feat(ruview-unified): native frame contract + programmable perception (ADR-279..282)

Second increment of the unified RF spatial world model, applying the architectural correction that the 56-bin canonical tensor must not be the authoritative format, and moving the control plane from passive sensing to programmable perception. - RfFrameV2 (ADR-279): authoritative native RF record — native complex IQ preserved (proven byte-untouched by the derived view), explicit validity masks, declared PhaseState, TX/RX poses + antenna geometry, calibration/quality state, and construction-time provenance rules: Synthetic ⇒ L0Simulation, Measured ⇒ ≥ L1CapturedReplay (the L0–L5 evidence ladder is now a type). Canonical tensor demoted to a mask-aware derived view through the shared adapter normalization. New modalities: WifiCir, WifiBfReport, FmcwRangeAzimuth, FmcwDopplerAzimuth. IEEE P3162 synthetic-aperture import profile. - Active sensing control plane (ADR-280, control.rs): SensingTask admission (raw export always refused; identity requires consent), SensingAction/InformationGoal, age-of-information planner with measured 95% sensing-traffic reduction vs uniform refresh, fail-closed CoherentSensorGroup fusion (time/phase/geometry bounds, five denial paths tested), policy-authorized RIS actuation receipts, purpose-scoped TaskSufficientRepresentation leakage validation. - BLE Channel Sounding (ADR-281): adapter + ble_cs_range with phase-slope and RTT as separate cross-validated evidence — exact recovery on synthetic tones, relay-style divergence flagged instead of averaged. Delay-Doppler-native FieldAxis + delay_doppler_map (unit-peak tone test). - Factorized pose (ADR-281, RePos): relative skeleton on the content representation, root on the geometry-conditioned one, calibrated per-joint uncertainties; room-shortcut leakage experiment: held-out MPJPE 0.0003 m vs 0.2534 m monolithic; 740 params (<2% structured budget). Age gate input now log(1+age_ms); gradient check re-proven. - Gaussian primitives: first_seen_ns, doppler_variance, bounded source_receipts lineage merged on fusion. PartitionKey gains a session dimension; SplitManifest certifies disjointness across all seven leakage dimensions. - ADR-282: ecosystem positioning — RuView as the edge RF perception runtime under RuField/RuVector/MetaHarness; evidence-ladder policy. Validation: ruview-unified 84 unit + 3 acceptance tests, 0 failed, clippy-clean; workspace 3,789 passed 0 failed (--exclude wifi-densepose-desktop, GTK headers unavailable in container); Python proof VERDICT PASS. Docker images unaffected: no shipped binary consumes this crate yet (Dockerfile.rust builds sensing-server / cog-ha-matter / homecore-server only; Dockerfile.python builds untouched archive/v1). Co-Authored-By: claude-flow <ruv@ruv.net> Claude-Session: https://claude.ai/code/session_01Q1R5zhz6sSfXGRXpgBwpFX
2026-07-28 18:21:42 +00:00 · 2026-07-26 19:29:18 +00:00
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+# ADR-279: Native RF frame contract — `RfFrameV2` is authoritative, the canonical tensor is a derived view
+
+| Field | Value |
+|-------|-------|
+| **Status** | Accepted — **implemented** (`ruview-unified/src/frame.rs`; 5 invariant tests) |
+| **Date** | 2026-07-26 |
+| **Parent** | ADR-273 (amends ADR-274 §2) |
+| **Relates to** | ADR-136 (`CanonicalFrame` — extended, not replaced), ADR-262 (provenance discipline), ADR-282 (evidence ladder policy) |
+
+## 0. PROOF discipline
+
+Grades per ADR-273 §0. This ADR is a **correction** to ADR-274 §2, adopted before any measured-data debt accumulates.
