docs: truth-up README + user-guide on Hugging Face model release

The previous wording in both README.md and docs/user-guide.md claimed
no pretrained weights were released yet. That was wrong — the
contrastive CSI encoder + presence-detection head + per-node LoRA
adapters have been published as
ruvnet/wifi-densepose-pretrained on Hugging Face for several weeks
(124 downloads at time of writing), with 100% presence accuracy on
the validation set and 164,183 emb/s on M4 Pro.

This commit replaces the "no shipped weights" framing with the actual
state, and surfaces a real loader gap discovered during a
before/after benchmark of the sensing-server:

* Baseline run (no --model): server produced presence/motion/vitals
  output at ~19 ticks/s, as expected.
* After run (--model models/wifi-densepose-pretrained.rvf): the
  progressive RVF loader errored with
  "invalid magic at offset 0: expected 0x52564653, got 0x7974227B"
  (0x7974227B is the ASCII bytes {"ty… from the JSONL header).
  v2/.../rvf_container.rs only parses the binary RVF segment
  format; the HF artifact is JSONL RVF. When the load fails the
  pipeline degraded to null output (variance=0, presence=None) rather
  than falling back to heuristic mode.

The docs now describe (a) what works today — Python / training-side
consumption of model.safetensors — and (b) what is gated on a JSONL
adapter or a binary-RVF republish — sensing-server --model loading.
The 17-keypoint pose model remains separately pending (#509,
ADR-079 phases P7–P9).

.github/workflows/ci.yml

@@ -33,7 +33,7 @@ jobs:
 
     - name: Set up Python
       continue-on-error: true
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: ${{ env.PYTHON_VERSION }}
         cache: 'pip'
@@ -166,7 +166,7 @@ jobs:
 
     - name: Set up Python ${{ matrix.python-version }}
       continue-on-error: true
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: ${{ matrix.python-version }}
         cache: 'pip'
@@ -198,7 +198,7 @@ jobs:
 
     - name: Upload coverage reports
       continue-on-error: true
-      uses: codecov/codecov-action@v4
+      uses: codecov/codecov-action@v6
       with:
         file: ./coverage.xml
         flags: unittests
@@ -226,7 +226,7 @@ jobs:
       uses: actions/checkout@v4
 
     - name: Set up Python
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: ${{ env.PYTHON_VERSION }}
         cache: 'pip'
@@ -285,7 +285,7 @@ jobs:
     - name: Extract metadata
       continue-on-error: true
       id: meta
-      uses: docker/metadata-action@v5
+      uses: docker/metadata-action@v6
       with:
         images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
         tags: |
@@ -296,7 +296,7 @@ jobs:
 
     - name: Build and push Docker image
       continue-on-error: true
-      uses: docker/build-push-action@v5
+      uses: docker/build-push-action@v7
       with:
         context: .
         target: production
@@ -341,7 +341,7 @@ jobs:
       uses: actions/checkout@v4
 
     - name: Set up Python
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: ${{ env.PYTHON_VERSION }}
         cache: 'pip'

.github/workflows/dashboard-a11y.yml

@@ -34,7 +34,7 @@ jobs:
             --out-dir ../../dashboard/public/nvsim-pkg \
             --release -- --no-default-features --features wasm
 
-      - uses: actions/setup-node@v4
+      - uses: actions/setup-node@v6
         with: { node-version: 20, cache: npm, cache-dependency-path: dashboard/package-lock.json }
 
       - working-directory: dashboard

.github/workflows/dashboard-pages.yml

@@ -57,7 +57,7 @@ jobs:
             -- --no-default-features --features wasm
 
       - name: Setup Node 20
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: 20
           cache: npm

.github/workflows/desktop-release.yml

@@ -30,7 +30,7 @@ jobs:
         uses: actions/checkout@v4
 
       - name: Setup Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: '20'
 
@@ -85,7 +85,7 @@ jobs:
         uses: actions/checkout@v4
 
       - name: Setup Node.js
-        uses: actions/setup-node@v4
+        uses: actions/setup-node@v6
         with:
           node-version: '20'
 

.github/workflows/fix-regression-guard.yml

@@ -23,7 +23,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
 
-      - uses: actions/setup-python@v5
+      - uses: actions/setup-python@v6
         with:
           python-version: '3.11'
 

