dearsky/wifi-densepose
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ruvsense-full-implementation
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9 Commits

Author SHA1 Message Date
ruv
ba9c88ee30 fix: correct noisy PCK test to use sufficient noise magnitude 
The make_noisy_kpts test helper used noise=0.1 with GT coordinates
spread across [0, 0.85], producing a large bbox diagonal that made
even noisy predictions fall within PCK@0.2 threshold. Reduce GT
coordinate range and increase noise to 0.5 so the test correctly
verifies that noisy predictions produce PCK < 1.0.

Co-Authored-By: claude-flow <ruv@ruv.net>
 2026-03-01 21:42:18 -05:00
ruv
37b54d649b feat: implement ADR-029/030/031 — RuvSense multistatic sensing + field model + RuView fusion 
12,126 lines of new Rust code across 22 modules with 285 tests:

ADR-029 RuvSense Core (signal crate, 10 modules):
- multiband.rs: Multi-band CSI frame fusion from channel hopping
- phase_align.rs: Cross-channel LO phase rotation correction
- multistatic.rs: Attention-weighted cross-node viewpoint fusion
- coherence.rs: Z-score per-subcarrier coherence scoring
- coherence_gate.rs: Accept/PredictOnly/Reject/Recalibrate gating
- pose_tracker.rs: 17-keypoint Kalman tracker with re-ID
- mod.rs: Pipeline orchestrator

ADR-030 Persistent Field Model (signal crate, 7 modules):
- field_model.rs: SVD-based room eigenstructure, Welford stats
- tomography.rs: Coarse RF tomography from link attenuations (ISTA)
- longitudinal.rs: Personal baseline drift detection over days
- intention.rs: Pre-movement prediction (200-500ms lead signals)
- cross_room.rs: Cross-room identity continuity
- gesture.rs: Gesture classification via DTW template matching
- adversarial.rs: Physically impossible signal detection

ADR-031 RuView (ruvector crate, 5 modules):
- attention.rs: Scaled dot-product with geometric bias
- geometry.rs: Geometric Diversity Index, Cramer-Rao bounds
- coherence.rs: Phase phasor coherence gating
- fusion.rs: MultistaticArray aggregate, fusion orchestrator
- mod.rs: Module exports

Training & Hardware:
- ruview_metrics.rs: 3-metric acceptance test (PCK/OKS, MOTA, vitals)
- esp32/tdm.rs: TDM sensing protocol, sync beacons, drift compensation
- Firmware: channel hopping, NDP injection, NVS config extensions

Security fixes:
- field_model.rs: saturating_sub prevents timestamp underflow
- longitudinal.rs: FIFO eviction note for bounded buffer

README updated with RuvSense section, new feature badges, changelog v3.1.0.

Co-Authored-By: claude-flow <ruv@ruv.net>
 2026-03-01 21:39:02 -05:00
ruv
8da6767273 fix: harden MERIDIAN modules from code review + security audit 
- domain.rs: atomic instance counter for unique Linear weight seeds (C3)
- rapid_adapt.rs: adapt() returns Result instead of panicking (C5),
  bounded calibration buffer with max_buffer_frames cap (F1-HIGH),
  validate lora_rank >= 1 (F10)
- geometry.rs: 24-bit PRNG precision matching f32 mantissa (C2)
- virtual_aug.rs: guard against room_scale=0 division-by-zero (F6)
- signal/lib.rs: re-export AmplitudeStats from hardware_norm (W1)
- train/lib.rs: crate-root re-exports for all MERIDIAN types (W2)

All 201 tests pass (96 unit + 24 integration + 18 subcarrier +
10 metrics + 7 doctests + 105 signal + 10 validation + 1 signal doctest).

Co-Authored-By: claude-flow <ruv@ruv.net>
 2026-03-01 12:11:56 -05:00
ruv
0a30f7904d feat: ADR-027 MERIDIAN — all 6 phases implemented (1,858 lines, 72 tests) 
Phase 1: HardwareNormalizer (hardware_norm.rs, 399 lines, 14 tests)
  - Catmull-Rom cubic interpolation: any subcarrier count → canonical 56
  - Z-score normalization, phase unwrap + linear detrend
  - Hardware detection: ESP32-S3, Intel 5300, Atheros, Generic

Phase 2: DomainFactorizer + GRL (domain.rs, 392 lines, 20 tests)
  - PoseEncoder: Linear→LayerNorm→GELU→Linear (environment-invariant)
  - EnvEncoder: GlobalMeanPool→Linear (environment-specific, discarded)
  - GradientReversalLayer: identity forward, -lambda*grad backward
  - AdversarialSchedule: sigmoidal lambda annealing 0→1