+
+## 1. Context — the architectural correction
+
+ADR-274 made the 56-bin × 8-snapshot canonical `RfTensor` the adapter output, which is right for *compatibility* but wrong as the *authoritative* format: resampling every device into one fixed tensor discards bandwidth (a 320 MHz 802.11bk capture and a 20 MHz 802.11n capture become indistinguishable), antenna structure, phase state, and hardware-specific information a foundation encoder should learn from (the WiLLM lesson: lightweight per-device adapters into a shared *latent*, not a shared *tensor*). RuView's own history proves the cost of premature canonicalization — MERIDIAN's normalizer is useful precisely because the native data was still around.
+
+## 2. Decision — `RfFrameV2`
+
+The authoritative record preserves the native capture. Fields per the implementation: schema version, frame id, timestamp, modality (now including `WifiCir`, `WifiBfReport`, `FmcwRangeAzimuth`, `FmcwDopplerAzimuth` alongside CSI/SRS/FMCW/UWB/BLE-CS), **declared native axes** (`FieldAxis`: time/frequency/delay/Doppler/range/azimuth/elevation/antenna/polarization), centre frequency, bandwidth, sample rate, arbitrary-rank `native_shape` + `native_iq` + explicit `valid_mask`, TX/RX `Pose3` in one building frame, `AntennaElement` geometry, `sample_age_ns`, `CalibrationState` with a **declared `PhaseState`** (`Raw | Sanitized | Calibrated | Unavailable`), `SignalQuality`, and `FrameProvenance`.
+
+Seven required invariants, each enforced in the validated constructor or proven by a test:
+
+1. **Native samples are never overwritten** — `to_canonical(&self)` is read-only; `canonical_view_is_derived_and_native_is_untouched` asserts byte-identical native IQ + mask after derivation.
+2. Subcarrier/antenna masks are explicit (`valid_mask`, arity-checked).
+3. Phase declares its state — consumers branch on `PhaseState` instead of guessing whether detrending happened.
+4. TX/RX geometry uses one building coordinate system (`Pose3`).
+5. Results retain source identity via `receipt_id` (consumed by the Gaussian memory's `source_receipts` lineage, ADR-275).
+6. **Synthetic and measured frames can never share a provenance class**, strengthened to an evidence rule: `Synthetic ⇒ exactly L0Simulation`, `Measured ⇒ ≥ L1CapturedReplay` — both directions rejected at construction (`synthetic_and_measured_provenance_can_never_alias`).
+7. Sample age is carried through the whole path (frame → tensor → age gate → `BoundedEvent`).
+
+## 3. The canonical tensor is demoted to a compatibility view
+
+`RfFrameV2::to_canonical()` derives the ADR-274 tensor **through the exact same normalization code path as every adapter** (`adapters::normalize_grid` — one normalization, many entry points), after mask-aware gap-filling (invalid bins interpolated from nearest valid neighbors on the complex plane). Rank ≠ 3 frames have no canonical projection and say so with a typed error. The existing ESP32/Intel/Atheros 114→56 projections stay as-is; they simply stop being the storage format.
+
+## 4. The mandatory split manifest
+
+The brief's leakage rule is now code: `PartitionKey` gains a `session` dimension (packet-session leakage is as real as room leakage) and `eval::SplitManifest` certifies per-dimension disjointness across **all seven** dimensions (room/day/person/chipset/firmware/layout/session):
+
+```text
+train_rooms ∩ test_rooms = ∅ … train_sessions ∩ test_sessions = ∅
+```
+
+`fully_disjoint()` is the bar for reporting a result as leakage-resistant; a room-holdout split that still shares people *says so* in its manifest instead of masquerading (test `split_manifest_certifies_per_dimension_disjointness`). The hidden real-world test set requirement (never accessible to synthetic generation/calibration) is process, recorded in ADR-282 §4.
+
+## 5. Consequences
+
+- New hardware (PicoScenes, Intel, Atheros, Realtek radar, 320 MHz 802.11bk) lands as an `RfFrameV2` producer + latent adapter; nothing is lost at ingest. Vendor conformance receipt = the constructor's invariants (native shape preserved, phase state declared, timestamps monotonic, geometry present, loss measured, synthetic flag correct).