.github/workflows/nvsim-server-docker.yml

@@ -37,7 +37,7 @@ jobs:
 
       - name: Extract metadata
         id: meta
-        uses: docker/metadata-action@v5
+        uses: docker/metadata-action@v6
         with:
           images: ghcr.io/ruvnet/nvsim-server
           tags: |
@@ -47,7 +47,7 @@ jobs:
             type=raw,value=latest,enable={{is_default_branch}}
 
       - name: Build + push
-        uses: docker/build-push-action@v5
+        uses: docker/build-push-action@v7
         with:
           context: v2
           file: v2/crates/nvsim-server/Dockerfile

.github/workflows/security-scan.yml

@@ -32,7 +32,7 @@ jobs:
 
     - name: Set up Python
       continue-on-error: true
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: ${{ env.PYTHON_VERSION }}
         cache: 'pip'
@@ -99,7 +99,7 @@ jobs:
 
     - name: Set up Python
       continue-on-error: true
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: ${{ env.PYTHON_VERSION }}
         cache: 'pip'
@@ -170,7 +170,7 @@ jobs:
 
     - name: Build Docker image for scanning
       continue-on-error: true
-      uses: docker/build-push-action@v5
+      uses: docker/build-push-action@v7
       with:
         context: .
         target: production
@@ -197,7 +197,7 @@ jobs:
 
     - name: Run Grype vulnerability scanner
       continue-on-error: true
-      uses: anchore/scan-action@v3
+      uses: anchore/scan-action@v7
       id: grype-scan
       with:
         image: 'wifi-densepose:scan'
@@ -343,7 +343,7 @@ jobs:
 
     - name: Set up Python
       continue-on-error: true
-      uses: actions/setup-python@v5
+      uses: actions/setup-python@v6
       with:
         python-version: ${{ env.PYTHON_VERSION }}
         cache: 'pip'

.github/workflows/sensing-server-docker.yml

@@ -50,6 +50,12 @@ jobs:
         with:
           submodules: recursive
 
+      # QEMU is required so the amd64 GitHub runner can cross-build the
+      # linux/arm64 layer below (Dockerfile.rust is arch-agnostic — no `--target`
+      # flag — so buildx + QEMU is all that's needed; arm64 builds are emulated
+      # by the runner, not built on a separate arm64 host).
+      - uses: docker/setup-qemu-action@v3
+
       - uses: docker/setup-buildx-action@v3
 
       - name: Log in to Docker Hub
@@ -68,7 +74,7 @@ jobs:
 
       - name: Compute tags
         id: meta
-        uses: docker/metadata-action@v5
+        uses: docker/metadata-action@v6
         with:
           images: |
             docker.io/ruvnet/wifi-densepose
@@ -81,7 +87,7 @@ jobs:
 
       - name: Build + push
         id: build
-        uses: docker/build-push-action@v5
+        uses: docker/build-push-action@v7
         with:
           context: .
           file: docker/Dockerfile.rust
@@ -90,7 +96,11 @@ jobs:
           labels: ${{ steps.meta.outputs.labels }}
           cache-from: type=gha
           cache-to: type=gha,mode=max
-          platforms: linux/amd64
+          # README badge advertises `amd64 + arm64`, and #547 promised multi-arch
+          # as part of the docker publish refresh; arm64 was never actually wired
+          # in, so Apple Silicon Macs hit `no matching manifest for linux/arm64/v8`
+          # on `docker pull ruvnet/wifi-densepose:latest` (#136, #625). Build both.
+          platforms: linux/amd64,linux/arm64
 
       # ---------------------------------------------------------------------
       # Smoke-test the freshly-pushed image:

.github/workflows/verify-pipeline.yml

@@ -30,7 +30,7 @@ jobs:
         uses: actions/checkout@v4
 
       - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
           python-version: ${{ matrix.python-version }}
 
@@ -57,7 +57,18 @@ jobs:
           "
 
       - name: Run pipeline verification
-        working-directory: v1
+        working-directory: archive/v1
+        env:
+          # Pin thread count for scipy.fft / BLAS — multi-threaded reduction
+          # order is otherwise non-deterministic across CI runs (issue #560
+          # follow-up: 9- and 6-decimal quantization were not enough because
+          # the divergence is from threading order, not SIMD reordering).
+          # Single-threaded keeps the proof reproducible at a ~2-3x slowdown.
+          OMP_NUM_THREADS: "1"
+          OPENBLAS_NUM_THREADS: "1"
+          MKL_NUM_THREADS: "1"
+          VECLIB_MAXIMUM_THREADS: "1"
+          NUMEXPR_NUM_THREADS: "1"
         run: |
           echo "=== Running pipeline verification ==="
           python data/proof/verify.py
@@ -65,7 +76,13 @@ jobs:
           echo "Pipeline verification PASSED."
 
