The higher-ceiling primitives on the fused world state. Six crates, all
deterministic SYNTHETIC/L0 model scaffolds (a twin predicts, it never measures);
70 tests + 6 doctests, verified green independently.
ruview-twin (ADR-312): per-deployment RF twin — radio geometry, a documented
synthetic log-distance + wall-attenuation propagation model, per-link expected
distributions, and the load-bearing delta(observed,expected) that localizes a
physical change (moved node / new reflector) to specific links. 8 tests.
ruview-infogain (ADR-311): Value(sensor) = expected uncertainty reduction /
weighted cost; pure bounded-greedy selection under a multi-dimension budget;
unknown-value candidates handled explicitly (defer/probe, never silent zero). 15.
ruview-active (ADR-306): closed-loop control vocabulary (channel/bandwidth/
cadence/antenna as validated ranges); step() proposes the next measurement to
reduce uncertainty, widening exploration when the last response is UNKNOWN;
emits a plan, never RF. 13.
ruview-placement (ADR-305): floorplan + inventory -> ranked placement via the
twin's propagation model; blind-spot flags; predicted-vs-observed adjustment. 11.
ruview-memory (ADR-309): learns per-zone normal physics; anomalies are
significant deltas vs baseline emitted as evidence records; UNKNOWN before a
baseline exists (no false positives). 14.
ruview-counterfactual (ADR-310): scores hypotheses under the twin — empty-room
vs occupied, one person vs two; UNKNOWN when indistinguishable. 8.
Flips ADR-305/306/309/310/311/312 to implemented. Completes all three phases of
the ADR-297 perception-substrate program. No hardware/MEASURED claims.
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_015TcKegTS7QqhWPC2L2SzaS
The layer that turns the certificate spine into a modality-agnostic perception
substrate. Four crates, all deterministic and green independently (43 tests).
ruview-hal (ADR-317): one abstraction mapping any modality (CSI/802.11bf/BLE/
UWB/mmWave/acoustic/camera/lidar/IMU/custom) to a canonical ontology Observation.
SensorHal trait + two SYNTHETIC/L0 reference adapters; malformed input yields a
degraded UNKNOWN observation, never a panic; synthetic can never alias measured.
8 tests.
ruview-groundtruth (ADR-300): reference sensors as a formal VALIDATION plane
(never an estimator input, enforced by the type boundary); modality-agnostic
ReferenceSeries, deterministic cross-correlation alignment, AgreementReport with
mandatory SessionScope, emitting per-context ruview-evidence records; Measured
requires reference + coverage + reproducer. 15 tests.
ruview-track (ADR-304): privacy-preserving persistent tracks (opaque person ids,
coarse non-reversible features, no civil-identity binding); ambiguous detections
stay tentative rather than misassigned; cross-zone hand-off. 8 tests.
ruview-fusion (ADR-308): multiple HalObservations -> one probabilistic WorldState,
uncertainty-aware (confidence-weighted, not naive averaging); irreconcilable
conflict or insufficient coverage yields UNKNOWN, not a confident average.
9+ tests incl. irreconcilable_conflict_yields_unknown.
Flips ADR-300/304/308/317 to implemented; registers the four crates as workspace
members. SYNTHETIC/L0 throughout; no hardware/MEASURED claims.
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_015TcKegTS7QqhWPC2L2SzaS
Completes the phase-1 certificate spine; both acceptance tests now pass as code.
ruview-ood (ADR-299): domain-distance vs the certified fingerprint and a pure
DomainState KNOWN/DEGRADED/UNKNOWN classifier implementing the ADR-297
VALID->DEGRADED->UNKNOWN staleness guard; InferenceGate suppresses the class
(UNKNOWN as a first-class value) when domain is not KNOWN; RecalibrationRequest
signalled on DEGRADED/UNKNOWN. 25 tests.
ruview-witness (ADR-316): ordered, append-only, BLAKE3 hash-linked stage chain
(observation->DSP->inference->corroboration->spatial->policy) rooted in an
attest VerifiedMeasurement; verify() catches mutation/reorder/dropped/broken
links; effective level is the minimum across stages. 19 tests.
