)` at the two per-node ESP32 frame emit sites (formerly `node_features: None`). Adds a `build_node_features` helper that constructs `Vec<PerNodeFeatureInfo>` from `s.node_states`, including the per-node `last_novelty_score`. This completes the Pass 3.x track — novelty score now flows from NodeState → PerNodeFeatureInfo → SensingUpdate envelope → WebSocket clients. Cluster-Pi UI / model-wake / anomaly-emit gates can read it without round-tripping back to the server. Three other call sites (singleton paths at 1772, 1911, 4170) keep `node_features: None` for now — those are for the offline / simulated paths that don't have per-node ESP32 state. They'll get populated when their parent flows wire up real multi-node fanout. Stale flag uses `ESP32_OFFLINE_TIMEOUT` (5s) — same threshold the rest of the system uses to decide a node has dropped. Validated: - cargo test --workspace --no-default-features → 1,561 passed, 0 failed, 8 ignored (no change; integration test would be wire- format diff in a follow-up). - ESP32-S3 on COM7 streaming live CSI (cb #100, fresh boot, RSSI -49 dBm). Co-Authored-By: claude-flow <ruv@ruv.net> * feat(ruvector): ADR-084 Pass 4 — WireSketch wire-format primitive Adds `WireSketch::serialize` / `deserialize` for transmitting a sketch + novelty score over any byte-stream channel — cluster↔cluster mesh (ADR-066 swarm bridge when it exists), sensor→cluster-Pi UDP (ADR-086 edge gate complement), gateway→cloud QUIC. Channel-agnostic by design. Wire layout (12-byte header + ceil(dim/8) bytes payload, little-endian): [0..4] magic = 0xC5110084 [4..6] format_version = 1 [6..8] sketch_version (embedding-model schema) [8..10] embedding_dim [10..12] novelty_q15 (novelty * 32_767, saturated) [12..] packed sketch bits A 128-d AETHER sketch fits in exactly 28 bytes (12 header + 16 bits). Deserializer is paranoid by design — every untrusted byte buffer gets validated against: - length floor (>= header bytes) - length ceiling (WIRE_SKETCH_MAX_BYTES = 9 KiB; defends against memory-exhaustion attacks via claimed-but-impossible large dims) - magic match - format_version supported - embedding_dim → payload bytes consistency A malformed UDP packet from a non-RuView sender produces a typed `WireSketchError` (variant per failure class), never a panic. Re-exported from lib.rs alongside `Sketch` / `SketchBank`. Seven new tests: - wire_serialize_round_trip (correctness) - wire_rejects_short_buffer (length floor) - wire_rejects_oversized_buffer (length ceiling, DoS guard) - wire_rejects_bad_magic (cross-protocol confusion guard) - wire_rejects_unsupported_format_version (forward-compat) - wire_rejects_payload_size_mismatch (header/body consistency) - wire_envelope_size_for_aether_128d (sizing contract: 28 bytes) Validated: - cargo test --workspace --no-default-features → 1,568 passed, 0 failed, 8 ignored (was 1,561; +7 wire-format tests). - ESP32-S3 on COM7 streaming live CSI (cb #15100, RSSI -48 dBm). Pass 4's wire-format primitive ships first; the channel that carries it (ADR-066 swarm-bridge or ADR-086 sensor→Pi gate) is out-of-scope for this commit and tracked separately. Co-Authored-By: claude-flow <ruv@ruv.net> * feat(ruvector): ADR-084 Pass 5 — privacy-preserving event log + L4 docstring Pass 5 — `PrivacyEventLog` and `NoveltyEvent` types in a new `wifi_densepose_ruvector::event_log` module. Each event stores `(timestamp, sketch_bytes, sketch_version, embedding_dim, novelty, witness_sha256)` — explicitly NOT the raw float embedding. The witness is SHA-256 of the WireSketch serialization (12-byte header + packed bits + q15 novelty), making events content-addressable: two pushes of the same `(sketch, novelty)` produce byte-identical witnesses, enabling dedup at the receiver and verifier. Privacy properties (ADR-084 §"Privacy-preserving event log"): 1. Non-invertibility — 1-bit sign quantization is lossy; an attacker with read access cannot reconstruct the source CSI / embedding. 2. Content addressing — `(sketch_version, witness)` is fully qualified. 3. Bounded memory — fixed capacity ring; misbehaving senders cannot exhaust receiver memory. Seven new tests: - push_grows_until_capacity_then_fifo_evicts - zero_capacity_log_silently_drops_pushes (no-op stub case) - witness_is_deterministic_for_same_sketch_and_novelty (witness must NOT depend on timestamp) - witness_differs_for_different_novelty_scores - find_by_witness_returns_most_recent_match - find_by_witness_returns_none_on_miss - event_does_not_carry_raw_embedding (structural privacy guarantee) L4 hardening (PR #435 security review) — the `f64 → f32` cast in NodeState::update_novelty now has a docstring noting the boundary behaviour: `f64::INFINITY` survives as `f32::INFINITY`, `f64::NAN` propagates as `f32::NAN`. Neither panics. CSI amplitudes from healthy firmware are well within f32 finite range. Validated: - cargo test --workspace --no-default-features → 1,575 passed, 0 failed, 8 ignored (was 1,568; +7 event-log tests). - ESP32-S3 on COM7 streaming live CSI (cb #2800, RSSI -52 dBm). Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-26 02:21:35 -04:00
rUv	d3020fec6b	docs(adr): ADR-085 — RaBitQ pipeline expansion (proposed) (#433) ... Extends ADR-084's RaBitQ-as-similarity-sensor pattern from five sites to twelve, adding seven additional pipeline locations the user identified during ADR-084 implementation: - Per-room adaptive classifier short-circuit (Mahalanobis prefilter) - Recording-search REST endpoint (GET /api/v1/recordings/similar) - WiFi BSSID fingerprinting (channel-hop scheduler input) - mmWave (LD2410 / MR60BHA2) signature wake-gate - Witness bundle drift detection (CI ratchet) - Agent / swarm memory routing (ADR-066 swarm bridge) - Log / event-pattern anomaly detection (cluster Pi) Each site has a 2-3 sentence decision (what gets sketched, what triggers the comparison, what the refinement does on miss) and a witness-hash artifact (what the system stores in place of the raw embedding/event/signal). Implementation plan ordered cheapest-first / least-risky-first. Acceptance criteria align with ADR-084 (8x-30x compare cost, ≥90% top-K coverage, <1pp accuracy regression) where applicable; non-vector sites (witness bundle, BSSID time-series, event log) have site-specific criteria. Three open questions explicitly flagged: 1. Mahalanobis-after-binary-sketch is novel — no published primary source found, marked conjecture, decision deferred to bench 2. Canonical "non-vector → sketchable" encoding is unsolved 3. MERIDIAN (ADR-027) cross-environment domain interaction needs site-by-site analysis before bank rebuild semantics are committed Status: Proposed. SOTA review by goal-planner agent.	2026-04-26 00:11:32 -04:00