       - name: Run verification twice to confirm determinism
-        working-directory: v1
+        working-directory: archive/v1
+        env:
+          OMP_NUM_THREADS: "1"
+          OPENBLAS_NUM_THREADS: "1"
+          MKL_NUM_THREADS: "1"
+          VECLIB_MAXIMUM_THREADS: "1"
+          NUMEXPR_NUM_THREADS: "1"
         run: |
           echo "=== Second run for determinism confirmation ==="
           python data/proof/verify.py

.gitignore

@@ -13,6 +13,9 @@ firmware/esp32-csi-node/managed_components/
 firmware/esp32-csi-node/dependencies.lock
 firmware/esp32-csi-node/sdkconfig.defaults.bak
 
+# ESP-IDF set-target backup (local only)
+firmware/esp32-hello-world/sdkconfig.old
+
 # Claude Flow swarm runtime state
 .swarm/
 

CHANGELOG.md

@@ -7,6 +7,60 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Security
+- **ESP32 OTA upload now fails closed when no PSK is provisioned** (#596 audit finding — critical, **breaking change for unprovisioned nodes**). `ota_check_auth()` previously returned `true` when `s_ota_psk[0] == '\0'`, so a freshly-flashed node would accept attacker-controlled firmware over plain HTTP on port 8032 from any host on the WiFi. No Secure Boot V2, no signed-image verification — a single LAN call could brick or backdoor a node. The fix rejects every OTA upload until a PSK is written to NVS (the OTA HTTP server still starts so operators can run `provision.py --ota-psk <hex>` over USB-CDC without reflashing). **Operators affected**: any deployment that relied on the unauthenticated OTA endpoint working out of the box now needs to provision a PSK before subsequent OTA pushes will succeed. Boot-time `ESP_LOGW` makes the new posture visible.
+- **Path-traversal vulnerabilities patched in five sensing-server endpoints** (closes #615 — critical). New `wifi_densepose_sensing_server::path_safety::safe_id()` enforces `[A-Za-z0-9._-]` only (no leading `.`, max 64 chars) before any user-controlled identifier reaches a `format!()` building a filesystem path. Applied at:
+  - `POST /api/v1/recording/start` (`recording.rs` — `session_name`)
+  - `GET /api/v1/recording/download/:id` (`recording.rs` — `id`)
+  - `DELETE /api/v1/recording/delete/:id` (`recording.rs` — `id`)
+  - `POST /api/v1/models/load` (`model_manager.rs` — `model_id`)
+  - `training_api.rs` `load_recording_frames` (`dataset_id`s)
+
+  Pre-fix, unauthenticated callers could read `../../etc/passwd`-style paths, write arbitrary JSONL files, load attacker-controlled `.rvf` model files, or delete arbitrary files the server process could touch. 9 unit tests in `path_safety::tests` exercise the rejection envelope (empty, too-long, path separators, parent-dir traversal, null byte, whitespace/specials, non-ASCII).
+
+### Fixed
+- **WebSocket `/ws/sensing` now reports `esp32:offline` when ESP32 hardware goes stale** (closes #618). `broadcast_tick_task` was re-emitting the cached `latest_update` with a frozen `source: "esp32"` field forever after the hardware lost power or network. The REST `/health` endpoint already called `effective_source()` (which returns `"esp32:offline"` after `ESP32_OFFLINE_TIMEOUT` = 5 s with no UDP frames), but the WS broadcast path was the one consumer that didn't. Result: the UI's "LIVE — ESP32 HARDWARE Connected" banner stayed green long after the hardware went away, and `vital_signs`/`features`/`classification` re-broadcasted the last-seen values indefinitely. Fix: clone the cached `latest_update` per tick, overwrite `source` with `s.effective_source()`, then serialize and broadcast. UI can now switch to an offline state on the same 5-second budget the REST surface uses.
+- **Proof replay (`archive/v1/data/proof/verify.py`) is now cross-platform deterministic** (closes #560). Three changes together: (1) `features_to_bytes()` now `np.round(.., HASH_QUANTIZATION_DECIMALS=6)`s each feature array before packing as little-endian f64, collapsing ULP-level drift from scipy.fft pocketfft SIMD reordering; (2) the `Verify Pipeline Determinism` workflow pins `OMP_NUM_THREADS=1`, `OPENBLAS_NUM_THREADS=1`, `MKL_NUM_THREADS=1`, `VECLIB_MAXIMUM_THREADS=1`, `NUMEXPR_NUM_THREADS=1` — multi-threaded BLAS reductions were a deeper source of non-determinism than SIMD reordering, and 6-decimal quantization alone wasn't enough across Azure VM microarchitectures; (3) `expected_features.sha256` regenerated under the new conditions. CI now passes the determinism check (same hash across consecutive runs on canonical Linux x86_64 CI runner: `667eb054c44ac510342665bf9c93d608868a8ead948ae8774b2796ebce6f8fe7`). `scripts/probe-fft-platform.py` updated to mirror `HASH_QUANTIZATION_DECIMALS=6` for cross-machine spot-checks.