+- The encoder input contract (ADR-274) is unchanged *today* (it consumes the derived view); migrating the tokenizer to native-resolution tokens is the flagged follow-up once real multi-bandwidth data exists (P2).
+- Storage cost rises (native + derived); accepted — the derived view can always be recomputed, the native never can be.
+
+## 6. Verification
+
+`cargo test -p ruview-unified frame::` — 5 tests: provenance aliasing, shape/mask/axes arity, derived-view purity + gap-filling, rank/geometry rejection, P3162 import-profile validation (`SyntheticApertureSoundingDataset`, ADR-281 §5). All MEASURED-CODE.
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+# ADR-280: Active sensing and programmable perception — tasks, freshness, coherence, and governed actuation
+
+| Field | Value |
+|-------|-------|
+| **Status** | Accepted — **implemented** (`ruview-unified/src/control.rs`; 6 test suites incl. a measured ≥70 % traffic-reduction gate) |
+| **Date** | 2026-07-26 |
+| **Parent** | ADR-273; extends ADR-277 |
+| **Relates to** | ADR-277 (policy engine — every contract here composes with it), ADR-262 (P0–P5 privacy classes, reused verbatim), ADR-148 (`ruview-swarm` — the mobile-agent consumer of sensing actions) |
+
+## 0. PROOF discipline
+
+Grades per ADR-273 §0. External motivators — ESI-Bench's act-to-uncover formalization, LuLIS's 256-coherent-RF-chain distributed aperture, ETSI's cooperative-ISAC and AI/data-handling work items, age-of-information digital-twin scheduling, semantic/task-sufficient communication architectures — are all EXTERNAL-UNVERIFIED. Everything asserted about *our* behavior is a named test.
+
+## 1. Context
+
+The important shift is from **passive sensing** (accept whatever measurements arrive) to **programmable perception**: the system chooses where, when, how, and at what fidelity to sense, then changes the radio environment or moves sensing agents to resolve uncertainty. Simultaneously, the dominant failure mode across the emerging systems is **hidden synchronization and calibration dependence** — shared clocks, known antenna poses, stable phase silently assumed, confidently wrong when violated. Both belong in the control plane, fail-closed, before capture begins.
+
+## 2. Decision — the evidence-aware sensing task (`SensingTask`)
+
+ETSI-ISAC-vocabulary contract: purpose, target zone, modalities, requested resolution, latency bound, minimum confidence (below which results become *no decision*), raw + result retention, authorized consumers, consent reference. `admit_task` composes with the ADR-277 engine and is fail-closed on every branch; two rules deserve record:
+
+- `raw_export_allowed` **exists in the contract** (ISAC vocabulary compatibility) but is **always refused** (`task_admission_is_fail_closed`): ADR-277 §2.1 made raw export unrepresentable, and a config flag does not reopen it.
+- Identity-purpose tasks without a consent reference are refused before the zone check even runs.
+
+## 3. Decision — sensing actions (`SensingAction` + `InformationGoal`)
+
+An action is a deliberate act of evidence-gathering against a stated hypothesis ("the east corridor holds one stationary person or two closely spaced people"), bounded by latency, energy, and a **privacy ceiling** (`PrivacyClass` P0–P5, the ADR-262 ladder). Actions are what the planner (§4), a MetaHarness agent, or a swarm drone consume.