rUv	c19a33ee1c	docs(adr): ADR-084 — RaBitQ similarity sensor for CSI/pose/memory (proposed) (#429) ... Adopt RaBitQ-style binary sketches as a first-class cheap similarity sensor at four points in the RuView pipeline: AETHER re-ID hot-cache filter, per-room novelty / drift detection, mesh-exchange compression, and privacy-preserving event logs. Implementation home is ruvector-core::quantization::BinaryQuantized (already vendored, already SIMD-accelerated NEON+POPCNT, 32x compression, 1-bit sign quantization + hamming distance), re-exported through a thin RuView-flavored API in wifi-densepose-ruvector::sketch. Pattern at every site: dense embedding -> RaBitQ sketch -> hamming pre-filter to top-K -> full-precision refinement only on miss. Decision boundary unchanged; sketch is a sensor that gates *which* comparisons run, not *what* they decide. Acceptance test (per source proposal): - sketch compare cost reduction: 8x-30x vs full float - top-K candidate coverage: >= 90% agreement with full-float pass - end-to-end accuracy regression: < 1 percentage point Site-by-site rollback if any criterion fails at a given site; remaining sites continue. Five implementation passes, each independently testable: ruvector module wrap, AETHER re-ID pre-filter, cluster-Pi novelty sensor, mesh-exchange compression, privacy log. Sensor MCU unchanged; sketches happen at the cluster Pi (ADR-083). Validation requires acceptance numbers on >= 3 of 5 passes. Open question (out-of-scope until pass-1 benchmark): whether RuView embeddings need a Johnson-Lindenstrauss / RaBitQ-paper randomized rotation before sign-quantization, or whether pure 1-bit sign quantization (today's BinaryQuantized) is sufficient.	2026-04-25 23:08:05 -04:00
rUv	259939b7ec	docs(adr): ADR-083 — per-cluster Pi compute hop (proposed) (#428) ... Adopt one Pi per cluster of 3-6 ESP32-S3 sensor nodes as the canonical fleet-shape, rather than the full three-tier (dual-MCU + per-node Pi) shape. Sensor nodes are unchanged from ADR-028 / ADR-081; the cluster Pi gains the responsibilities the ESP32-S3 cannot carry — pose-grade ML inference, QUIC backhaul to gateway/cloud, and a cluster-level OTA + secure-boot anchor. The cluster-Pi shape is the L3-hybrid path identified in docs/research/architecture/decision-tree.md §2 — the cheapest viable upgrade. The full three-tier shape remains the long-term exploration target, gated behind no_std CSI maturity (decision-tree L4) and per-node ISR-jitter evidence (L2). Status: Proposed. Acceptance gated on: 1. Cross-compile to aarch64 / armv7 with workspace tests passing 2. 3-sensor + 1-Pi field test demonstrating end-to-end CSI → fusion → cloud at <=100 ms cluster latency 3. Cluster-Pi SoC choice ADR (decision-tree L6) approved References: - docs/research/architecture/three-tier-rust-node.md (seed exploration) - docs/research/architecture/decision-tree.md (L3 hybrid path) - docs/research/sota/2026-Q2-rf-sensing-and-edge-rust.md (SOTA evidence)	2026-04-25 23:08:02 -04:00
rUv	81cc241b9e	chore(repo): move v1/ → archive/v1/ + add archive/README.md (#430) ... The Rust port at v2/ has been the primary codebase since the rename in #427. The Python implementation at v1/ is no longer the active target; the only load-bearing path is the deterministic proof bundle at v1/data/proof/ (per ADR-011 / ADR-028 witness verification). Move the whole Python tree into archive/v1/ and document the policy in archive/README.md: no new features, bug fixes only when they affect a still-load-bearing path (currently just the proof), CI continues to verify the proof on every push and PR. Path references updated in 26 files via path-pattern sed (only matches v1/<known-child> patterns, never bare v1 or API URLs like /api/v1/). Two double-prefix typos (archive/archive/v1/) caught and hand-fixed in verify-pipeline.yml and ADR-011. Validated: - Python proof verify.py imports cleanly at archive/v1/data/proof/ (numpy/scipy still required; CI installs requirements-lock.txt from archive/v1/ now) - cargo test --workspace --no-default-features → 1,539 passed, 0 failed, 8 ignored (unaffected by Python tree relocation) - ESP32-S3 on COM7 untouched (no firmware paths changed) After-merge: contributors should re-run any local `python v1/...` commands as `python archive/v1/...` (CLAUDE.md and CHANGELOG already updated).	2026-04-25 23:07:52 -04:00
rUv	74233cfb23	fix(ci): use env scope for secrets in gating if: expressions (#431) ... GitHub Actions does not allow `secrets.X` to appear directly in step-level `if:` expressions — only `env.X` is valid in that context. Both ci.yml and security-scan.yml had Slack-notify steps gated on `secrets.SLACK_WEBHOOK_URL != ''`, which made the entire workflow fail to parse. Result: every push to main produced a 0-second failure with 0 jobs run, masquerading as a CI signal that wasn't actually running CI. Confirmed root cause via: gh api -X POST repos/.../actions/workflows/167079093/dispatches \ -f ref=main → 422 Invalid Argument - failed to parse workflow: (Line: 315, Col: 11): Unrecognized named-value: 'secrets' Fix: promote the secret to job-level `env:` so step-level `if:` references `env.SLACK_WEBHOOK_URL`. The actual secret value still flows through unchanged for the action's runtime use. Same pattern applied to security-scan.yml line 406 (the existing SECURITY_SLACK_WEBHOOK_URL gate). After this lands, every push to main should produce real CI runs that actually execute jobs and reflect repo health honestly. The runs may still fail for *real* reasons (e.g., CI image dependencies, test gaps), but they will fail visibly with logs instead of in 0s with no jobs.	2026-04-25 23:06:27 -04:00
ruv	5bcb25b2b0	docs(adr): update bare wifi-densepose-rs refs to v2/ in ADR-012, ADR-052 ... Two leftover references missed by the sed pass in #427 (which only matched the full `rust-port/wifi-densepose-rs` path). These are bare references to the workspace directory name, which is now v2/. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-25 21:43:21 -04:00
rUv	f49c722764	chore(repo): rename rust-port/wifi-densepose-rs → v2/ (flatten to one level) (#427) ... The Rust port lived two directories deep (rust-port/wifi-densepose-rs/) without any sibling under rust-port/ that warranted the extra level. Move the whole workspace up to v2/ to match v1/ (Python) at the same depth and shorten every cd / build command across the repo. git mv preserves history for all tracked files. 60 files updated for path references (CI workflows, ADRs, docs, scripts, READMEs, internal .claude-flow state). Two manual fixes for relative-cd paths in CLAUDE.md and ADR-043 that became wrong after the depth change (cd ../.. → cd ..). Validated: - cargo check --workspace --no-default-features → clean (after target/ nuke; the gitignored target/ was carried by the OS rename and had hard-coded old paths in build scripts) - cargo test --workspace --no-default-features → 1,539 passed, 0 failed, 8 ignored (same totals as pre-rename) - ESP32-S3 on COM7 → still streaming live CSI (cb #40300, RSSI -64 dBm) After-merge follow-up: contributors should `rm -rf v2/target` once and let cargo regenerate from the new path.	2026-04-25 21:28:13 -04:00
ruv	2a58fe478b	docs(research): three-tier Rust node design + 2026-Q2 SOTA survey + decision tree ... Three exploratory research documents under docs/research/: - architecture/three-tier-rust-node.md (3,382 words) — exploration of a dual-ESP32-S3 + Pi Zero 2W node architecture with BQ24074 power-path, ESP-WIFI-MESH + LoRa fallback + QUIC backhaul, and an esp-hal/Embassy vs esp-idf-svc Rust toolchain split. Status: Exploratory — not adopted. - sota/2026-Q2-rf-sensing-and-edge-rust.md (3,757 words) — twelve-section state-of-the-art survey covering WiFi CSI through-wall pose, IEEE 802.11bf (ratified 2025-09-26), edge ML on ESP32-class hardware, embedded Rust ecosystem maturity (esp-hal 1.x, esp-radio rename, embassy-executor ISR-safety on esp-idf-svc), LoRa for sensor mesh fallback, QUIC for IoT backhaul, solar power-path management beyond BQ24074, mesh routing alternatives, and Pi Zero 2W secure-boot reality. - architecture/decision-tree.md (1,461 words) — Mermaid decision tree mapping each load-bearing decision in the three-tier proposal to its dependencies, evidence-for-yes/no, and prospective ADR slot. No production code, firmware, or ADRs touched. Research-only. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-25 20:41:14 -04:00