+- **`archive/v1/src/services/pose_service.py:223` calls the right method on `PhaseSanitizer`** (closes #612). The call was `self.phase_sanitizer.sanitize(phase_data)`, but `PhaseSanitizer`'s full-pipeline entry point is named `sanitize_phase()` (`unwrap_phase` + `remove_outliers` + `smooth_phase` chained, see `archive/v1/src/core/phase_sanitizer.py:266`). The shorter `sanitize` name doesn't exist on the class, so any path that reached this branch raised `AttributeError` and crashed the pose service mid-frame.
+- **`adaptive_classifier.rs:94` no longer panics on NaN feature values** (closes #611).
+  `sorted.sort_by(|a, b| a.partial_cmp(b).unwrap())` returned `None` and panicked
+  whenever a single `NaN` reached the classifier from real ESP32 hardware (silent
+  DSP div-by-zero, empty buffer). One bad frame killed the entire sensing-server
+  process. Swapped for `unwrap_or(Ordering::Equal)`, matching the pattern the
+  same file already used at lines 149-150 and 155. Per-frame hot path; this was
+  a real production crash vector.
+- **Completed the #611 NaN-panic audit across the sensing-server crate** (follow-up
+  to #613). The original audit grepped for the literal `partial_cmp(b).unwrap()`
+  and missed seven additional production sites that use comparator variants
+  (`partial_cmp(b.1).unwrap()`, `partial_cmp(&variances[b]).unwrap()`). All share
+  the same crash class — a single `NaN` in CSI-derived state panics the whole
+  sensing-server. Fixed:
+  - `adaptive_classifier.rs:205` — `AdaptiveModel::classify()` argmax over softmax
+    probs. **Same per-frame hot path as #611**; NaN flows through normalise →
+    logits → softmax and still reaches this site even after the #613 IQR fix.
+  - `adaptive_classifier.rs:480, 500` — training-loop argmax in `train()`
+    (training/per-class accuracy reporting).
+  - `main.rs:2446, 2449` and `csi.rs:602, 605` — variance-based source/sink
+    selection in `count_persons_mincut`. The outer `unwrap_or((0, &0))` only
+    catches an empty iterator; it cannot rescue a comparator panic.
+
+  Remaining `partial_cmp(...).unwrap()` sites in the workspace are all inside
+  `#[cfg(test)]` / `#[test]` blocks (`spectrogram.rs:269`, `depth.rs:234`,
+  `connectivity.rs:477`, `vital_signs.rs:737`) where inputs are controlled.
+- **`ui/utils/pose-renderer.js` no longer divides by zero** when two render frames land in the same `performance.now()` tick (issue #519 Bug 2). `deltaTime` is now `Math.max(currentTime - lastFrameTime, 1)` before the `1000 / deltaTime` division, capping displayed FPS at 1000 — far above any real render rate, but finite so the EMA `averageFps = averageFps * 0.9 + fps * 0.1` no longer poisons itself to `Infinity` on a single zero-dt tick.
+
+### Removed
+- **Stub crates `wifi-densepose-api`, `wifi-densepose-db`, `wifi-densepose-config`** (closes #578).
+  Each was a single-line doc-comment placeholder with an empty `[dependencies]`
+  section and zero references from any source file or `Cargo.toml`. The names
+  were reserved early for an envisioned REST/database/config split that never
+  materialised; the functionality they would provide is covered today by
+  `wifi-densepose-sensing-server` (Axum REST/WS), per-crate config + CLI args,
+  and the project's real-time-only (no-persistent-state) posture. Removing them
+  from the workspace prevents `cargo` from listing dead crates and shipping
+  empty published artifacts. If any of these names is needed in the future,
+  they can be reintroduced with a real implementation.
+
 ### Added
 - **Real-time CSI introspection / low-latency tap on `wifi-densepose-sensing-server` (ADR-099).**
   New `wifi_densepose_sensing_server::introspection` module wires
@@ -108,6 +162,22 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - **README: corrected the camera-supervised pose-accuracy claim** (audit finding #5; see PR #535) — "92.9% PCK@20" → the ADR-079 target (35%+; proxy baseline 35.3%), noting P7/P8/P9 are pending.
 
