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Ruview/docs/benchmarks/physics-pose-refinement.md

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Physics pose refinement evidence ledger

ADR-323 performance and accuracy targets are gates, not measured claims. Append rows; never replace prior measurements. Every row must identify the repository commit, lockfile hash, Rust toolchain, target, engine/features, configuration hash, corpus/split hash, command, sample count, and evidence label.

Runtime measurements

Date Commit Lock SHA-256 Target/toolchain Engine/config Tracks Samples p50 p95 p99/max RSS delta Evidence Reproducer
2026-08-15 de27336 + uncommitted ADR-323 changes 552737eab9092b59ea9dd2b2caf68389f0b0966679f0fbb33ff2b1b3d42e2668 Windows x86_64, Intel Core Ultra 9 285H, rustc 1.91.1 deterministic kinematic shadow, config ef3cf581f75124c1d45a8d6bedcef32e4d1bacb39ee0dfcd4e520171fda2d8cf 1 20,000 0.0080 ms 0.0097 ms 0.0195/0.5465 ms not measured MEASURED, local host only; not Pi 5 evidence cargo run --release -p wifi-densepose-physics --example latency_probe -- 20000
2026-08-15 de27336 + uncommitted ADR-323 changes 552737eab9092b59ea9dd2b2caf68389f0b0966679f0fbb33ff2b1b3d42e2668 Windows x86_64, Intel Core Ultra 9 285H, rustc 1.91.1 deterministic kinematic shadow after final local optimization, same config 1 20,000 0.0075 ms 0.0084 ms 0.0117/0.1579 ms not measured MEASURED, local host only; not Pi 5 evidence same release probe command
2026-08-15 de27336 + uncommitted ADR-323 changes 552737eab9092b59ea9dd2b2caf68389f0b0966679f0fbb33ff2b1b3d42e2668 Windows x86_64, Intel Core Ultra 9 285H, rustc 1.91.1 final deterministic kinematic shadow, config a44dc696234f31eda54cd4b436bc2d2c69b9638565b729ac9f07435cedfd0dcc 1 20,000 0.0071 ms 0.0084 ms 0.0147/1.5994 ms not measured MEASURED, local host only; not Pi 5 evidence same release probe command

The probe measures a warm, one-track PhysicsEngine::process call. It excludes transport, publication, resident-memory delta, dynamics, and learned inference. It is not evidence for the Pi 5 gate.

Criterion separately measured kinematic_one_track at [11.911, 12.757, 14.069] us across 100 samples (approximately 369,000 timed iterations). That benchmark includes observation construction and canonical hashing in the timed routine and uses fresh engine state; it is MEASURED on the same local host and is not a percentile or Pi 5 claim.

Accuracy measurements

Date Commit Corpus/split Variant Coverage MPJPE PCK threshold/result Foot slide Jerk Fall/prone delta Evidence

No measured accuracy evidence has been recorded. The deterministic tests are L0/SYNTHETIC contract evidence only and cannot satisfy G2.

Validation and supply-chain record

  • The default dependency graph is checked to exclude Burn, Rapier, Tch, and ONNX Runtime. Dynamics and learned backends remain opt-in.
  • Burn CPU serialization/inference tests pass on the authoring host only with Cargo's --ignore-rust-version; the resolved CubeCL graph requires Rust 1.92. The workspace file pins Rust 1.89 and the host provides Rust 1.91.1. This is diagnostic, not release approval.
  • cargo audit 0.22.1 used RustSec database commit 69f93cf294852cfa9b53751f4ca86de3283dd290 (feed timestamp 2026-08-12). ADR-323 updates remove resolved advisories in event-listener, rkyv, and wasmtime. The workspace still has five advisories in pre-existing quick-xml and rsa dependency paths; the default physics graph contains none of them. The optional Burn training graph includes yanked spin 0.9.8.
  • cargo-deny is not installed on the authoring host, so the required license and policy gate is not claimed complete.
  • Strict Clippy passes with warnings denied for core/physics default and dynamics builds, the diagnostic learned-CPU build, and the Cog itself with dependency linting excluded. Focused core, physics, dynamics, learned, Cog, sensing-server adapter/live-audit/HTTP, schema, golden, strict-split, feature-boundary, and fuzz-build checks pass.
  • The repository-wide rustfmt gate is already red across unrelated crates. The sensing-server library has existing warning debt, and unscoped Cog Clippy is blocked by existing wifi-densepose-ruvector warnings. The prescribed cargo test --workspace --no-default-features did not reach a terminal result in either a 904-second cold or 604-second warm serial run on this Windows host. None of these broader gates is represented as green.
  • The standalone fuzz lock SHA-256 is d386c4edb130bb6b2d1a4ef77334c78e25e0695e90a9d97c01284876acb8c2c6.

Required commands

cargo bench -p wifi-densepose-physics
node scripts/pose-physics/verify-feature-boundary.mjs
bash scripts/verify-pose-physics-splits.sh <manifest.json>
bash scripts/replay-pose-physics-golden.sh <golden-results.jsonl>