Cocoon-Break	1c17c50930	fix: move test-only deps out of requirements.txt into requirements-dev.txt (#411) ... * fix: remove test-only deps from requirements.txt, add requirements-dev.txt Test dependencies (pytest, pytest-asyncio, pytest-mock, pytest-benchmark) should not be installed in production. Move them to requirements-dev.txt. Closes #410 Signed-off-by: Cocoon-Break <54054995+kuishou68@users.noreply.github.com> * fix: add requirements-dev.txt with test and dev dependencies Closes #410 Signed-off-by: Cocoon-Break <54054995+kuishou68@users.noreply.github.com> --------- Signed-off-by: Cocoon-Break <54054995+kuishou68@users.noreply.github.com>	2026-04-25 20:11:34 -04:00
rUv	7f201bdf6f	fix(tracker): exclude Lost tracks from bridge output (#420, ADR-082) (#426) ... `tracker_bridge::tracker_to_person_detections` documented itself as filtering to `is_alive()` but never actually filtered — it forwarded every non-Terminated track to the WebSocket stream. With 3 ESP32-S3 nodes × ~10 Hz CSI, transient detections that fell outside the Mahalanobis gate created a steady stream of new Tentative tracks that aged through Active and into Lost. Lost tracks are kept in the tracker for `reid_window` (~3 s) so re-identification can match them when a similar detection reappears, but they are NOT currently observed and must not render as live skeletons. Up to ~90 ghost skeletons could accumulate at any moment, hence the 22-24 phantoms users saw while `estimated_persons` correctly reported 1. Add `PoseTracker::confirmed_tracks()` that returns only `Tentative ∪ Active` and rewire the bridge to use it. `Lost` tracks remain in the tracker for re-ID; they just no longer ship to the UI. `active_tracks()` is left unchanged for the AETHER re-ID consumers (ADR-024). Regression test `test_lost_tracks_excluded_from_bridge_output` drives a track to Active, lapses for `loss_misses + 1` ticks to push it to Lost, and asserts `tracker_update` returns an empty Vec while the Lost track is still present in `all_tracks()` (re-ID still works). Validated: - cargo test --workspace --no-default-features → 1,539 passed, 0 failed - ESP32-S3 on COM7 still streaming live CSI (cb #32800)	2026-04-25 20:03:03 -04:00
rUv	58a63d6bdf	fix(workspace): unblock --no-default-features build on Windows (#366, #415) (#425) ... mat, sensing-server, and train all depended on signal with default features enabled, which pulled ndarray-linalg → openblas-src → vcpkg/system-BLAS through the entire workspace. --no-default-features at the workspace root could not opt out of BLAS, breaking cargo build / cargo test on Windows without vcpkg. Set default-features = false on the signal dep in all three consumers so the flag actually propagates. Also gate signal::ruvsense::field_model::tests ::test_estimate_occupancy_noise_only with #[cfg(feature = "eigenvalue")] — the test unwraps a NotCalibrated stub when eigenvalue is compiled out. Validated: cargo test --workspace --no-default-features → 1,538 passed, 0 failed, 8 ignored. ESP32-S3 on COM7 still streams live CSI.	2026-04-25 19:45:07 -04:00
rUv	79477c17a9	fix: restore WSL release build for sensing server (#389) ... fix: restore successful WSL release build for rust sensing server	2026-04-20 14:29:15 -04:00
rUv	648ff525a2	docs: troubleshooting guide for ESP32 CSI deployments (#377) ... docs: troubleshooting guide for ESP32 CSI deployments	2026-04-20 14:29:11 -04:00
rUv	0943a32248	feat: Real-time dense point cloud from camera + WiFi CSI (#405) ... * Add wifi-densepose-pointcloud: real-time dense point cloud from camera + WiFi CSI New crate with 5 modules: - depth: monocular depth estimation + 3D backprojection (ONNX-ready, synthetic fallback) - pointcloud: Point3D/ColorPoint types, PLY export, Gaussian splat conversion - fusion: WiFi occupancy volume → point cloud + multi-modal voxel fusion - stream: HTTP + Three.js viewer server (Axum, port 9880) - main: CLI with serve/capture/demo subcommands Demo output: 271 WiFi points + 19,200 depth points → 4,886 fused → 1,718 Gaussian splats. Serves interactive 3D viewer at http://localhost:9880 with Three.js orbit controls. ADR-SYS-0021 documents the architecture for camera + WiFi CSI dense point cloud pipeline. Co-Authored-By: claude-flow <ruv@ruv.net> * Optimize pointcloud: larger splat voxels, smaller responses, faster fusion - Gaussian splat voxel size: 0.10 → 0.15 (42% fewer splats: 1718 → 994) - Splat response: 399 KB → 225 KB (44% smaller) - Pipeline: 22.2ms mean (100 runs, σ=0.3ms) - Cloud API: 1.11ms avg, 905 req/s - Splats API: 1.39ms avg, 719 req/s - Binary: 1.0 MB arm64 (Mac Mini), tested Co-Authored-By: claude-flow <ruv@ruv.net> * Complete implementation: camera capture, WiFi CSI receiver, training pipeline Three new modules added to wifi-densepose-pointcloud: 1. camera.rs — Cross-platform camera capture - macOS: AVFoundation via Swift, ffmpeg avfoundation - Linux: V4L2, ffmpeg v4l2 - Camera detection, listing, frame capture to RGB - Graceful fallback to synthetic data when no camera 2. csi.rs — WiFi CSI receiver for ESP32 nodes - UDP listener for CSI JSON frames from ESP32 - Per-link attenuation tracking with EMA smoothing - Simplified RF tomography (backprojection to occupancy grid) - Test frame sender for development without hardware - Ready for real ESP32 CSI data from ruvzen 3. training.rs — Calibration and training pipeline - Depth calibration: grid search over scale/offset/gamma - Occupancy training: threshold optimization for presence detection - Ground truth reference points for depth RMSE measurement - Preference pair export (JSONL) for DPO training on ruOS brain - Brain integration: submit observations as memories - Persistent calibration files (JSON) New CLI commands: ruview-pointcloud cameras # list available cameras ruview-pointcloud train # run calibration + training ruview-pointcloud csi-test # send test CSI frames ruview-pointcloud serve --csi # serve with live CSI input All tested: demo, training (10 samples, 4 reference points, 3 pairs), CSI receiver (50 test frames), server API. Co-Authored-By: claude-flow <ruv@ruv.net> * Fix viewer: replace WebSocket with fetch polling Co-Authored-By: claude-flow <ruv@ruv.net> * Wire live camera into server — real-time updating point cloud - Server captures from /dev/video0 at 2fps via ffmpeg - Background tokio task refreshes cloud + splats every 500ms - Viewer polls /api/splats every 500ms, only updates on new frame - Shows 🟢 LIVE / 🔴 DEMO indicator - Camera position set for first-person view (looking forward into scene) - Downsample 4x for performance (19,200 points per frame) - Graceful fallback to demo data if camera capture fails Co-Authored-By: claude-flow <ruv@ruv.net> * Add MiDaS GPU depth, serial CSI reader, full sensor fusion - MiDaS depth server: PyTorch on CUDA, real monocular depth estimation - Rust server