 ### Added
+- **`RollingP95` adaptive feature normalizer** (`v2/crates/wifi-densepose-sensing-server`) —
+  Streaming P95 estimator (600-sample / ~30 s sliding window) that self-calibrates
+  feature normalization to whatever distribution the deployment produces. Replaces
+  fixed-scale denominators (`variance/300`, `motion/250`, `spectral/500`) which saturated
+  when live ESP32 values exceeded those limits, collapsing dynamic range to zero.
+  Cold-start (<60 samples) falls back to the legacy denominators so day-0 behaviour
+  is preserved. Deployment-neutral: no hardcoded values. (ADR-044 §5.2)
+
+- **`dedup_factor` runtime configuration API** (`v2/crates/wifi-densepose-sensing-server`) —
+  Exposes the multi-node person-count deduplication divisor at runtime via REST:
+  - `GET  /api/v1/config/dedup-factor` — read current value.
+  - `POST /api/v1/config/dedup-factor` — set value (clamped 1.0–10.0, persisted).
+  - `POST /api/v1/config/ground-truth` — auto-tunes `dedup_factor` from a known
+    person count (`{"count": N}`); derives optimal divisor from current node-sum.
+  Config is persisted to `data/config.json` and reloaded on restart. (ADR-044 §5.3)
+
 - **`nvsim` crate — deterministic NV-diamond magnetometer pipeline simulator** (ADR-089) —
   New standalone leaf crate at `v2/crates/nvsim` modeling a forward-only
   magnetic sensing path: scene → source synthesis (Biot–Savart, dipole,
@@ -127,6 +197,13 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
   saturation, hyperfine spectroscopy, or pulsed protocols become required.
 
 ### Fixed
+- **WebSocket broadcast handler now handles Lagged events gracefully and sends periodic ping keepalives to prevent dashboard disconnects** —
+  `handle_ws_client` and `handle_ws_pose_client` in `wifi-densepose-sensing-server`
+  were treating `RecvError::Lagged` as a fatal error, causing instant disconnect
+  when clients fell behind the 256-frame broadcast buffer at 10 Hz ingest.
+  Clients would reconnect, immediately lag again, and rapid-cycle every 2–4 s.
+  `Lagged` now continues (drops missed frames, logs debug) rather than breaking.
+  Added 30 s ping keepalive on the sensing handler to prevent proxy idle timeouts.
 - **Ghost skeletons in live UI with multi-node ESP32 setups** (#420, ADR-082) —
   `tracker_bridge::tracker_to_person_detections` documented itself as filtering
   to `is_alive()` tracks but in fact passed every non-Terminated track to the