+
+## 4. Decision — age-of-information scheduler (`ActiveSensingPlanner`)
+
+A spatial twin is only useful when it knows which parts are stale. Per region: `SpatialStateFreshness` (last observation, expected change rate, uncertainty growth, business criticality, sensing cost), with
+
+```text
+priority = uncertainty(age) × change_rate × criticality ÷ cost
+```
+
+The planner emits at most the highest-priority action above threshold per cycle. **Measured** (`planner_reduces_sensing_traffic_versus_uniform_refresh`): 20 regions / 100 ticks, one hot region — 100 observations vs 2,000 under uniform refresh = **95 % sensing-traffic reduction** while the hot region stays observed. (The brief's "50–90 %" was an architectural estimate; this is a synthetic-scenario measurement, sensitive to how concentrated change is.) Priority ordering is proven separately (`planner_prioritizes_stale_critical_regions`: emergency-exit > server-room > storage).
+
+## 5. Decision — coherent distributed apertures fail closed (`CoherentSensorGroup`)
+
+No coherent fusion unless the group can *prove* compatibility: every member must report sync state, be within the group's time-error and phase-error bounds, and match the calibrated baseline geometry hash; unknown reporters are rejected too. Five denial paths, each tested (`coherent_fusion_fails_closed`): missing member, clock drift, phase drift, geometry change since calibration, non-member injection. This is the antidote to the hidden-synchronization failure mode — a building-scale WiFi aperture (the LuLIS direction) degrades to incoherent processing rather than producing confident nonsense.
+
+## 6. Decision — programmable radio environments are governed actuators
+
+RIS / movable / fluid antennas change **which rooms and people are observable**, so actuation is governed like sensing: `request_actuation` is the only way to obtain an `ActuationReceipt`, it verifies the state is supported *and* that the affected zone grants the purpose under the ADR-277 engine (`actuation_requires_policy_authorization`: steering a beam for an ungranted purpose is denied). Receipts carry requested/applied state, time, controller, purpose — the audit trail the RIS governance requirement demands.
+
+## 7. Decision — task-sufficient representations are leakage-checked
+
+Semantic compression ("transmit occupancy uncertainty, not CSI") must remain **task-scoped**: a representation sufficient for anonymous occupancy may not retain identity. `TaskSufficientRepresentation` carries source lineage, an information bound, an explicit `excluded_information` list, and a privacy class; `validate_representation` enforces per-purpose ceilings (Presence/Diagnostics ≤ P2 excluding identity+vitals; Activity/Localization ≤ P3 excluding identity; Vitals/Pose ≤ P4; Identity = P5) and refuses lineage-free orphans (`task_sufficient_representation_is_leakage_checked`).
+
+## 8. Standards alignment (the strongest strategic seam)
+
+The vocabulary here — sensing task/service/entity, measurement configuration, sensing data/result/consumer/purpose, retention, result exposure — is deliberately the emerging ETSI ISAC data-plane vocabulary, positioning this crate as an open reference implementation candidate for ISAC data handling rather than a parallel dialect. Charging/mobility management are explicitly out of scope until a cellular deployment exists.
+
+## 9. Consequences
+
+- MetaHarness/OaK-style agents get a typed surface: read freshness, plan actions, receive receipts — spatial memory meets agentic planning without touching raw RF.
+- Distributed-aperture work (P4+) inherits a fusion gate that already fails closed.
+- Not implemented (honest scope): information-gain *estimation* is caller-supplied (the planner uses staleness heuristics, not mutual information); RIS drivers, actual multi-AP coherence measurement, and OTFS waveform control are hardware-dependent roadmap items.
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+# ADR-281: New modality surfaces — BLE Channel Sounding, delay-Doppler-native tensors, P3162 import, and factorized pose
+
+| Field | Value |
+|-------|-------|
+| **Status** | Accepted — **implemented** (`adapters.rs` BLE CS + ranging evidence, `tensor.rs::delay_doppler_map`, `frame.rs` P3162 import profile, `heads.rs` factorized pose; 8 new test suites) |
+| **Date** | 2026-07-26 |
+| **Parent** | ADR-273; extends ADR-274 |
+| **Relates to** | ADR-279 (`FieldAxis` native axes), ADR-152 (geometry conditioning intake), ADR-021/263 (radar hardware) |
+
+## 0. PROOF discipline
+
+Grades per ADR-273 §0. Bluetooth SIG cm-level claims vs the ~20–50 cm practical review, OTFS ISAC field trials, IEEE P3162, PerceptAlign's >60 % cross-domain error reduction, and RePos's 10–21 % MPJPE gains are EXTERNAL-UNVERIFIED design inputs. Our numbers below are MEASURED-CODE / MEASURED-SYNTHETIC.