calls MiDaS via HTTP for neural depth (falls back to luminance) - Serial CSI reader for ESP32 with motion detection + presence estimation - CSI disabled by default (RUVIEW_CSI=1 to enable) — serial reader needs baud config - Edge-enhanced depth for better object boundaries - All sensors wired: camera, ESP32 CSI, mmWave (CSI gated until serial fixed) Co-Authored-By: claude-flow <ruv@ruv.net> * Complete 7-component sensor fusion pipeline (all working) 1. ADR-018 binary parser — decodes ESP32 CSI UDP frames, extracts I/Q subcarriers 2. WiFlow pose — 17 COCO keypoints from CSI (186K param model loaded) 3. Camera depth — MiDaS on CUDA + luminance fallback 4. Sensor fusion — camera depth + CSI occupancy grid + skeleton overlay 5. RF tomography — ISTA-inspired backprojection from per-node RSSI 6. Vital signs — breathing rate from CSI phase analysis 7. Motion-adaptive — skip expensive depth when CSI shows no motion Live results: 510 CSI frames/session, 17 keypoints, 26% motion, 40 BPM breathing. Both ESP32 nodes provisioned to send CSI to 192.168.1.123:3333. Magic number fix: supports both 0xC5110001 (v1) and 0xC5110006 (v6) frames. Co-Authored-By: claude-flow <ruv@ruv.net> * Add brain bridge — sparse spatial observation sync every 60s Stores room scan summaries, motion events, and vital signs in the ruOS brain as memories. Only syncs every 120 frames (~60 seconds) to keep the brain sparse and optimized. Categories: spatial-observation, spatial-motion, spatial-vitals. Co-Authored-By: claude-flow <ruv@ruv.net> * Update README + user guide with dense point cloud features Added pointcloud section to README (quick start, CLI, performance). Added comprehensive user guide section: setup, sensors, commands, pipeline components, API endpoints, training, output formats, deep room scan, ESP32 provisioning. Co-Authored-By: claude-flow <ruv@ruv.net> * Add ruview-geo: geospatial satellite integration (11 modules, 8/8 tests) New crate with free satellite imagery, terrain, OSM, weather, and brain integration. Modules: types, coord, locate, cache, tiles, terrain, osm, register, fuse, brain, temporal Tests: 8 passed (haversine, ENU roundtrip, tiles, HGT parse, registration) Validation: real data — 43.49N 79.71W, 4 Sentinel-2 tiles, 2°C weather, brain stored Data sources (all free, no API keys): - EOX Sentinel-2 cloudless (10m satellite tiles) - SRTM GL1 (30m elevation) - Overpass API (OSM buildings/roads) - ip-api.com (geolocation) - Open Meteo (weather) ADR-044 documents architecture decisions. README.md in crate subdirectory. Co-Authored-By: claude-flow <ruv@ruv.net> * Update ADR-044: add Common Crawl WET, NASA FIRMS, OpenAQ, Overture Maps sources Extended geospatial data sources leveraging ruvector's existing web_ingest and Common Crawl support for hyperlocal context. Co-Authored-By: claude-flow <ruv@ruv.net> * Fix OSM/SRTM queries, add change detection + night mode - OSM: use inclusive building filter with relation query and 25s timeout - SRTM: switch to NASA public mirror with viewfinderpanoramas fallback - Add detect_tile_changes() for pixel-diff satellite change detection - Add is_night() solar-declination model for CSI-only night mode - 6 new unit tests (night mode + tile change detection) Co-Authored-By: claude-flow <ruv@ruv.net> * Enhance viewer: skeleton overlay, weather, buildings, better camera Add COCO skeleton rendering with yellow keypoint spheres and white bone lines, info panel sections for weather/buildings/CSI rate/confidence, overhead camera at (0,2,-4), and denser point size with sizeAttenuation. Co-Authored-By: claude-flow <ruv@ruv.net> * Add CSI fingerprint DB + night mode detection Co-Authored-By: claude-flow <ruv@ruv.net> * Fix ADR-044 numbering conflict, update geo README Renumbered provisioning tool ADR from 044 to 050 to avoid conflict with geospatial satellite integration ADR-044. Co-Authored-By: claude-flow <ruv@ruv.net> * Clean up warnings: suppress dead_code for conditional pipeline modules Removes unused imports/variables via cargo fix and adds #[allow(dead_code)] for modules used conditionally at runtime (CSI, depth, fusion, serial). Pointcloud: 28 → 0 warnings. Geo: 2 → 0 warnings. 8/8 tests pass. Co-Authored-By: claude-flow <ruv@ruv.net> * Fix PR #405 blockers: async runtime panic, crate rename, path traversal, brain URL config - brain_bridge.rs: replace `Handle::current().block_on(...)` inside async fn with `.await` (was a guaranteed "runtime within runtime" panic). Brain URL now read from RUVIEW_BRAIN_URL env var (default http://127.0.0.1:9876), logged once via OnceLock. - wifi-densepose-geo: rename Cargo package from `ruview-geo` to `wifi-densepose-geo` to match directory and workspace conventions. Update all use sites (tests/examples/README). Same env-var pattern for brain URL in brain.rs + temporal.rs. - training.rs: add sanitize_data_path() rejecting `..` components and safe_join() that canonicalises + enforces base-dir containment on every write (calibration.json, samples.json, preference_pairs.jsonl, occupancy_calibration.json). Defence-in-depth check also in main.rs before TrainingSession::new. - osm.rs: clamp Overpass radius to MAX_RADIUS_M=5000m; return Err beyond that. Add parse_overpass_json() that rejects malformed payloads (missing top-level `elements` array). Co-Authored-By: claude-flow <ruv@ruv.net> * csi_pipeline: rename WiFlow stub to heuristic_pose_from_amplitude, decouple UDP Blocker 3 (PR #405 review): The "WiFlow inference" path was a stub that built a model from empty weight vectors and synthesised keypoints from amplitude energy. Presenting this as "WiFlow inference" was misleading. - Rename WiFlowModel to PoseModelMetadata (empty tag struct; we only care if the on-disk file exists) - Rename load_wiflow_model() -> detect_pose_model_metadata() and log "amplitude-energy heuristic enabled/disabled" (no "WiFlow" claim) - Rename estimate_pose() -> heuristic_pose_from_amplitude() with prominent `STUB:` doc comment saying this is NOT a trained model Blocker 4 (PR #405 review): The UDP receiver held the shared Arc<Mutex> across a synchronous process_frame() call, starving HTTP handlers. - Introduce a std::sync::mpsc channel between the UDP thread (which only parses + pushes) and a dedicated processor thread (which locks only briefly around a single process_frame). HTTP snapshots via get_pipeline_output no longer contend with the socket read loop. Also: - Move ADR-018 parser to parser.rs (see next commit); csi_pipeline re-exports - send_test_frames now uses parser::build_test_frame for synthetic frames - Log a one-line node stats summary every 500 frames (reads every public CsiFrame field on the runtime path) Co-Authored-By: claude-flow <ruv@ruv.net> * Extract ADR-018 parser into parser.rs + wire Fingerprint CLI File-split (strong concern #9 in PR #405 review): csi_pipeline.rs was 602 LOC; extract the pure-function ADR-018 parser + synthetic frame builder into src/parser.rs. Inline unit tests in parser.rs cover: - 0xC5110001 (raw CSI, v1) roundtrip - 0xC5110006 (feature state, v6) roundtrip - wrong magic is rejected - truncated header is rejected - truncated payload is rejected main.rs: expose `fingerprint NAME [--seconds N]` subcommand wiring record_fingerprint() (this was the only caller needed to make the public API non-dead on the runtime path). Also: - Replace `--host/--port` + external `--csi` with a single `--bind` defaulting to loopback (`127.0.0.1:9880`) — addresses strong concern #7 about exposing camera/CSI/vitals by default. - Update synthetic `csi-test` to target UDP 3333 (matching the ADR-018 listener) and use the shared parser::build_test_frame. - Defence-in-depth: call training::sanitize_data_path on the expanded --data-dir before TrainingSession::new does the same. Co-Authored-By: claude-flow <ruv@ruv.net> * stream: extract viewer HTML to viewer.html, default bind to loopback Strong concern #7 (PR #405): default HTTP bind leaked camera/CSI/vitals to the LAN. The `serve` fn now takes a single `bind` arg and prints a loud WARNING when bound outside loopback. Strong concern #10 (PR #405): embedded HTML+JS was ~220 LOC of the 418 LOC stream.rs. Moved the markup verbatim into viewer.html and inlined via `include_str!