ruview-certify (ADR-315): signed CapabilityCertificate minted from a single-
context evidence slice (never pooled), evidence level capped at the slice floor,
valid_until bounded by calibration validity; is_valid(now, domain) returns false
when expired OR domain != KNOWN (certificate conditional on the live domain
signature). 17 tests incl. non_known_domain_invalidates.
ruview-scorecard (ADR-314): multi-domain scorecard with per-domain CIs,
worst_domain(), and a promotion gate that fails when only pooled average
improved while a worst-domain slice regressed. 17 tests.
ruview-policy (ADR-318): fail-closed action gate; Convenience/Security/
SafetyCritical assurance classes; authorize() denies with a named failed
condition; UNKNOWN denies high-assurance actions. Includes
acceptance_test_b_post_drift_unknown_denies_safety_critical. 10 tests.
All five verified green independently (88 tests). Registers the five crates as
workspace members. SYNTHETIC/L0 reference crypto; no hardware claims.
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_015TcKegTS7QqhWPC2L2SzaS
Four foundational perception-substrate crates (dependency roots of the
certificate spine), each pure/leaf and deterministically tested:
ruview-ontology (ADR-303): canonical Site>Building>Floor>Space>Zone +
Sensor/Person/Object/Observation/Track/Event, typed serde-transparent ids,
WorldGraph registry with dangling-parent/duplicate rejection and containment
resolution, EvidenceLevel L0-L5, and a docs-only migration table for the
per-surface shapes. 8 tests + doctest.
ruview-attest (ADR-302): DeviceId + SignedMeasurement envelope binding
{device, monotonic sequence, timestamp, payload hash, calibration ref};
AttestationVerifier enforces unknown-device, signature, tamper, strict
per-device sequence (replay), and freshness; Signer/Verifier traits with a
blake3-keyed SYNTHETIC-grade reference MAC (Ed25519 is a drop-in). 14 tests.
ruview-evidence (ADR-301): append-only per-(room,device,subject,model) ledger;
immutable records with provenance-gated constructors (synthetic forces L0,
measured needs a reproducer); summarize() never pools across contexts; a slice
reports the floor evidence level, never above its weakest record. 8 tests.
wifi-densepose-calibration (ADR-298): CalibrationCertificate — signed, versioned
room fingerprint minted from existing calibration/bank state, compare/drift, and
invalidate-on-drift/expiry. 78 tests green.
Registers the three new crates as workspace members. All four verified green
independently. SYNTHETIC/L0 reference crypto; no hardware claims.
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_015TcKegTS7QqhWPC2L2SzaS
ADR-292 (sensing-server): SourceState enum + pure transition (provenance.rs);
auth-error/unknown can never resolve to LiveVerified; synthetic exports
watermarked. Pose-fusion simulator starts SYNTHETIC and only shows LIVE on a
real decoded frame (#1557); sensing client no longer labels an unauthorized
status endpoint as live (#1526).
ADR-294 (sensing-server): NodeInference distinct from RoomInference (inference.rs);
deterministic freshness-weighted fuse_room; RateLimiter re-keyed to
(NodeId,EntityKind) so nodes do not starve each other (#1541); stale nodes go
unavailable not frozen-online (#1555).
ADR-293 (sensing-server): --udp-bind (default 127.0.0.1) + --udp-allow allowlist
+ fail-closed refusal of routable bind without allowlist unless --udp-insecure-lan
(udp_bind.rs); crate SECURITY.md documents the threat model and the deferred
per-device-auth step two.
ADR-295 (train): model_gates.rs — constant-output, unreachable-boundary (the
issue-1521 degenerate presence head), class-balance, baseline, and
metric-name-provenance gates.
ADR-296 (ci): scripts/csi-data-policy-check.sh (+ allowlist) and a workflow that
fails on tracked CSI-format/oversized-JSONL files; 6/6 self-tests pass.
Per-crate suites reported green by the swarm; CSI policy self-test 6/6 and JS
syntax verified here. Full workspace re-verification deferred until the
concurrent phase-1 spine build frees the target dir (disk pressure).
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_015TcKegTS7QqhWPC2L2SzaS
Adds wifi-veil (pinned git rev, dependency-free, MIT/Apache-2.0) to the
workspace and gates it behind a new 'veil' feature in wifi-densepose-bfld.