+
+## 1. BLE Channel Sounding (§2) — likely the fastest path to consumer-scale spatial anchoring
+
+`BleCsFrame` carries per-frequency-step round-trip tone phases plus optional RTT. Two rules:
+
+- **Phase-based ranging and RTT are separate evidence sources.** `ble_cs_range` computes both — `d_phase = |dθ/df|·c/4π` from the unwrapped phase-vs-frequency slope, `d_rtt = rtt·c/2` — and *cross-validates* instead of averaging. Agreement raises confidence; divergence beyond 0.5 m yields `RangingAnomaly::Divergent` (multipath bias, relay attack, timing fault, or calibration problem) with confidence capped ≤ 0.2. Measured: exact recovery at 1.5/5/12 m (< 1 µm error on clean synthetic phases, 40 steps × 1 MHz); a relay-style RTT inflation to ~51 m against a 5 m phase estimate is flagged, not blended (`ble_cs_flags_relay_style_divergence_instead_of_averaging`).
+- The tensor view (`BleCsAdapter`, `nrf54-cs` in the registry) **never detrends phase** — the ranging ramp *is* the measurement; the preserved ramp is asserted in test.
+
+Single-source evidence (no RTT) is capped at confidence 0.5 — one mechanism alone is never high-trust ranging.
+
+## 2. Delay-Doppler-native support (§3)
+
+`FieldAxis` (ADR-279) makes delay/Doppler first-class native axes so OTFS-style captures are stored natively, and `RfTensor::delay_doppler_map` provides the standard transform for frequency-time tensors: IDFT over bins (→ delay) × DFT over snapshots (→ Doppler). Measured: a synthetic scatterer at (delay 7, Doppler 3) produces a unit peak with < 1e-9 leakage everywhere else. Rule: derived features may be small, but delay-Doppler maps are not collapsed into scalar motion energy before provenance and local storage.
+
+## 3. IEEE P3162 synthetic-aperture import (§5)
+
+`SyntheticApertureSoundingDataset` (frequency range, aperture poses, directional PDP, coordinate system, processing-manifest hash) is the validated import profile — the calibration bridge between measured environments, Sionna-class simulators, and learned RF scene models. Schema + validation only; parsers arrive with the first real dataset.
+
+## 4. Factorized pose (RePos) + log-age gating
+
+`FactorizedPoseHead` separates what generalizes from what conditions:
+
+- **relative skeleton** branch reads the environment-invariant content representation (cannot learn room-position shortcuts);
+- **root localization** branch reads the geometry-conditioned representation (sensor pose is signal there — the PerceptAlign lesson);
+- `absolute = root + relative` (`PoseOutput::absolute_joints_m`), with **calibrated per-joint and root residual σ** so every pose output carries uncertainty (ADR-273 item 8).
+
+**The leakage experiment** (`factorized_pose_resists_room_shortcut_leakage`): training rooms where room position *correlates* with body scale (the trap real deployments set), held-out room breaking the correlation — factorized MPJPE **0.0003 m** vs monolithic absolute-head **0.2534 m** (845× worse), on a toy that isolates the mechanism. MEASURED-CODE for the mechanism; not a pose-accuracy claim.
+
+Budget: the structured pose head is the largest adapter at **740 params vs the 40,856-param backbone (1.8 %)** — documented ceiling for structured heads is **< 2 %** (scalar heads keep the 1 % gate), both asserted in `every_head_fits_the_one_percent_budget_at_deployment_config`.