("viewer.html")`. Also: - Drop the #![allow(dead_code)] crate-level silencing (reviewer point #11). Remove the now-unused AppState.csi_pipeline field. - capture_camera_cloud_with_luminance returns the mean luminance of the captured frame; the background loop feeds that to CsiPipelineState::set_light_level so the night-mode flag actually toggles at runtime (previously it could only be set from tests). Net effect on file size: stream.rs 418 → 232 LOC. Co-Authored-By: claude-flow <ruv@ruv.net> * Dead-code cleanup + tests for fusion/depth/OSM/training/fingerprinting Reviewer point #11 (PR #405): remove the `#![allow(dead_code)]` silencing added in 8eb808d and fix the underlying issues. - Delete csi.rs: duplicate of csi_pipeline.rs with incompatible wire format (JSON vs ADR-018 binary). csi_pipeline is the real path. - Delete serial_csi.rs: never referenced by any module. - Drop Frame.timestamp_ms (unread), AppState.csi_pipeline (unread), brain_bridge::brain_available (caller-less), fusion::fetch_wifi_occupancy (caller-less) — these had no runtime users. - Drop crate-level #![allow(dead_code)] from camera.rs, depth.rs, fusion.rs, pointcloud.rs. Tests (target: 8-12, actual: 15 unit + 9 geo unit + 8 geo integration = 32 total, all pass): - parser.rs: 5 tests (v1/v6 magic roundtrip, wrong magic, truncated header, truncated payload). - fusion.rs: 2 tests (non-overlapping merge, voxel dedup). - depth.rs: 2 tests (2x2 backproject → 4 points at z=1, NaN rejected). - training.rs: 4 tests (rejects `..`, accepts relative child, refuses TrainingSession::new("../etc/passwd"), accepts a clean tmpdir). - csi_pipeline.rs: 2 tests (set_light_level toggles is_dark, record_fingerprint stores and self-identifies). - osm.rs: 3 tests (parse_overpass_json minimal fixture, rejects malformed payload, fetch_buildings rejects > MAX_RADIUS_M). Co-Authored-By: claude-flow <ruv@ruv.net> * Update README + user-guide for PR #405 review-fix additions - serve now uses --bind 127.0.0.1:9880 (loopback default) instead of --port - Add fingerprint subcommand to CLI tables - Document RUVIEW_BRAIN_URL env var + --brain flag - Flag pose path as amplitude-energy heuristic stub (not trained WiFlow) - Security note on exposing server outside loopback - Add wifi-densepose-pointcloud + wifi-densepose-geo rows to crate table Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-20 12:48:54 -04:00
ruv	ae40e2b33e	Release v0.6.2-esp32: ADR-081 kernel + Timer Svc fix, 4MB CI variant ... version.txt → 0.6.2. firmware-ci.yml: matrix-build both 8MB (sdkconfig.defaults) and 4MB (sdkconfig.defaults.4mb) variants, uploading variant-named artifacts (esp32-csi-node.bin / esp32-csi-node-4mb.bin, partition-table.bin / partition-table-4mb.bin). Unblocks 6-binary releases from CI alone, no local ESP-IDF required. CHANGELOG: promote [Unreleased] ADR-081 work into [v0.6.2-esp32], plus Fixed entries for Timer Svc stack overflow and the fast_loop_cb → emit_feature_state implicit-decl compile error. Validation: 30 s run on ESP32-S3 (MAC 3c:0f:02:e9:b5:f8), 149 rv_feature_state emissions, no stack overflow, HEALTH mesh packet sent. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-20 10:59:05 -04:00
ruv	a426ae386d	Fix ADR-081 Timer Svc stack overflow on ESP32-S3 ... emit_feature_state() runs inside the FreeRTOS Timer Svc task via the fast loop callback; it memsets an rv_feature_state_t, queries vitals/ radio, and sends via stream_sender (lwIP sendto). Default Timer Svc stack is 2 KiB, which overflows and panics ~1 s after boot: ***ERROR*** A stack overflow in task Tmr Svc has been detected. Bump CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH to 8 KiB across the three sdkconfig defaults files (default, template, 4mb). Matches the main task stack size already in use. Found during on-device validation on ESP32-S3 (MAC 3c:0f:02:e9:b5:f8) after flashing the post-merge v0.6.1 build — firmware boots, connects WiFi, emits one medium tick, then crashes on the fast tick that calls emit_feature_state(). Follow-up: consider moving emit_feature_state + network I/O out of the timer daemon into a dedicated worker task (open issue). Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-20 10:48:21 -04:00
rUv	5a7f431b0e	ADR-081: Implement 5-layer adaptive CSI mesh firmware kernel (#404) ... * ADR-081: adaptive CSI mesh firmware kernel + scaffolding Introduces a 5-layer firmware kernel that reframes the existing ESP32 modules as components of a chipset-agnostic architecture and authorizes adaptive control + a compact feature-state stream as the default upstream. Layers: L1 Radio Abstraction Layer — rv_radio_ops_t vtable + ESP32 binding L2 Adaptive Controller — fast/medium/slow loops (200ms/1s/30s) L3 Mesh Sensing Plane — anchor/observer/relay/coordinator (spec) L4 On-device Feature Extr. — rv_feature_state_t (magic 0xC5110006) L5 Rust handoff — feature_state default; debug raw gated Files: docs/adr/ADR-081-adaptive-csi-mesh-firmware-kernel.md (new) firmware/esp32-csi-node/main/rv_radio_ops.h (new) firmware/esp32-csi-node/main/rv_radio_ops_esp32.c (new) firmware/esp32-csi-node/main/rv_feature_state.{h,c} (new) firmware/esp32-csi-node/main/adaptive_controller.{h,c} (new) firmware/esp32-csi-node/main/main.c (wire L1+L2) firmware/esp32-csi-node/main/CMakeLists.txt (add 4 sources) firmware/esp32-csi-node/main/Kconfig.projbuild (controller knobs) CHANGELOG.md (Unreleased) Default policy is conservative: enable_channel_switch and enable_role_change are off, so behavior matches today's firmware unless an operator opts in via menuconfig. The pure adaptive_controller_decide() is exposed for offline unit tests. Reuses (does not rewrite): csi_collector, edge_processing (ADR-039), swarm_bridge (ADR-066), secure_tdm (ADR-032), wasm_runtime (ADR-040). * ADR-081: implement Layers 1/2/4 end-to-end + host tests + QEMU hooks Turns the ADR-081 scaffolding into a working adaptive CSI mesh kernel: Layer 1 radio abstraction has an ESP32 binding and a mock binding; Layer 2 adaptive controller runs on FreeRTOS timers; Layer 4 feature-state packet is emitted at 5 Hz by default, replacing raw ADR-018 CSI as the default upstream. New files: firmware/esp32-csi-node/main/adaptive_controller_decide.c (pure policy) firmware/esp32-csi-node/main/rv_radio_ops_mock.c (QEMU binding) firmware/esp32-csi-node/tests/host/Makefile (host tests) firmware/esp32-csi-node/tests/host/test_adaptive_controller.c firmware/esp32-csi-node/tests/host/test_rv_feature_state.c firmware/esp32-csi-node/tests/host/esp_err.h (shim) firmware/esp32-csi-node/tests/host/.gitignore Modified: adaptive_controller.c — includes pure decide.c; emit_feature_state() wired into fast loop (200 ms = 5 Hz) rv_radio_ops_esp32.c — get_health() fills pkt_yield + send_fail csi_collector.