The bfld::veil module exposes deterministic attacker-vs-protector shield
assessments (re-ID collapse, throughput ratio, energy-conservation audit)
with a mandatory SYNTHETIC/L0 evidence label. Advisory only: no RF
emission, no frame mutation, BFLD invariants I1-I3 untouched. Default
build unchanged; 6 new feature-gated tests pass.
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_015TcKegTS7QqhWPC2L2SzaS
Adopt "WiFi Veil" as the product name across all user-facing surfaces, keeping
VEIL (Verifiable Emission-shaping for Identity-Leakage prevention) as the
technical codename it's built on. Only prose, titles, descriptions, and the
console UI change — no code identifiers, file names, crate/npm `name` fields,
or the deterministic proof witness are touched, so `cargo test` and the C-core
host test are unaffected.
- Crate & research READMEs: title + defining line now "WiFi Veil (codename VEIL — …)".
- Cargo.toml / package.json / plugin.json descriptions: "WiFi Veil …".
- Console UI (veil-console.html): title, brand, and copy say "WiFi Veil".
- Firmware tree (README, per-provider READMEs, BUILD/INTEGRATION/MEASUREMENT):
"WiFi Veil protector/core/shield".
- Harness manifest: recomputed SHA-256 digests for the four changed packaged
files (README, package.json, CLAUDE.md, plugin.json) — all verified consistent.
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_01WEXNqzs7UsfNFBcP5yW21p
Plain-language "how it protects you" for non-experts, in both surfaces:
- README: new "How this protects you from unauthorized WiFi surveillance"
section — the silent device-free threat, the per-session keyed-twist defense
(own router undoes it, outside listener can't average it back → identity guess
collapses to chance; ~98% throughput; compliant/not-jamming), and honest
limits (defends vs. third-party sniffers not the AP; SYNTHETIC/L0).
- UI (ui/veil-console.html): a new always-visible "How this protects you" card
(Threat / Shield / Kept honest) plus a deeper `protect` explainer dialog.
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_01WEXNqzs7UsfNFBcP5yW21p
- docs/veil-tui.gif: an animated walkthrough of the `veil` terminal harness
(shield off/on, 32 passes → out-of-spec, 96 → pass, ward preset, optimize,
witness check), embedded at the top of the harness section in the crate README.
- ui/veil-console.html: the self-contained VEIL Console web dashboard now lives
in the repo (no build/network), linked from the README.
- veil: honor CLICOLOR_FORCE so piped captures keep ANSI color (standard flag).
- veil-console.html footer now points at the `veil` terminal harness/TUI.
Validated: 38 tests + doctest pass, clippy --all-targets -D warnings clean,
rustfmt clean. GIF is 800×520, ~113 KB, verified to decode/animate in a browser.
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_01WEXNqzs7UsfNFBcP5yW21p
A dependency-free native binary (`src/bin/veil.rs`) — the in-repo counterpart to
the npm metaharness — that drives the same crate API the tests use:
- Interactive ANSI dashboard (TUI): live status, re-ID off/on vs chance,
throughput, compliance (energy 1.000× / not jamming), a block-sparkline
collapse curve, config, and PASS/OUT-OF-SPEC verdict. Command-driven redraw
loop (std-only, no crossterm/ratatui): on/off, passes/bits/n/snr,
metric euclid|cosine, preset scif|board|ward|hotel, optimize, proof.
- Scriptable subcommands: report, sweep, optimize, adaptive <N>, proof, doctor
(exit 0 = healthy). Auto-picks TUI on a terminal, one-shot report when piped;
honors NO_COLOR.
Std-only, so it builds with no extra deps and runs in any pipe/CI. The wasm leaf
story is unchanged (validated with `--lib`; the bin is native-only). All
readouts are SYNTHETIC/L0 and never relabeled.
Validated: 38 tests + doctest pass, clippy --all-targets -D warnings clean,
rustfmt clean, wasm --lib builds; all subcommands + a scripted TUI session
exercised. Documented in the crate README and ADR-288.
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_01WEXNqzs7UsfNFBcP5yW21p
Adds a rendered screenshot of the VEIL management console (dark theme, shield
engaged: the room's WiFi identity clusters collapsed to the chance floor, re-ID
4.7%, PROTECTED) as a banner at the top of the crate README. Captured at a 16:11
landscape viewport (2400x1752, 2x).