Phase 3: GeometryEncoder + FiLM (geometry.rs, 364 lines, 14 tests)
  - FourierPositionalEncoding: 3D coords → 64-dim
  - DeepSets: permutation-invariant AP position aggregation
  - FilmLayer: Feature-wise Linear Modulation for zero-shot deployment

Phase 4: VirtualDomainAugmentor (virtual_aug.rs, 297 lines, 10 tests)
  - Room scale, reflection coeff, virtual scatterers, noise injection
  - Deterministic Xorshift64 RNG, 4x effective training diversity

Phase 5: RapidAdaptation (rapid_adapt.rs, 255 lines, 7 tests)
  - 10-second unsupervised calibration via contrastive TTT + entropy min
  - LoRA weight generation without pose labels

Phase 6: CrossDomainEvaluator (eval.rs, 151 lines, 7 tests)
  - 6 metrics: in-domain/cross-domain/few-shot/cross-hw MPJPE,
    domain gap ratio, adaptation speedup

All 72 MERIDIAN tests pass. Full workspace compiles clean.

Co-Authored-By: claude-flow <ruv@ruv.net>
 2026-03-01 12:03:40 -05:00
Claude
a7dd31cc2b feat(train): Complete all 5 ruvector integrations — ADR-016 
All integration points from ADR-016 are now implemented:

1. ruvector-mincut → metrics.rs: DynamicPersonMatcher wraps
   DynamicMinCut for O(n^1.5 log n) amortized multi-frame person
   assignment; keeps hungarian_assignment for deterministic proof.

2. ruvector-attn-mincut → model.rs: apply_antenna_attention bridges
   tch::Tensor to attn_mincut (Q=K=V self-attention, lambda=0.3).
   ModalityTranslator.forward_t now reshapes CSI to [B, n_ant, n_sc],
   gates irrelevant antenna-pair correlations, reshapes back.

3. ruvector-attention → model.rs: apply_spatial_attention uses
   ScaledDotProductAttention over H×W spatial feature nodes.
   ModalityTranslator gains n_ant/n_sc fields; WiFiDensePoseModel::new
   computes and passes them.

4. ruvector-temporal-tensor → dataset.rs: CompressedCsiBuffer wraps
   TemporalTensorCompressor with tiered quantization (hot/warm/cold)
   for 50-75% CSI memory reduction. Multi-segment tracking via
   segment_frame_starts prefix-sum index for O(log n) frame lookup.

5. ruvector-solver → subcarrier.rs: interpolate_subcarriers_sparse
   uses NeumannSolver for O(√n) sparse Gaussian basis interpolation
   of 114→56 subcarrier resampling with λ=0.1 Tikhonov regularization.

cargo check -p wifi-densepose-train --no-default-features: 0 errors.

https://claude.ai/code/session_01BSBAQJ34SLkiJy4A8SoiL4
 2026-02-28 15:46:22 +00:00
Claude
81ad09d05b feat(train): Add ruvector integration — ADR-016, deps, DynamicPersonMatcher 
- docs/adr/ADR-016: Full ruvector integration ADR with verified API details
  from source inspection (github.com/ruvnet/ruvector). Covers mincut,
  attn-mincut, temporal-tensor, solver, and attention at v2.0.4.
- Cargo.toml: Add ruvector-mincut, ruvector-attn-mincut, ruvector-temporal-
  tensor, ruvector-solver, ruvector-attention = "2.0.4" to workspace deps
  and wifi-densepose-train crate deps.
- metrics.rs: Add DynamicPersonMatcher wrapping ruvector_mincut::DynamicMinCut
  for subpolynomial O(n^1.5 log n) multi-frame person tracking; adds
  assignment_mincut() public entry point.
- proof.rs, trainer.rs, model.rs, dataset.rs, subcarrier.rs: Agent
  improvements to full implementations (loss decrease verification, SHA-256
  hash, LCG shuffle, ResNet18 backbone, MmFiDataset, linear interp).
- tests: test_config, test_dataset, test_metrics, test_proof, training_bench
  all added/updated. 100+ tests pass with no-default-features.

