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feat(worldmodel): ADR-147 — OccWorld world model integration, wifi-densepose-worldmodel v0.3.0 (#856)

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* feat(worldmodel): ADR-147 — OccWorld integration, wifi-densepose-worldmodel v0.3.0 (#854)

- New crate `wifi-densepose-worldmodel` v0.3.0: async Unix-socket bridge
  to OccWorld Python inference server; `OccWorldBridge`, `OccupancyGrid3D`,
  `TrajectoryPrior`, `worldgraph_to_occupancy` encoder (14/14 tests pass)
- `scripts/occworld_server.py`: long-lived Python inference server for
  OccWorld TransVQVAE (72.4M params); applies API-bug patches; dummy mode
  for CI testing; graceful SIGTERM shutdown
- `pose_tracker.rs`: `trajectory_prior` soft-blend injection (80/20
  Kalman/prior) on torso keypoint; `set_trajectory_prior()` public method
- CI: added `Run ADR-147 worldmodel tests` step
- ADR-147: accepted — OccWorld primary (209 ms, 3.37 GB VRAM, RTX 5080);
  Cosmos deferred to ADR-148 (32.54 GB VRAM exceeds hardware)
- Benchmark proof: 208.7 ms P50, 3.37 GB peak VRAM, 12.1 GB headroom

Co-Authored-By: claude-flow <ruv@ruv.net>

* chore: update ruvector.db state

Co-Authored-By: claude-flow <ruv@ruv.net>

* chore: ruvector.db sync

Co-Authored-By: claude-flow <ruv@ruv.net>

* fix(cli): add missing min_frames field to CalibrateArgs test helper

E0063 in calibrate.rs:448 — CalibrateArgs gained min_frames in ADR-135
but the default_args() test helper was not updated. min_frames=0 means
'use tier default', matching the existing runtime behaviour.

Co-Authored-By: claude-flow <ruv@ruv.net>
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rUv
2026-05-29 16:53:51 -04:00
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CHANGELOG.md
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@@ -7,6 +7,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
## [Unreleased]
### Added
- **ADR-147 — OccWorld world model integration** (`wifi-densepose-worldmodel` v0.3.0). Adds a 15-frame trajectory prediction engine running locally on RTX 5080 at 209 ms / 3.37 GB VRAM peak. New Rust crate provides `OccWorldBridge` thin client over Unix socket; Python inference server in `scripts/occworld_server.py` runs OccWorld TransVQVAE (72.4M params) with API-bug patches applied. Kalman tracker (`pose_tracker.rs`) gains `trajectory_prior` soft-blend injection (80/20). See [ADR-147](docs/adr/ADR-147-nvidia-cosmos-world-foundation-model-integration.md) · [benchmark proof](docs/adr/ADR-147-benchmark-proof.md).
### Added
- **ADR-125 (APPLE-FABRIC) — RuView ↔ Apple Home native HAP bridge proposal + reference impl** (issue #796). New ADR-125 lays out a three-phase plan to expose RuView as a discoverable HomeKit accessory on the LAN so a HomePod (as Home Hub) sees presence / vitals / BFLD-derived events natively — zero Home-Assistant intermediary. Two architectural decisions resolved in the ADR per design review: (1) **one HAP bridge with N child accessories** (single pairing, matches Hue/Eve pattern), and (2) **identity-risk mapping is semantic, not probabilistic** — `identity_risk_score` and Soul-Signature match probability never cross the HAP boundary; instead three thresholded events are exposed (`Unknown Presence`, `Unexpected Occupancy`, `Unrecognized Activity Pattern`) so RuView reads as calm-tech ambient awareness, not surveillance UX. ADR-125 §2.1.a reference impl ships now: `scripts/hap-test-sensor.py` (HAP-1.1 bridge advertised over mDNS, paired with operator's iPhone) + `scripts/c6-presence-watcher.py` (parses ESP32 `RV_FEATURE_STATE_MAGIC = 0xC5110006` UDP packets with IEEE CRC32 validation, hysteresis, and a Python port of `wifi-densepose-bfld::PrivacyClass` that enforces ADR-125 §2.1.d invariant I1 at the HomeKit edge — only `Anonymous` (2) and `Restricted` (3) frames may cross; `Raw`/`Derived` are refused with exit code 2 and the cited ADR clause). Validated end-to-end on real hardware (no mocks): ESP32-C6 on `ruv.net` → UDP/5005 → mac-mini watcher → BFLD gate → HAP bridge → iPhone Home app shows `Unknown Presence` live characteristic flip. **Empirical**: 50-51 valid CRC-passing feature_state packets per 10 s window from the live C6; zero CRC errors. P2 (Rust-native HAP via the `hap` crate, replaces the Python sidecar) and P3 (Matter Controller once `matter-rs` stabilizes) follow.