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_01WEXNqzs7UsfNFBcP5yW21p
Two additions on top of the hyper-optimized VEIL shield.
1) Adaptive optimization (v2/crates/wifi-densepose-privshield/src/optimize.rs):
- optimal_bits_across_snr / model_optimal_bits_for_snr: the throughput-
optimal feedback resolution shifts with SNR (unconstrained optimum 4 bits
at 5-10 dB, 3 bits at 20-40 dB); within the spec {5,7,9} set it stays 5,
which is why the shipped shield is SNR-stable.
- adaptive_shield / min_passes_for_n: derive a shield for a specific
deployment. Finding: the collapse budget is N-independent in this model
(48 passes collapses N in {8,64} alike) — it is set by the fine-subspace
dimension, not the candidate count. Defaults unchanged, so the proof
witness is untouched. 38 tests + doctest pass; clippy -D warnings clean.
2) npm metaharness harness/wifi-densepose-privshield/ (ADR-289), mirroring
wifi-densepose-sar-harness (ADR-286) with two improvements:
- @metaharness/* imported dynamically inside the commands that need them, so
`guidance` and `--help` run with ZERO dependencies installed (offline / pre
`npm install`).
- a dependency-free VEIL `guidance` command: a source-cited, evidence-
labelled, read-only capability map (topics: overview, threat,
countermeasure, compliance, optimization, experiment).
Standard router + flywheel (SYNTHETIC) + Darwin wiring, tailored to VEIL
task axes and policy levers. Tests: smoke + router + flywheel (need install)
and guidance (offline). .harness manifest generated with real per-file
hashes. Validated offline: cli syntax, --help, guidance topics, exit codes,
graceful degradation when deps are absent.
Docs: research bundle 08 gains a per-deployment adaptivity section; 07 and the
crate README point at the harness; ADR-289 added and indexed.
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_01WEXNqzs7UsfNFBcP5yW21p
Adds an `optimize` module that replaces the hand-picked shield config with a
derived, robustness-verified optimum, and hardens the experiment so the
collapse is proven to be signal-level, not classifier-level.
Model changes:
- throughput.rs: add a feedback-airtime term (cost rises with feedback bits)
alongside the falling quantization residual, giving a genuine interior
throughput optimum in feedback resolution.
- attacker.rs: add a selectable distance metric (Euclidean + Cosine) so the
optimizer can require the collapse to hold under multiple classifiers.
- experiment.rs: thread the attacker metric through; build the channel once.
optimize.rs:
- optimal_feedback_bits / spec_optimal_feedback_bits: throughput-best resolution
(3 bits unconstrained, matching DySPAN-2026; 5 bits within the 802.11 {5,7,9}
set).
- min_givens_passes: smallest mixing budget that collapses re-ID robustly across
both metrics AND N in {16,32}.
- pareto_frontier and hyper_optimize.
Findings and adopted defaults:
- Proven-minimum robust passes = 48; the hand-picked 112 was 2.3x over-
provisioned. Rotation mixing is keyed (never signaled), so extra passes are
throughput-free -> ship 96 (2x margin).
- Feedback resolution 5 bits (spec-optimal), down from 7.
- ShieldConfig::default() now equals hyper_optimize()'s output; a test guards
against drift.
Net vs. the original: strictly better on BOTH privacy and throughput.
Reference (SYNTHETIC/L0, N=16): re-ID 100% shield-off -> 4.7% shield-on
(chance 6.25%, below chance), throughput 97.6%, energy ratio 1.000000. 35 tests
+ doctest pass; clippy -D warnings clean; builds for wasm32.
Docs: new docs/research/privacy-shield/08-optimization.md; updated bundle
README/03/05/07 and ADR-288 with the derived operating point.
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_01WEXNqzs7UsfNFBcP5yW21p
VEIL (Verifiable Emission-shaping for Identity-Leakage prevention) is the
countermeasure counterpart to BFLD (ADR-118/121): where BFLD detects when
beamforming feedback becomes identifying, VEIL shapes a node's own outgoing
feedback so an unauthorized passive sniffer cannot re-identify people, while
a legitimate receiver that shares the per-session key sees an unchanged link.