{c,h} — pkt_yield/send_fail accessors (ADR-081 L1) rv_feature_state.h — packed size corrected to 60 bytes (was incorrectly 80 in initial commit) main.c — mock binding registered under mock CSI CMakeLists.txt — rv_radio_ops_mock.c under CSI_MOCK_ENABLED scripts/validate_qemu_output.py — 3 new ADR-081 checks (17/18/19) docs/adr/ADR-081-*.md — status → Accepted (partial); implementation-status matrix; measured benchmarks (decide 3.2 ns, CRC32 614 ns); bandwidth 300 B/s @ 5 Hz (99.7% vs raw); verification section CHANGELOG.md — artifact-level entries Tests (host, gcc -O2 -std=c11): test_adaptive_controller: 18/18 pass, decide() = 3.2 ns/call test_rv_feature_state: 15/15 pass, CRC32(56 B) = 614 ns/pkt, 87 MB/s sizeof(rv_feature_state_t) == 60 asserted IEEE CRC32 known vectors verified Deferred (tracked in ADR-081 roadmap Phase 3/4): Layer 3 mesh-plane message types, role-assignment FSM, Rust-side mirror trait in crates/wifi-densepose-hardware/src/radio_ops.rs. * ADR-081: Layer 3 mesh plane + Rust mirror trait — all 5 layers landed Fully implements the remaining deferred pieces of the adaptive CSI mesh firmware kernel. All 5 layers (Radio Abstraction, Adaptive Controller, Mesh Sensing Plane, On-device Feature Extraction, Rust handoff) are now implemented and host-tested end-to-end. Layer 3 — Mesh Sensing Plane (firmware/esp32-csi-node/main/rv_mesh.{h,c}): * 4 node roles: Unassigned / Anchor / Observer / FusionRelay / Coordinator * 7 message types: TIME_SYNC, ROLE_ASSIGN, CHANNEL_PLAN, CALIBRATION_START, FEATURE_DELTA, HEALTH, ANOMALY_ALERT * 3 auth classes: None / HMAC-SHA256-session / Ed25519-batch * Payload types: rv_node_status_t (28 B), rv_anomaly_alert_t (28 B), rv_time_sync_t (16 B), rv_role_assign_t (16 B), rv_channel_plan_t (24 B), rv_calibration_start_t (20 B) * 16-byte envelope + payload + IEEE CRC32 trailer * Pure rv_mesh_encode()/rv_mesh_decode() plus typed convenience encoders * rv_mesh_send_health() + rv_mesh_send_anomaly() helpers Controller wiring (adaptive_controller.c): * Slow loop (30 s default) now emits HEALTH * apply_decision() emits ANOMALY_ALERT on transitions to ALERT / DEGRADED * Role + mesh epoch tracked in module state; epoch bumps on role change Layer 5 — Rust mirror (crates/wifi-densepose-hardware/src/radio_ops.rs): * RadioOps trait mirrors rv_radio_ops_t vtable * MockRadio backend for offline tests * MeshHeader / NodeStatus / AnomalyAlert types mirror rv_mesh.h * Byte-identical IEEE CRC32 (poly 0xEDB88320) verified against firmware test vectors (0xCBF43926 for "123456789") * decode_mesh / decode_node_status / decode_anomaly_alert / encode_health * 8 unit tests, including mesh_constants_match_firmware which asserts MESH_MAGIC/VERSION/HEADER_SIZE/MAX_PAYLOAD match rv_mesh.h byte-for-byte * Exported from lib.rs * signal/ruvector/train/mat crates untouched — satisfies ADR-081 portability acceptance test Tests (all passing): test_adaptive_controller: 18/18 (C, decide() 3.2 ns/call) test_rv_feature_state: 15/15 (C, CRC32 87 MB/s) test_rv_mesh: 27/27 (C, roundtrip 1.0 µs) radio_ops::tests (Rust): 8/8 --- total: 68/68 assertions green --- Docs: * ADR-081 status flipped to Accepted * Implementation-status matrix updated; L3 + Rust mirror both marked Implemented * Benchmarks table extended with rv_mesh encode+decode roundtrip * Verification section updated with cargo test invocation * CHANGELOG: two new entries for L3 mesh plane + Rust mirror Remaining follow-ups (Phase 3.5 polish, not blocking): * Mesh RX path (UDP listener + dispatch) on the firmware * Ed25519 signing for CHANNEL_PLAN / CALIBRATION_START * Hardware validation on COM7 * Add test_rv_mesh to host-test .gitignore Fixes an untracked-file warning from the repo stop-hook: the compiled binary was built by make but the .gitignore update was missed in 8dfb031. No source changes. * Fix implicit decl of emit_feature_state in adaptive_controller fast_loop_cb calls emit_feature_state() at line 224, but the static definition is at line 256. GCC treats the implicit declaration as non-static, then the real static definition conflicts, and -Werror=all promotes both to hard build errors. Add a forward declaration above the first use. Unblocks ESP32-S3 firmware build and all QEMU matrix jobs. Co-Authored-By: claude-flow <ruv@ruv.net> --------- Co-authored-by: Claude <noreply@anthropic.com>	2026-04-20 10:38:23 -04:00
rUv	b816292ead	Merge pull request #402 from voidborne-d/fix/docker-entrypoint-and-model-path ... fix: Docker entrypoint arg handling + configurable model directory	2026-04-20 10:25:27 -04:00
voidborne-d	e38c0f4dcc	fix: Docker entrypoint arg handling + configurable model directory ... Fixes #384: docker run with --source/--tick-ms flags now works correctly. Fixes #399: model files in mounted volumes are now discoverable via MODELS_DIR env var. Root cause (issue #384): The Dockerfile used ENTRYPOINT ["/bin/sh", "-c"] with a shell-form CMD. When users passed flags like `--source wifi --tick-ms 500` as docker run arguments, Docker replaced CMD entirely, resulting in `/bin/sh -c "--source wifi --tick-ms 500"` which executes `--source` as a shell command → `--source: not found`. Root cause (issue #399): Model directory was hardcoded to the relative path `data/models`. When Docker users mounted models to `/app/models/`, the scan looked in the wrong place. Changes: 1. docker/docker-entrypoint.sh (new): - Proper entrypoint script that handles both env-var-based defaults and user-passed CLI flags - No arguments → starts server with CSI_SOURCE env var as --source - Flag arguments (start with -) → prepends /app/sensing-server + defaults, appends user flags (clap last-wins allows overrides) - Non-flag first arg → exec passthrough (e.g., /bin/sh for debugging) - Sets --bind-addr 0.0.0.0 (was 127.0.0.1 which blocks container access) 2. docker/Dockerfile.rust: - Switch from ENTRYPOINT ["/bin/sh", "-c"] to exec-form entrypoint - Add MODELS_DIR env var (default: data/models) - COPY the entrypoint script into the image 3. docker/docker-compose.yml: - Remove shell-form command (entrypoint handles defaults) - Add MODELS_DIR env var 4. model_manager.rs + main.rs: - Replace hardcoded `data/models` path with `effective_models_dir()` / `models_dir()` that reads MODELS_DIR env var at runtime - Docker users can now: docker run -v /host/models:/app/models -e MODELS_DIR=/app/models 5. tests/test_docker_entrypoint.sh (new, 17 tests): - Default CSI_SOURCE substitution (6 assertions) - Custom CSI_SOURCE propagation - User-passed flag arguments (--source, --tick-ms, --model) - Unset CSI_SOURCE defaults to auto - Explicit command passthrough - MODELS_DIR env var propagation	2026-04-18 21:55:01 +00:00
ruv	8914538bfe	chore: bump firmware version to 0.6.1 ... Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-16 10:38:02 -04:00
rUv	8a9e890956	Merge pull request #393 from ruvnet/fix/esp32-node-id-clobber ... fix(firmware): defensive node_id capture prevents runtime clobber (#390)	2026-04-16 10:22:59 -04:00