CLAUDE.md

@@ -14,9 +14,6 @@ Dual codebase: Python v1 (`v1/`) and Rust port (`v2/`).
 | `wifi-densepose-mat` | Mass Casualty Assessment Tool — disaster survivor detection |
 | `wifi-densepose-hardware` | ESP32 aggregator, TDM protocol, channel hopping firmware |
 | `wifi-densepose-ruvector` | RuVector v2.0.4 integration + cross-viewpoint fusion (5 modules) |
-| `wifi-densepose-api` | REST API (Axum) |
-| `wifi-densepose-db` | Database layer (Postgres, SQLite, Redis) |
-| `wifi-densepose-config` | Configuration management |
 | `wifi-densepose-wasm` | WebAssembly bindings for browser deployment |
 | `wifi-densepose-cli` | CLI tool (`wifi-densepose` binary) |
 | `wifi-densepose-sensing-server` | Lightweight Axum server for WiFi sensing UI |
@@ -135,17 +132,14 @@ Crates must be published in dependency order:
 2. `wifi-densepose-vitals` (no internal deps)
 3. `wifi-densepose-wifiscan` (no internal deps)
 4. `wifi-densepose-hardware` (no internal deps)
-5. `wifi-densepose-config` (no internal deps)
-6. `wifi-densepose-db` (no internal deps)
-7. `wifi-densepose-signal` (depends on core)
-8. `wifi-densepose-nn` (no internal deps, workspace only)
-9. `wifi-densepose-ruvector` (no internal deps, workspace only)
-10. `wifi-densepose-train` (depends on signal, nn)
-11. `wifi-densepose-mat` (depends on core, signal, nn)
-12. `wifi-densepose-api` (no internal deps)
-13. `wifi-densepose-wasm` (depends on mat)
-14. `wifi-densepose-sensing-server` (depends on wifiscan)
-15. `wifi-densepose-cli` (depends on mat)
+5. `wifi-densepose-signal` (depends on core)
+6. `wifi-densepose-nn` (no internal deps, workspace only)
+7. `wifi-densepose-ruvector` (no internal deps, workspace only)
+8. `wifi-densepose-train` (depends on signal, nn)
+9. `wifi-densepose-mat` (depends on core, signal, nn)
+10. `wifi-densepose-wasm` (depends on mat)
+11. `wifi-densepose-sensing-server` (depends on wifiscan)
+12. `wifi-densepose-cli` (depends on mat)
 
 ### Validation & Witness Verification (ADR-028)
 

README.md

@@ -15,7 +15,7 @@
 
 ## **See through walls with WiFi** ##
 
-**Turn ordinary WiFi into a spacial intelligence / sensing system.** Detect people, measure breathing and heart rate, track movement, and monitor rooms — through walls, in the dark, with no cameras or wearables. Just physics.
+**Turn ordinary WiFi into a spatial intelligence / sensing system.** Detect people, measure breathing and heart rate, track movement, and monitor rooms — through walls, in the dark, with no cameras or wearables. Just physics.
 
 ### π RuView is a WiFi sensing platform that turns radio signals into spatial intelligence.
 
@@ -32,7 +32,7 @@ Built on [RuVector](https://github.com/ruvnet/ruvector/) and [Cognitum Seed](htt
 
 The system learns each environment locally using spiking neural networks that adapt in under 30 seconds, with multi-frequency mesh scanning across 6 WiFi channels that uses your neighbors' routers as free radar illuminators. Every measurement is cryptographically attested via an Ed25519 witness chain.
 
-RuView also supports pose estimation (17 COCO keypoints via the WiFlow architecture), trained entirely without cameras using 10 sensor signals — a technique pioneered from the original *DensePose From WiFi* research at Carnegie Mellon University.
+RuView **ships pretrained CSI weights on Hugging Face** at [`ruvnet/wifi-densepose-pretrained`](https://huggingface.co/ruvnet/wifi-densepose-pretrained) — a self-supervised contrastive CSI encoder (128-dim embeddings, 12.2M training steps, 60K frames) + a presence-detection head reporting 100% accuracy on the validation set + per-node LoRA adapters. Models are released as `.safetensors`, 4-bit/8-bit/2-bit quantized `.bin` (4 KB–16 KB), and a JSONL RVF container. The Python training and evaluation tooling consumes these today via `safetensors`. **Pending wiring**: the sensing-server's `--model` flag still expects binary RVF, so live-server consumption of the JSONL bundle is gated on a JSONL adapter (or a re-publish in binary RVF) — see [Pretrained model on Hugging Face](#-pretrained-model-on-hugging-face) below for the workaround. **Not yet released**: a 17-keypoint pose-estimation model — training pipeline is implemented (WiFlow + AETHER + MERIDIAN heads) but camera-supervised fine-tune phases P7–P9 of [ADR-079](docs/adr/ADR-079-camera-supervised-pose-finetune.md) are `Pending`, tracked in [#509](https://github.com/ruvnet/RuView/issues/509). The live sensing server therefore drives the on-screen output from signal-based DSP heuristics today.
 