Mechanism: identity leaks through the fine cross-subcarrier phase structure of
a compressed beamforming report; throughput rides the dominant beam direction.
These are (mostly) separable subspaces. VEIL composes extra keyed Givens
rotations (the report's native primitive) over the fine subspace only. The
rotation is orthogonal (energy-preserving -> not jamming), keyed per session
(the AP inverts it -> throughput preserved), and fresh each session (a sniffer
cannot average it back -> re-identification collapses to chance).
Contents:
- v2/crates/wifi-densepose-privshield: deterministic, dependency-free,
WASM-ready pure-compute leaf implementing the attacker-vs-protector
experiment, the four compliant controls, a throughput model, a
machine-checkable "not jamming" compliance audit, and a pinned witness.
29 tests + doctest pass; clippy -D warnings clean; builds for
wasm32-unknown-unknown.
- docs/research/privacy-shield: 8-file research bundle (SOTA, threat model,
design, compliance/regulatory, experiment protocol, market, roadmap).
- docs/adr/ADR-288: formal decision record.
Reference results (SYNTHETIC / L0, N=16 identities): passive re-ID accuracy
100% shield-off -> 7.8% shield-on (chance 6.25%); modeled throughput ratio
98.0%; emission energy ratio 1.000000 (compliant). All defense numbers are
SYNTHETIC until a two-node hardware capture with a witness exists.
Compliant waveform controls only; never jamming (47 U.S.C. 333/302a analysis
in the bundle).
Co-Authored-By: claude-flow <ruv@ruv.net>
Claude-Session: https://claude.ai/code/session_01WEXNqzs7UsfNFBcP5yW21p
ADR-283 was already taken by ADR-283-ruview-community-metaharness-flywheel.md,
merged to main before this branch's work started -- picked without checking
against main's actual current ADR list. Renumbered to ADR-287, the next free
slot after ADR-286 (the wifi-densepose-sar-harness ADR, no collision there).
Updated every reference across the crate (Cargo.toml description, lib.rs/
geometry.rs/measurement.rs/pointcloud.rs/reconstruct.rs/resolution.rs doc
comments, tests/physics_validation.rs), its README, the tutorial doc,
CHANGELOG.md, and the workspace Cargo.toml's member comment. 25 tests still
pass after the rename (doc-comment-only changes, no logic touched).
wifi-densepose-pointcloud's Cargo.toml had no license/authors/repository
fields at all (crates.io rejects a publish with "missing or empty
metadata fields: license") -- added the standard
authors.workspace/license.workspace/repository.workspace trio every
other crate in this workspace already uses.
nvsim-server's path dependency on nvsim had no version requirement
(crates.io rejects "all dependencies must have a version requirement
specified when publishing") -- pinned to nvsim = "0.3.1", the version
just published.
Found while publishing both crates for the first time; both now publish
cleanly (verified via cargo publish --dry-run before and after).
focus_at_point called Complex64::from_polar (a sin/cos pair) once per
(pose, frequency) term. FrequencySweep::frequencies() produces evenly
spaced frequencies by construction, so the per-term phase is an
arithmetic progression in the frequency index -- the phasor can be
evaluated once per pose and advanced by a fixed complex-multiply step
per frequency instead, turning K trig evaluations into 2.
focus_at_point's signature changes from a raw &[f64] frequency slice
to &FrequencySweep, so the evenly-spaced-frequencies precondition
this optimization depends on is a type-level invariant rather than a
caller-observed one -- an arbitrary non-uniform frequency list is no
longer constructible through this API at all.
MEASURED (criterion regression detection, p < 0.001): ~4.4-4.5x
faster across 512/4096/32768-voxel grids (300us/1.97ms/14.5ms vs the
prior 1.47ms/10.4ms/73.5ms). Proven equivalent, not just faster: a new
test independently reimplements the direct per-frequency computation
as a reference and checks the optimized path against it across four
sweep sizes (incl. the n_steps=1 degenerate case) and both on-target
and off-target points, to <1e-9 relative error.
25 tests (22 unit + 3 integration), 0 failed, clippy-clean.
