fix(worldgraph): bound SemanticState growth with deterministic retention

StreamingEngine::process_cycle appended one SemanticState belief per cycle
with no eviction — ~1.7M nodes/day at 20 Hz (beyond-SOTA roadmap finding #6).

Add WorldGraph::prune_semantic_states(max): deterministic eviction of the
oldest beliefs by (valid_from_unix_ms, id); structural nodes (rooms, zones,
sensors, anchors, tracks, events) are never eligible. Wire it into the
engine after each belief append (DEFAULT_SEMANTIC_RETENTION = 7,200, ~6 min
at 20 Hz; set_semantic_retention to tune). The WorldGraph holds current
beliefs; durable history is the recorder's job, so no audit data is lost.

3 new tests: end-to-end bounded growth, oldest-only eviction, deterministic
equal-timestamp tie-break. Workspace gate: 2,865 passed, 0 failed.

https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH

CHANGELOG.md

@@ -15,6 +15,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - **RF tomography solver hoisting** — ISTA gradient buffer no longer allocated inside the 100-iteration loop, and the Frobenius Lipschitz bound moved from per-`reconstruct` to construction (`ruvsense/tomography.rs`). Bit-identical results.
 
 ### Fixed
+- **WorldGraph no longer grows unboundedly under the live loop.** `StreamingEngine::process_cycle` appended one `SemanticState` belief per cycle with no eviction — ~1.7M nodes/day at 20 Hz (identified in `docs/research/ruview-beyond-sota/04-optimization-roadmap.md`). Added `WorldGraph::prune_semantic_states(max)` — deterministic eviction of the oldest beliefs by `(valid_from_unix_ms, id)`, structural nodes (rooms/zones/sensors/anchors/tracks/events) never eligible — and wired it into the engine after each belief append (`StreamingEngine::DEFAULT_SEMANTIC_RETENTION` = 7,200 ≈ 6 min at 20 Hz; tunable via `set_semantic_retention`). The WorldGraph holds *current* beliefs; durable history is the recorder's job, so no audit data is lost. 3 new tests (bounded growth end-to-end, oldest-only eviction, deterministic tie-break).
 - **ESP32 edge heart rate no longer stuck at ~45 BPM / dropping wildly — #987.** The on-device HR estimator (`edge_processing.c`, `0xC5110002`) reported ~45 BPM regardless of true heart rate (Apple-Watch ground truth 87 BPM read as ~45) and swung frame-to-frame. Two root causes: (1) a hardcoded `sample_rate = 10.0f` that became wrong after #985's self-ping raised the CSI callback rate to a variable ~13–19 Hz — BPM scales as `assumed/actual × true`, so 87 read ~45 and the reading swung as CSI yield fluctuated; (2) the zero-crossing estimator locked onto a breathing harmonic (a 0.25 Hz breathing fundamental puts its 3rd harmonic at ~0.74 Hz ≈ 44 BPM inside the HR band). Fix: measure the real sample rate from inter-frame timestamps (used for BPM conversion + biquad re-tuning on >15% drift); replace the HR zero-crossing with an autocorrelation estimator that rejects breathing harmonics (driven by a robust autocorr breathing period); median-13 smooth the output. Hardware A/B (fixed vs unmodified control board, both `edge_tier=2`): control pegged 40–49 BPM; fixed reaches the true 88–91 BPM (vs 87 GT) and holds a stable physiological value (spread 59→0 for a steady subject). Known limitation: heavy subject motion still degrades the estimate (motion gating is a follow-up).
 - **Person count no longer leaks up to 10 in heuristic mode — addresses #894.** `field_bridge::occupancy_or_fallback` returned the eigenvalue-based `FieldModel::estimate_occupancy` count **unbounded** (its internal ceiling is 10), while the sibling estimators on the same single-link data — the perturbation-energy fallback right below it and `score_to_person_count` — both cap at 3 ("1-3 for single ESP32"). On noisy / under-calibrated CSI the eigenvalue count inflated, producing the "10 persons reported when 1 present" symptom (seen when `--model` fails to load and the server runs on heuristics). Bounded the eigenvalue path to the shared `MAX_SINGLE_LINK_OCCUPANCY` (3) so every estimator on one link agrees; genuine higher counts come from the multistatic fusion path, not a single-link covariance estimate.
 - **MQTT multi-node deployments now create one Home-Assistant device per node — closes #898.** After the #872 MQTT wiring landed, the JSON→`VitalsSnapshot` bridge hard-coded a single `node_id` (the MQTT client id) and the publisher used a single `OwnedDiscoveryBuilder`, so every physical node collapsed into one device (`identifiers:["wifi_densepose_wifi-densepose-1"]`), contradicting the "one device per node" docs. The bridge now emits one snapshot per node in the sensing update's `nodes[]` (each with its own `node_id` + RSSI, falling back to a single aggregate snapshot for wifi/simulate sources), and the publisher derives a per-node builder (`OwnedDiscoveryBuilder::for_node`) that publishes discovery + availability lazily on first sight of each `node_id` and routes state to per-node topics — yielding N distinct HA devices with per-node availability/LWT. Unit-tested (distinct nodes → distinct `wifi_densepose_<node>` identifiers); 71 MQTT tests pass.