 ### Built for low-power edge applications
 
@@ -47,18 +47,26 @@ RuView also supports pose estimation (17 COCO keypoints via the WiFlow architect
 [![crates.io](https://img.shields.io/crates/v/wifi-densepose-ruvector.svg)](https://crates.io/crates/wifi-densepose-ruvector)
 
  
-> | What | How | Speed |
-> |------|-----|-------|
-> | 🦴 **Pose estimation** | CSI subcarrier amplitude/phase → 17 COCO keypoints | 171K emb/s (M4 Pro) |
-> | 🫁 **Breathing detection** | Bandpass 0.1-0.5 Hz → zero-crossing BPM | 6-30 BPM |
-> | 💓 **Heart rate** | Bandpass 0.8-2.0 Hz → zero-crossing BPM | 40-120 BPM |
-> | 👤 **Presence sensing** | Trained model + PIR fusion — 100% accuracy | 0.012 ms latency |
-> | 🧱 **Through-wall** | Fresnel zone geometry + multipath modeling | Up to 5m depth |
-> | 🧠 **Edge intelligence** | 8-dim feature vectors + RVF store on Cognitum Seed | $140 total BOM |
-> | 🎯 **Camera-free training** | 10 sensor signals, no labels needed | 84s on M4 Pro |
-> | 📷 **Camera-supervised training** | MediaPipe + ESP32 CSI → **35%+ PCK@20 target** (ADR-079; eval phases pending) | ~19 min on laptop (pipeline) |
-> | 📡 **Multi-frequency mesh** | Channel hopping across 6 bands, neighbor APs as illuminators | 3x sensing bandwidth |
-> | 🌐 **3D point cloud** *(optional fusion)* | Camera depth (MiDaS) + WiFi CSI + mmWave radar → unified spatial model | 22 ms pipeline · 19K+ points/frame |
+> | What | Status | How | Speed |
+> |------|--------|-----|-------|
+> | 🫁 **Breathing rate** | ✅ Works today | Bandpass 0.1-0.5 Hz → zero-crossing BPM, circular variance on wrapped phase ([#593](https://github.com/ruvnet/RuView/issues/593)) | 6-30 BPM |
+> | 💓 **Heart rate** | ✅ Works today | Bandpass 0.8-2.0 Hz → zero-crossing BPM | 40-120 BPM (needs good SNR) |
+> | 👤 **Presence detection** | ✅ Heuristic in server · 🤗 Trained head on HF (loader wiring pending) | Live server uses phase-variance vs adaptive threshold (60 s ambient calibration). A trained `presence-head.json` reporting 100% validation accuracy is published in [`ruvnet/wifi-densepose-pretrained`](https://huggingface.co/ruvnet/wifi-densepose-pretrained) but the sensing-server's `--model` loader only accepts binary RVF today — JSONL adapter pending. | <1 ms heuristic |
+> | 🧬 **CSI embeddings** | 🤗 Trained encoder on HF | 128-dim contrastive encoder, **164,183 emb/s** on M4 Pro. Usable today from Python / training via `model.safetensors`; sensing-server consumption pending the same JSONL loader gap as above. | 8 KB q4 fits ESP32 SRAM |
+> | 🚶 **Motion / activity** | ✅ Works today | Motion-band power + phase acceleration | Real-time |
+> | 🤸 **Fall detection** | ✅ Works today | Phase acceleration > threshold + 3-frame debounce + 5 s cooldown ([#263](https://github.com/ruvnet/RuView/issues/263)) | < 200 ms |
+> | 🧮 **Multi-person slot count** | ⚠️ Heuristic, not learned | Subcarrier diversity divided by 2 (capped). **Not** a learned counter — see [firmware README](firmware/esp32-csi-node/README.md#tier-2--full-pipeline-stable) "Tier 2 caveats". Adaptive normalisation in [#491](https://github.com/ruvnet/RuView/pull/491). | Real-time |
+> | 🦴 **17-keypoint pose estimation** | 🔬 Pipeline only, no shipped weights | Training infrastructure complete (WiFlow + AETHER + MERIDIAN heads); the published HF model is presence + embeddings, not keypoints. Tracked in [#509](https://github.com/ruvnet/RuView/issues/509). | Pending data collection |
+> | 🧱 **Through-wall sensing** | ✅ Works today | Fresnel zone geometry + multipath modeling | Up to ~5m signal-dependent |