New standalone leaf crate implementing the synthetic-aperture-radar
reconstruction primitive a handheld through-wall RF imaging device
would need: a stepped-frequency multi-position complex forward
measurement simulator, delay-and-sum backprojection reconstruction,
point-cloud extraction, and closed-form range/cross-range resolution
+ antenna-pose coherence-budget formulas checked against the
reconstruction's actual behavior in tests/physics_validation.rs.
Motivated by comparing this repo against Applied Electrodynamics'
"WaveSight" launch. Scoped explicitly below ADR-278's RISE/DiffRadar/
GeRaF reproduction gates: this is the bare measurement-model +
backprojection primitive, not a reproduction of any published system
or a claim about real hardware capability. Every number is
SYNTHETIC/L0 (ADR-282) -- no wideband RF hardware backs this crate.
24 tests (21 unit + 3 integration), 0 failed, clippy-clean. Adds a
tutorial walkthrough and MEASURED backprojection benchmark numbers.
--convert-model rejected the published model.safetensors because its
JSON header is padded to an 8-byte boundary with trailing NUL bytes,
which a strict serde_json::from_slice parse treats as trailing
characters. Trim the padding before parsing, with a regression test
that reproduces the exact boundary-padded shape of the real HF file.
docs/huggingface/MODEL_CARD.md had drifted from the card actually
published on the Hub: every file in its "Files in this repo" table
(pretrained-encoder.onnx, pretrained-heads.onnx, pretrained.rvf,
room-profiles.json) does not exist in ruvnet/wifi-densepose-pretrained.
Replaced it with the content live on the Hub and added a section
documenting the --convert-model / --model RVF conversion path, which
neither card mentioned.
HAP accessory signing seed no longer reachable via derived Debug. /api/history/period and /api/logbook no longer break the default (unfiltered) call shape above 32 entities. fire_event's event_type validation relaxed to match real HA's contract. homecore-migrate gained a --force flag for re-running imports. Public v2051 release notes corrected. 110 tests across the 3 touched crates, 0 failed, clippy clean.
Fixes#1422, Fixes#1423. HeartRateExtractor no longer truncates subcarrier count on empty phases; BreathingExtractor resets immediately on first out-of-band rejection instead of passively draining a stale window (recovery 28.6s -> 6.0s). 64 tests passing, clippy clean, zero regressions workspace-wide.
Fixes the calibration-path bug in #1440. Disables the variance channel when occupied-anchor variance doesn't genuinely exceed the empty-room baseline, mirroring the existing mean-shift channel's fallback. 64 tests passing, zero regressions.
Fixes#1442. Extracted classify_vitals() so presence is always derived from the label, matching the convention already used elsewhere in the codebase. 4 new regression tests, 707 tests passing, zero regressions.
Published: wifi-densepose-core 0.3.2, -vitals 0.3.2, -wifiscan 0.3.2, -hardware 0.3.2, -signal 0.3.6, -nn 0.3.2, -ruvector 0.3.3, -train 0.3.3, -mat 0.3.2, -wasm 0.3.1.
Not published (blocked, needs a decision): wifi-densepose-sensing-server and wifi-densepose-cli both path-depend on ruview-auth, which is publish = false. Version bumps reserved (0.3.5, 0.3.2) but not published.
Native frame contract, universal RF encoder, RF-aware Gaussian spatial memory, physics-guided synthetic RF worlds, edge sensing control plane, BLE-CS + factorized pose. All 10 ADRs (273-282) fully implemented and tested (99 tests); ADR-278 (radar inverse rendering) honestly gated with zero code as a future research program.
Deep-reviewed and hardware-tested against a live ESP32-C6 CSI node before merge: fixed a reachable panic, a silent NaN-corruption path, a cross-entity Gaussian conflation bug, and a wrong-center-frequency bug in the WiFi adapter (confirmed live: was misreporting channel 4 as 2437 MHz, now correctly reports 2427 MHz matching the hardware parser exactly). Added a standing hardware-in-the-loop test (examples/esp32_live_hardware_test.rs). Also fixed unrelated pre-existing issues surfaced during validation (wifi-densepose-core clippy warnings, a ruview-auth Windows build break, a sensing-server test flake).
Full review: https://gist.github.com/ruvnet/89795f3c4b8ea166cff5ac35ae4c7651