+
+Age gating now matches the age-aware-CSI recipe exactly: the freshness gate input is `log(1 + sample_age_ms)` (`encoder::age_feature`), giving millisecond and multi-second staleness comparable input scale; the finite-difference gradient check re-proves the backward pass through the changed input.
+
+## 5. Consequences
+
+- Bluetooth/UWB anchors slot in as *geometric* evidence while WiFi carries ambient activity — the complement strategy, in code.
+- The Gaussian primitive gained the lifecycle fields the update-loop spec requires (`first_seen_ns`, `doppler_variance`, bounded `source_receipts` lineage merged on fusion) — static structure is distinguishable from transients by lifetime, and every primitive traces to source frames.
+- Roadmap, explicitly not done: real nRF54 CS capture path, OTFS waveform generation, P3162 file parsing, pose heads on real MM-Fi-style data.
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+# ADR-282: Ecosystem positioning — RuView is the camera-free RF perception runtime, not the whole spatial OS
+
+| Field | Value |
+|-------|-------|
+| **Status** | Accepted (positioning + evidence-ladder policy; ladder implemented as `frame::EvidenceLevel`) |
+| **Date** | 2026-07-26 |
+| **Parent** | ADR-273 |
+| **Relates to** | ADR-260/262 (RuField), ADR-261 (RuVector), ADR-182 (MetaHarness-minted harness), ADR-279 (provenance/evidence types), ADR-187 (honest labeling precedent) |
+
+## 1. Context
+
+RuView currently occupies a valuable but ambiguous position: the README's breadth invites reading every capability as field-validated, and the platform sometimes speaks as if it were the complete spatial intelligence operating system. The defensible identity is narrower and stronger.
+
+## 2. Decision — the layered identity
+
+> **RuView is an open, edge-native RF perception runtime that turns heterogeneous radio measurements into governed spatial observations.**
+
+It is *not* positioned as a complete world model, robotics platform, digital twin, or universal spatial OS. The stack divides:
+
+| Layer | Responsibility | Owner |
+|---|---|---|
+| Applications | healthcare, buildings, robotics, security, retail, industrial | application systems |
+| Agent & decision | query planning, active sensing, automation, policy | **MetaHarness** |
+| Spatial memory & reasoning | persistent objects, Gaussian fields, scene graphs, temporal memory | **RuVector** (fed by `ruview-unified::gaussian`) |
+| Governed sensing plane | evidence, privacy, calibration, lineage, sensing tasks | **RuField** (bridged per ADR-262; contracts in ADR-277/279/280) |
+| Perception & edge inference | native capture, adapters, shared encoder, task heads, uncertainty, P0 containment | **RuView** |
+| Radio & physical sensors | WiFi CSI/CIR/BF, radar, UWB, BLE CS, cellular SRS | hardware |
+
+Competitive posture follows from the layer: **complement vision platforms** (coverage where cameras are unavailable, unwanted, or ineffective — never "replaces cameras universally"); one shared encoder + spatial field across CSI and radar; BLE/UWB as geometric anchors with WiFi for ambient sensing; and against 6G ISAC, be the practical open implementation of the sensing data plane on hardware that exists today.
+
+## 3. Decision — strengths to invest, weaknesses to fix
+
+Invest (already differentiated): low-cost ambient perception on commodity radios; camera-free coverage (with the explicit caveat that camera-free ≠ privacy-preserving — that is what ADR-277/280 gates are for); edge-first execution; existing application surfaces (HA/Matter/HomeKit), to be extended toward ROS 2, OpenUSD, MQTT Sparkplug, OPC UA, BIM/digital-twin connectors as demand proves out.
+
+Fix (each has a concrete ADR): platform/world-model claim mixing → this ADR's ladder; no persistent spatial representation → ADR-275 (feed RuVector, don't contain everything in the sensing server); ESP32-specific pipeline risk → ADR-279 adapters; stream-only operation → ADR-280 sensing tasks.