bilibili12433014	1871ef3c2d	docs(user-guide): add Linux desktop build prerequisites for Rust builds ... - add Debian/Ubuntu desktop build prerequisites to the Rust source build guide - document required GTK/WebKit development packages for Linux release builds - add a matching troubleshooting entry for native desktop build dependencies - keep installation and troubleshooting guidance aligned and context-consistent	2026-04-16 16:58:12 +08:00
ruv	425f0e6aac	fix(firmware): defensive node_id capture prevents runtime clobber (#390) ... Users on multi-node ESP32 deployments have been reporting for months that their provisioned `node_id` reverts to the Kconfig default of `1` in UDP frames and the `csi_collector` init log, despite boot showing: nvs_config: NVS override: node_id=4 main: ESP32-S3 CSI Node (ADR-018) - Node ID: 4 csi_collector: CSI collection initialized (node_id=1, channel=11) See #232, #375, #385, #386, #390. The root memory-corruption path for the `g_nvs_config.node_id` byte has not been definitively isolated (does not reproduce on my attached ESP32-S3 running current source and the v0.6.0 release binary), but the UDP frame header can be made tamper-proof regardless: 1. `csi_collector_init()` now captures `g_nvs_config.node_id` into a module-local `static uint8_t s_node_id` at init time. 2. `csi_serialize_frame()` reads `buf[4]` from `s_node_id`, not from the global - so any later corruption of `g_nvs_config` cannot affect outgoing CSI frames. 3. All other consumers (`edge_processing.c` x3, `wasm_runtime.c`, `display_ui.c`, `main.c swarm_bridge_init`) now go through a new `csi_collector_get_node_id()` accessor instead of reading the global directly. 4. A canary at end-of-init logs `WARN` if `g_nvs_config.node_id` already diverges from the captured value - this will pinpoint the corruption path if it happens on a user's device. Hardware validation on attached ESP32-S3 (COM8): - NVS loads node_id=2 - Boot log: `main: ... Node ID: 2` - NEW log: `csi_collector: Captured node_id=2 at init (defensive copy for #232/#375/#385/#390)` - Init log: `csi_collector: CSI collection initialized (node_id=2)` - UDP frame byte[4] = 2 (verified via socket sniffer, 15/15 packets) This is defense in depth - it shields the UDP frame from whatever upstream bug is clobbering the struct. When a user hits the original bug, the canary WARN will help isolate the root cause. Refs #232 #375 #385 #386 #390 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-15 13:47:34 -04:00
rUv	6e015c4626	fix: provision.py esptool v5 + refuse partial NVS flashes (#391) (#392) ... * fix: provision.py esptool v5 syntax + refuse partial NVS flashes (#391) Bug 1: `write_flash` -> `write-flash` for esptool v5.x compat - Actual flash command (flash_nvs, line 153) was already fixed - Dry-run manual-flash hint (line 301) still printed old syntax Bug 2: Refuse partial invocations that would silently wipe NVS - provision.py flashes a fresh NVS binary at offset 0x9000, which REPLACES the entire csi_cfg namespace. Any key not passed on the CLI is erased. - Previously: `provision.py --port COM8 --target-port 5005` would silently wipe ssid, password, target_ip, node_id, etc., causing "Retrying WiFi connection (10/10)" in the field. - Now: refuse unless all of --ssid/--password/--target-ip provided, or --force-partial is set (prints warning listing wiped keys). Validation: - Dry-run: binary generates to 24576 bytes, hint uses write-flash - Safety check: partial invocation rejected with clear message - Force-partial: warning lists keys that will be wiped - Hardware: esptool v5.1.0 `read-flash 0x9000 0x100` works on attached ESP32-S3 (COM8); NVS preserved, device reconnected at 192.168.1.104 with node_id=2 intact after reset. Co-Authored-By: claude-flow <ruv@ruv.net> * docs: CHANGELOG catch-up for v0.5.5, v0.6.0, v0.7.0 (#367) The changelog was stale at v0.5.4 — three releases were cut without updating it. Added full entries for each, plus an [Unreleased] block for the #391 provision.py fixes. version.txt correctly stays at 0.6.0 — v0.7.0 was a model/pipeline release, not a new firmware binary. Latest firmware is v0.6.0-esp32. Closes #367 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-15 13:12:46 -04:00
bilibili12433014	e619b9430c	fix(rust): resolve WSL release build failures in sensing server ... - add missing `ruvector-mincut` dependency for sensing server - fix mutable/immutable borrow conflicts in tracker and field model flows - use dynamic adaptive model class names in status response - add a narrow dead_code compatibility workaround to avoid rustc ICE in WSL - verify `cargo build --release` succeeds in WSL	2026-04-15 16:44:59 +08:00
Deploy Bot	b74fdcc733	docs: add troubleshooting guide for common ESP32 CSI issues ... Covers 8 known issues encountered during multi-node ESP32-S3 deployments: 1. Node not appearing (limping state after USB flash) 2. Person count stuck at 1 (ADR-044) 3. Heart rate/breathing rate jitter (last-write-wins from multiple nodes) 4. Signal quality placeholder 5. Dashboard freezing (WS disconnect loop) 6. OTA crash at 59% (BLE vs OTA conflict) 7. SSH LAN hang (Tailscale workaround) 8. USB-C port selection Helps with #268 (no nodes found), #375 (node_id), #366 (build errors).	2026-04-10 07:04:48 -04:00
rUv	2a05378bd2	Merge pull request #365 from ruvnet/feat/adr-080-qe-remediation ... fix: ADR-080 QE remediation — 13 of 15 issues fixed	2026-04-06 18:40:21 -04:00
ruv	ccb27b280c	merge: bring feat/adr-080-qe-remediation up to date with main ... Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 18:36:20 -04:00
ruv	55c5ddfc40	docs: collapse all details sections in README for cleaner view ... Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 18:20:30 -04:00
ruv	c5fef33c6a	docs: reorder README sections — v0.7.0 first, then descending ... Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 18:18:40 -04:00
ruv	599ea61a17	docs: update README and user guide for v0.7.0 camera-supervised training ... - Add v0.7.0 section with 92.9% PCK@20 result and new scripts - Add camera-supervised training section to user guide with step-by-step - Update release table (v0.7.0 as latest) - Update ADR count (62 → 79) - Update beta notice with camera ground-truth link Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 17:52:44 -04:00
rUv	8dddbf941a	Merge pull request #363 from ruvnet/feat/adr-079-camera-ground-truth ... feat: camera ground-truth training pipeline with ruvector optimizations (ADR-079)	2026-04-06 17:29:13 -04:00
ruv	35903a313d	feat: NaN-safe TCN + CSI UDP recorder for real ESP32 training (#362) ... - Add activation clamping [-10, 10] in TCN forward pass to prevent NaN from real CSI amplitude ranges after normalization - Add safe sigmoid with input clamping [-20, 20] - Add scripts/record-csi-udp.py: lightweight ESP32 CSI UDP recorder Validated on real paired data (345 samples): ESP32 CSI: 7,000 frames at 23fps from COM8 Mac camera: 6,470 frames at 22fps via MediaPipe PCK@20: 92.8% | Eval loss: 0.083 | Bone loss: 0.008 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 17:18:41 -04:00