v2/crates/wifi-densepose-engine/src/lib.rs

@@ -116,6 +116,10 @@ pub struct StreamingEngine {
     slam: RfSlam,
     // ADR-139 live loop: stable track_id -> PersonTrack WorldId.
     person_tracks: BTreeMap<u64, WorldId>,
+    // WorldGraph belief retention: max live SemanticState nodes. The live loop
+    // appends one belief per cycle (1.7M/day at 20 Hz); durable history is the
+    // recorder's job, so old beliefs are evicted deterministically past this cap.
+    semantic_retention: usize,
 }
 
 impl StreamingEngine {
@@ -135,9 +139,20 @@ impl StreamingEngine {
             evolution: None,
             slam: RfSlam::with_discovery(0.5, 5, 0.6),
             person_tracks: BTreeMap::new(),
+            semantic_retention: Self::DEFAULT_SEMANTIC_RETENTION,
         }
     }
 
+    /// Default cap on live `SemanticState` beliefs in the WorldGraph
+    /// (~6 minutes of full-rate history at 20 Hz; older beliefs are evicted —
+    /// durable history belongs to the recorder).
+    pub const DEFAULT_SEMANTIC_RETENTION: usize = 7_200;
+
+    /// Override the `SemanticState` retention cap (minimum 1).
+    pub fn set_semantic_retention(&mut self, max_states: usize) {
+        self.semantic_retention = max_states.max(1);
+    }
+
     /// ADR-139 live loop: create or update a `PersonTrack` node by stable
     /// `track_id`, locate it in `room`, and wire an `Observes` edge from
     /// `sensor` (so the privacy rollup can suppress it under identity-strict
@@ -350,6 +365,10 @@ impl StreamingEngine {
             provenance.clone(),
             &[room],
         );
+        // Retention: bound the live belief set (one node is appended per cycle;
+        // without this the graph grows ~1.7M nodes/day at 20 Hz). Deterministic
+        // eviction; the just-added belief is always newest and survives.
+        self.world.prune_semantic_states(self.semantic_retention);
 
         // 7. Deterministic witness over the trust decision (ADR-137 §2.7).
         let witness = witness_of(&provenance, effective_class);
@@ -547,6 +566,32 @@ mod tests {
         assert_eq!(o1.quality.per_node_weights, o2.quality.per_node_weights);
     }
 
+    /// WorldGraph belief retention: the live loop appends one SemanticState per
+    /// cycle; past the cap the oldest beliefs are evicted so graph memory is
+    /// bounded, while structural nodes and the newest belief always survive.
+    #[test]
+    fn semantic_state_growth_is_bounded() {
+        let (mut e, room) = engine();
+        e.set_semantic_retention(5);
+        let cal = CalibrationId(1);
+        let mut last_id = None;
+        let baseline_nodes = 2; // room + sensor
+        for i in 0..20u64 {
+            let frames = [
+                node_frame(0, 1000 + i * 50_000, 56),
+                node_frame(1, 1001 + i * 50_000, 56),
+            ];
+            let out = e.process_cycle(&frames, cal, room, 5_000 + i as i64).unwrap();
+            last_id = Some(out.semantic_id);
+            assert!(e.world().node_count() <= baseline_nodes + 5);
+        }
+        // 20 cycles ran, only 5 beliefs remain, newest is still present.
+        assert_eq!(e.world().node_count(), baseline_nodes + 5);
+        assert!(e.world().node(last_id.unwrap()).is_some());
+        // Structural nodes survive eviction.
+        assert!(e.world().node(room).is_some());
+    }
+
     fn node_frame_scaled(node_id: u8, ts_us: u64, n_sub: usize, scale: f32) -> MultiBandCsiFrame {
         MultiBandCsiFrame {
             node_id,