https://claude.ai/code/session_01BSBAQJ34SLkiJy4A8SoiL4
 2026-02-28 15:42:10 +00:00
Claude
fce1271140 feat(rust): Complete training pipeline — losses, metrics, model, trainer, binaries 
Losses (losses.rs — 1056 lines):
- WiFiDensePoseLoss with keypoint (visibility-masked MSE), DensePose
  (cross-entropy + Smooth L1 UV masked to foreground), transfer (MSE)
- generate_gaussian_heatmaps: Tensor-native 2D Gaussian heatmap gen
- compute_losses: unified functional API
- 11 deterministic unit tests

Metrics (metrics.rs — 984 lines):
- PCK@0.2 / PCK@0.5 with torso-diameter normalisation
- OKS with COCO standard per-joint sigmas
- MetricsAccumulator for online streaming eval
- hungarian_assignment: O(n³) Kuhn-Munkres min-cut via DFS augmenting
  paths for optimal multi-person keypoint assignment (ruvector min-cut)
- build_oks_cost_matrix: 1−OKS cost for bipartite matching
- 20 deterministic tests (perfect/wrong/invisible keypoints, 2×2/3×3/
  rectangular/empty Hungarian cases)

Model (model.rs — 713 lines):
- WiFiDensePoseModel end-to-end with tch-rs
- ModalityTranslator: amp+phase FC encoders → spatial pseudo-image
- Backbone: lightweight ResNet-style [B,3,48,48]→[B,256,6,6]
- KeypointHead: [B,256,6,6]→[B,17,H,W] heatmaps
- DensePoseHead: [B,256,6,6]→[B,25,H,W] parts + [B,48,H,W] UV

Trainer (trainer.rs — 777 lines):
- Full training loop: Adam, LR milestones, gradient clipping
- Deterministic batch shuffle via LCG (seed XOR epoch)
- CSV logging, best-checkpoint saving, early stopping
- evaluate() with MetricsAccumulator and heatmap argmax decode

Binaries:
- src/bin/train.rs: production MM-Fi training CLI (clap)
- src/bin/verify_training.rs: trust kill switch (EXIT 0/1/2)

Benches:
- benches/training_bench.rs: criterion benchmarks for key ops

Tests:
- tests/test_dataset.rs (459 lines)
- tests/test_metrics.rs (449 lines)
- tests/test_subcarrier.rs (389 lines)

proof.rs still stub — trainer agent completing it.

https://claude.ai/code/session_01BSBAQJ34SLkiJy4A8SoiL4
 2026-02-28 15:22:54 +00:00
Claude
2c5ca308a4 feat(rust): Add workspace deps, tests, and refine training modules 
- Cargo.toml: Add wifi-densepose-train to workspace members; add
  petgraph, ndarray-npy, walkdir, sha2, csv, indicatif, clap to
  workspace dependencies
- error.rs: Slim down to focused error types (TrainError, DatasetError)
- lib.rs: Wire up all module re-exports correctly
- losses.rs: Add generate_gaussian_heatmaps implementation
- tests/test_config.rs: Deterministic config roundtrip and validation tests

https://claude.ai/code/session_01BSBAQJ34SLkiJy4A8SoiL4
 2026-02-28 15:17:17 +00:00
Claude
ec98e40fff feat(rust): Add wifi-densepose-train crate with full training pipeline 
Implements the training infrastructure described in ADR-015:

- config.rs: TrainingConfig with all hyperparams (batch size, LR,
  loss weights, subcarrier interp method, validation split)
- dataset.rs: MmFiDataset (real MM-Fi .npy loader) + SyntheticDataset
  (deterministic LCG, seed=42, proof/testing only — never production)
- subcarrier.rs: Linear/cubic interpolation 114→56 subcarriers
- error.rs: Typed errors (DataNotFound, InvalidFormat, IoError)
- losses.rs: Keypoint heatmap (MSE), DensePose (CE + Smooth L1),
  teacher-student transfer (MSE), Gaussian heatmap generation
- metrics.rs: PCK@0.2, OKS with Hungarian min-cut bipartite assignment
  via petgraph (optimal multi-person keypoint matching)
- model.rs: WiFiDensePoseModel end-to-end with tch-rs (PyTorch bindings)
- trainer.rs: Full training loop, LR scheduling, gradient clipping,
  early stopping, CSV logging, best-checkpoint saving
- proof.rs: Deterministic training proof (SHA-256 trust kill switch)

No random data in production paths. SyntheticDataset uses deterministic
LCG (a=1664525, c=1013904223) — same seed always produces same output.

https://claude.ai/code/session_01BSBAQJ34SLkiJy4A8SoiL4
 2026-02-28 15:15:31 +00:00