ruv	4bb0b87465	feat: ADR-080 P1+P2 remediation — refactor, perf, tests, safety ... P1 fixes (this sprint): - P1-6: Extract sensing-server modules (cli, types, csi, pose) from main.rs - P1-7: DDA ray march for tomography — O(max(n)) replaces O(n^3) voxel scan - P1-8: Batch neural inference — Tensor::stack/split for single GPU call - P1-10: Eliminate 112KB/frame alloc — islice replaces deque→list copy P2 fixes (this quarter): - P2-11: Python unit tests for 8 modules (rate_limit, auth, error_handler, pose_service, stream_service, hardware_service, health_check, metrics) - P2-13: MAT simulated data safety guard — blocking overlay + pulsing banner - P2-14: Wire token blacklist into auth verification + logout endpoint - P2-15: Frame budget benchmark — confirms pipeline well under 50ms budget Addresses 8 of 10 remaining issues from QE analysis (ADR-080). Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 17:01:07 -04:00
ruv	5bd0d59aa6	feat: ADR-080 P1+P2 remediation — refactor, perf, tests, safety ... P1 fixes (this sprint): - P1-6: Extract sensing-server modules (cli, types, csi, pose) from main.rs - P1-7: DDA ray march for tomography — O(max(n)) replaces O(n^3) voxel scan - P1-8: Batch neural inference — Tensor::stack/split for single GPU call - P1-10: Eliminate 112KB/frame alloc — islice replaces deque→list copy P2 fixes (this quarter): - P2-11: Python unit tests for 8 modules (rate_limit, auth, error_handler, pose_service, stream_service, hardware_service, health_check, metrics) - P2-13: MAT simulated data safety guard — blocking overlay + pulsing banner - P2-14: Wire token blacklist into auth verification + logout endpoint - P2-15: Frame budget benchmark — confirms pipeline well under 50ms budget Addresses 8 of 10 remaining issues from QE analysis (ADR-080). Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 17:00:27 -04:00
ruv	924c32547e	fix: ADR-080 P0 security + CI remediation from QE analysis ... Address all 5 P0 issues from QE analysis (55/100 score): - P0-1: Rate limiter bypass — validate X-Forwarded-For against trusted proxy list - P0-2: Exception detail leak — generic 500 messages, exception_type gated by dev mode - P0-3: WebSocket JWT in URL (CWE-598) — first-message auth pattern replaces query param - P0-4: Rust tests not in CI — add rust-tests job gating docker-build and notify - P0-5: WebSocket path mismatch — use WS_PATH constant instead of hardcoded /ws/sensing Includes ADR-080 remediation plan and 9 QE reports (4,914 lines). Firmware validated on ESP32-S3 (COM8): CSI collecting, calibration OK. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 16:12:13 -04:00
ruv	327d0d13f6	feat: scalable WiFlow model with 4 size presets (#362) ... Add --scale flag with 4 presets for dataset-appropriate sizing: lite: ~190K params, 2 TCN blocks k=3 (trains in seconds) small: ~200K params, 4 TCN blocks k=5 (trains in minutes) medium: ~800K params, 4 TCN blocks k=7 (trains in ~15 min) full: ~7.7M params, 4 TCN blocks k=7 (trains in hours) Refactored model to use dynamic TCN block count, kernel size, channel widths, hidden dim, and SPSA perturbation count — all driven by the scale preset. Default is 'lite' for fast iteration. Validated: lite model completes 30 epochs on 265 samples in ~2 min on Windows CPU (vs stuck at epoch 1 with full model). Scale up with: --scale small|medium|full as dataset grows. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 14:55:35 -04:00
ruv	d09baa6a09	fix: remove hardcoded Tailscale IPs and usernames from public files ... - ADR-079: strip SSH user/IP from optimization description - mac-mini-train.sh: replace hardcoded IP with env var WINDOWS_HOST Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 14:39:21 -04:00
ruv	486392bb68	docs: update ADR-079 with validated hardware, ruvector optimizations, baseline ... - Status: Proposed → Accepted - Add O6-O10 optimizations (subcarrier selection, attention, Stoer-Wagner min-cut, multi-SPSA, Mac M4 Pro training via Tailscale) - Add validated hardware table (Mac camera, MediaPipe, M4 Pro GPU, Tailscale) - Add baseline benchmark results (PCK@20: 35.3%) - Update implementation plan with completion status Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 14:38:40 -04:00
ruv	33f5abd0e0	feat: ruvector + DynamicMinCut optimizations for WiFlow training (#362) ... Add 4 ruvector-inspired optimizations to the training pipeline: - O6: Subcarrier selection (ruvector-solver) — variance-based top-K selection reduces 128→56 subcarriers (56% input reduction) - O7: Attention-weighted subcarriers (ruvector-attention) — motion- correlated weighting amplifies informative channels - O8: Stoer-Wagner min-cut person separation (ruvector-mincut) — identifies person-specific subcarrier clusters via correlation graph partitioning for multi-person training - O9: Multi-SPSA gradient estimation — K=3 perturbations per step reduces gradient variance by sqrt(3) vs single SPSA Also fixes data loader to accept both `kp`/`keypoints` field names and flat CSI arrays with `csi_shape`, and scalar `conf` values. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 14:22:08 -04:00
ruv	e3522ddcda	feat: camera ground-truth training pipeline (ADR-079, #362) ... Add 4 scripts for camera-supervised WiFlow pose training: - collect-ground-truth.py: synchronized webcam + CSI capture via MediaPipe PoseLandmarker (17 COCO keypoints at 30fps) - align-ground-truth.js: time-align camera keypoints with CSI windows using binary search, confidence-weighted averaging - train-wiflow-supervised.js: 3-phase supervised training (contrastive pretrain → supervised keypoint regression → bone-constrained refinement) with curriculum learning and CSI augmentation - eval-wiflow.js: PCK@10/20/50, MPJPE, per-joint breakdown, baseline proxy mode for benchmarking Baseline benchmark (proxy poses, no camera supervision): PCK@10: 11.8% | PCK@20: 35.3% | PCK@50: 94.1% | MPJPE: 0.067 Camera pipeline validated over Tailscale to Mac Mini M4 Pro (1920x1080, 14/17 keypoints visible, MediaPipe confidence 0.94-1.0). Target after camera-supervised training: PCK@20 > 50% Closes #362 Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 14:07:25 -04:00
ruv	b5e924cd72	fix: embed firmware version from version.txt, log at boot (#354) ... - Add version.txt (0.6.0) read by CMakeLists.txt so esp_app_get_description()->version matches the release tag - Log firmware version on boot: "v0.6.0 — Node ID: X" - Remove stale Kconfig help text (said default 2.0, actual is 15.0) Fixes the version mismatch reported in #354 where flashing v0.5.3 binaries showed v0.4.3 because PROJECT_VER was never set. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-06 11:26:58 -04:00
rUv	854342297a	Merge pull request #359 from ruvnet/docs/hf-links-update ... docs: update HuggingFace links to ruv/ruview	2026-04-03 14:23:17 -04:00
ruv	23b4491e7b	docs: update HuggingFace links to ruv/ruview (primary repo) ... Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-03 14:23:07 -04:00
rUv	2b24250a69	Merge pull request #358 from ruvnet/feat/deep-scan ... feat: deep-scan.js — comprehensive RF intelligence report	2026-04-03 13:03:28 -04:00
ruv	6d446e5459	feat: deep-scan.js — comprehensive RF intelligence report ... Shows: who, what they're doing, vitals, position, objects, electronics, physics, and RF fingerprint. The 'wow factor' demo script. Co-Authored-By: claude-flow <ruv@ruv.net>	2026-04-03 13:03:18 -04:00
rUv	62fd1d96af	Merge pull request #357 from ruvnet/docs/v0.6.0-models-guide ... docs: HuggingFace models + 17 sensing apps + v0.6.0 guide	2026-04-03 10:28:40 -04:00