v2/crates/wifi-densepose-worldgraph/src/graph.rs

@@ -201,6 +201,47 @@ impl WorldGraph {
         id
     }
 
+    /// Retention: evict the oldest `SemanticState` nodes (with their incident
+    /// edges) until at most `max_states` remain. Returns the evicted ids,
+    /// oldest first.
+    ///
+    /// The live loop appends one belief per cycle (`StreamingEngine::
+    /// process_cycle`), which at 20 Hz is ~1.7M nodes/day — unbounded without
+    /// this. The WorldGraph holds *current* beliefs; durable history belongs to
+    /// the recorder (`homecore-recorder`), so evicting old beliefs loses no
+    /// audit data.
+    ///
+    /// Deterministic: eviction order is ascending `(valid_from_unix_ms, id)`,
+    /// so replaying the same cycle sequence prunes identically. Only
+    /// `SemanticState` nodes are eligible — rooms, zones, sensors, anchors,
+    /// person tracks, and events are never evicted by this method.
+    pub fn prune_semantic_states(&mut self, max_states: usize) -> Vec<WorldId> {
+        let mut states: Vec<(i64, u64)> = self
+            .inner
+            .node_weights()
+            .filter_map(|n| match n {
+                WorldNode::SemanticState { id, valid_from_unix_ms, .. } => {
+                    Some((*valid_from_unix_ms, id.0))
+                }
+                _ => None,
+            })
+            .collect();
+        if states.len() <= max_states {
+            return Vec::new();
+        }
+        states.sort_unstable();
+        let n_evict = states.len() - max_states;
+        states.truncate(n_evict);
+        states
+            .into_iter()
+            .map(|(_, raw)| {
+                let id = WorldId(raw);
+                self.remove_node(id);
+                id
+            })
+            .collect()
+    }
+
     /// Record a contradiction between two still-live beliefs (ADR-139 §2.3).
     /// Neither node is deleted — the disagreement stays queryable.
     ///
@@ -424,6 +465,56 @@ mod tests {
         assert!(g.neighbors(s1).iter().any(|(_, e)| matches!(e, WorldEdge::Contradicts { .. })));
     }
 
+    #[test]
+    fn prune_semantic_states_evicts_oldest_only() {
+        let mut g = WorldGraph::new(GeoRegistration::default());
+        let room = g.upsert_node(living_room());
+        let prov = SemanticProvenance {
+            evidence: vec!["ev:abc".into()],
+            model_version: "rfenc-1.0".into(),
+            calibration_version: "cal:uuid".into(),
+            privacy_decision: "PrivateHome/Allow".into(),
+        };
+        let ids: Vec<WorldId> = (0..10)
+            .map(|t| g.add_semantic_state(format!("s{t}"), 0.9, t, prov.clone(), &[room]))
+            .collect();
+        assert_eq!(g.node_count(), 11); // room + 10 beliefs
+
+        let evicted = g.prune_semantic_states(3);
+        // Oldest 7 evicted, in ascending timestamp order.
+        assert_eq!(evicted, ids[..7].to_vec());
+        assert_eq!(g.node_count(), 4); // room + 3 newest beliefs
+        for kept in &ids[7..] {
+            assert!(g.node(*kept).is_some());
+        }
+        // The room (structural node) is never eligible for eviction.
+        assert!(g.node(room).is_some());
+        // Below the cap, pruning is a no-op.
+        assert!(g.prune_semantic_states(3).is_empty());
+    }
+
+    #[test]
+    fn prune_is_deterministic_for_equal_timestamps() {
+        let prov = SemanticProvenance {
+            evidence: vec![],
+            model_version: "m".into(),
+            calibration_version: "c".into(),
+            privacy_decision: "p".into(),
+        };
+        let build = || {
+            let mut g = WorldGraph::new(GeoRegistration::default());
+            let room = g.upsert_node(living_room());
+            for _ in 0..6 {
+                // Identical timestamps: tie-break must fall back to id order.
+                g.add_semantic_state("s".into(), 0.5, 100, prov.clone(), &[room]);
+            }
+            g
+        };
+        let mut g1 = build();
+        let mut g2 = build();
+        assert_eq!(g1.prune_semantic_states(2), g2.prune_semantic_states(2));
+    }
+
     #[test]
     fn privacy_rollup_suppresses_person_tracks() {
         let mut g = WorldGraph::new(GeoRegistration::default());