+
+## 4. Decision — the public evidence ladder (mandatory)
+
+`frame::EvidenceLevel` is now a type, and its use is policy:
+
+| Level | Meaning |
+|---|---|
+| L0 | Simulation only |
+| L1 | Captured replay |
+| L2 | Controlled laboratory |
+| L3 | Held-out room + subject validation |
+| L4 | Multi-site field pilot |
+| L5 | Production operational evidence |
+
+Rules: (a) every capability row in README/registry carries exactly one level; (b) `ProvenanceClass::Synthetic` frames are L0 *by type* and measured frames are ≥ L1 — the constructor rejects both aliasing directions (ADR-279 invariant 6); (c) a level upgrade requires the corresponding artifact (a replay corpus, a lab protocol, a strict-split manifest per ADR-279 §4, a pilot report); (d) the hidden real-world test set used for L3+ claims is never accessible to synthetic generation, augmentation, or calibration. Everything shipped in ADR-273..281 is **L0** except the adapter/contract layers, which are code-level (no accuracy claim to grade).
+
+## 5. Commercial focus (bounded claims per vertical)
+
+Elder care (decision support and anomaly escalation, **not** diagnosis); smart buildings (occupancy/utilization; value = energy + space + safety − cost); industrial safety (works in dust/darkness/occlusion; **not** a certified safety system until field-validated); security (through-wall occupancy with the surveillance-governance gates of ADR-277/280 as a feature, not friction); robotics (RuView is probabilistic exteroception, never ground truth).
+
+## 6. The moat
+
+Not any single detector: the *combination* of broad hardware support (ADR-279 adapters), heterogeneous data with provenance, cross-environment pretrained encoders under anti-leakage evaluation (ADR-273 §4), calibration/uncertainty discipline, privacy-preserving edge execution (ADR-277/280), cryptographic evidence (RuField bridge), persistent spatial memory (ADR-275 → RuVector), and open integration. Harder to reproduce than any model.
+
+## 7. Acceptance test (ecosystem-fit)
+
+RuView fits the mature stack when a **frozen** encoder ingests WiFi CSI, radar, and Bluetooth measurements from previously unseen hardware, emits RuField-compliant observations, updates a persistent RuVector spatial model, and supports an agent query with: ≤ 0.5 m p90 localization; < 20 % degradation across unseen rooms; explicit uncertainty on every result; complete calibration + provenance lineage; no P0 RF leaving the edge; replay/lab/live evidence clearly separated; successful fusion with a standard robotics or digital-twin platform. Tracked as the L4 gate; the synthetic analogue machinery already exists (`tests/e2e_acceptance.rs`).
@@ -138,6 +138,10 @@ Statuses: **Proposed** (under discussion), **Accepted** (approved and/or impleme
 | [ADR-276](ADR-276-physics-guided-synthetic-rf-worlds.md) | Physics-guided synthetic RF world generator | Accepted (P1 implemented) |
 | [ADR-277](ADR-277-edge-sensing-control-plane.md) | Edge sensing control plane (802.11bf / ETSI ISAC aligned) | Accepted (P1 implemented) |
 | [ADR-278](ADR-278-radar-inverse-rendering-research-program.md) | Radar inverse rendering + differentiable RF SLAM research program | Proposed |
+| [ADR-279](ADR-279-native-rf-frame-contract.md) | Native RF frame contract — `RfFrameV2` authoritative, canonical tensor derived | Accepted (implemented) |
+| [ADR-280](ADR-280-active-sensing-programmable-perception.md) | Active sensing & programmable perception control plane | Accepted (implemented) |
+| [ADR-281](ADR-281-ble-cs-delay-doppler-pose-factorization.md) | BLE Channel Sounding, delay-Doppler tensors, P3162 import, factorized pose | Accepted (implemented) |
+| [ADR-282](ADR-282-ruview-ecosystem-positioning.md) | Ecosystem positioning + mandatory L0–L5 evidence ladder | Accepted |

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