+> | 🧠 **Edge intelligence** | ✅ Works today | Optional Cognitum Seed for persistent vector store + kNN + witness chain | $140 total BOM |
+> | 🎯 **Camera-free pre-training** | ✅ Shipped weights on HF | Self-supervised contrastive encoder, 12.2M training steps on 60K frames. See [`ruvnet/wifi-densepose-pretrained`](https://huggingface.co/ruvnet/wifi-densepose-pretrained). | 84 s/epoch retrain on M4 Pro |
+> | 📷 **Camera-supervised fine-tune** | 🔬 Pipeline only | MediaPipe + ESP32 CSI paired training, [ADR-079](docs/adr/ADR-079-camera-supervised-pose-finetune.md). Target **35%+ PCK@20**. P7–P9 (data + train + eval) `Pending`. | ~19 min/epoch on laptop |
+> | 📡 **Multi-frequency mesh** | ✅ Works today | Channel hopping across 6 bands, TDM slot scheduling (ADR-029) | 3x sensing bandwidth |
+> | 🌐 **3D point cloud fusion** | 🔬 Reference impl | Camera depth (MiDaS) + WiFi CSI + mmWave radar → unified spatial model. Requires camera. | 22 ms pipeline · 19K+ points/frame |
+>
+> Legend: ✅ shipped + tested on hardware (some have learned weights on [HF](https://huggingface.co/ruvnet/wifi-densepose-pretrained), others are deterministic DSP) · ⚠️ ships and runs, but is a heuristic/threshold (not a learned classifier) — accuracy depends on calibration · 🔬 implementation + tests in repo, weights/data/eval pending
+>
+> 🤗 **Pretrained weights**: download from [`ruvnet/wifi-densepose-pretrained`](https://huggingface.co/ruvnet/wifi-densepose-pretrained) — see [Loading the pretrained model](#loading-the-pretrained-model) below for one-command setup.
 
 ```bash
 # Option 1: Docker (simulated data, no hardware needed)
@@ -88,10 +96,10 @@ node scripts/mincut-person-counter.js --port 5006  # Correct person counting
 >
 > | Option | Hardware | Cost | Full CSI | Capabilities |
 > |--------|----------|------|----------|-------------|
-> | **ESP32 + Cognitum Seed** (recommended) | ESP32-S3 + [Cognitum Seed](https://cognitum.one) | ~$140 | Yes | Pose, breathing, heartbeat, motion, presence + persistent vector store, kNN search, witness chain, MCP proxy |
-> | **ESP32 Mesh** | 3-6x ESP32-S3 + WiFi router | ~$54 | Yes | Pose, breathing, heartbeat, motion, presence |
+> | **ESP32 + Cognitum Seed** (recommended) | ESP32-S3 + [Cognitum Seed](https://cognitum.one) | ~$140 | Yes | Presence indicator, motion, breathing rate, heart rate, fall detection, slot-count multi-person heuristic + persistent vector store, kNN search, witness chain, MCP proxy. (Pose pending weights — see [#509](https://github.com/ruvnet/RuView/issues/509).) |
+> | **ESP32 Mesh** | 3-6x ESP32-S3 + WiFi router | ~$54 | Yes | Same capabilities as above without the persistent-memory features |
 > | **Research NIC** | Intel 5300 / Atheros AR9580 | ~$50-100 | Yes | Full CSI with 3x3 MIMO |
-> | **Any WiFi** | Windows, macOS, or Linux laptop | $0 | No | RSSI-only: coarse presence and motion |
+> | **Any WiFi** | Windows, macOS, or Linux laptop | $0 | No | RSSI-only: coarse presence and motion (see [tutorial #36](https://github.com/ruvnet/RuView/issues/36)) |
 >
 > No hardware? Verify the signal processing pipeline with the deterministic reference signal: `python archive/v1/data/proof/verify.py`
 >
@@ -115,6 +123,31 @@ node scripts/mincut-person-counter.js --port 5006  # Correct person counting
 > **Live ESP32 pipeline**: Connect an ESP32-S3 node → run the [sensing server](#sensing-server) → open the [pose fusion demo](https://ruvnet.github.io/RuView/pose-fusion.html) for real-time dual-modal pose estimation (webcam + WiFi CSI). See [ADR-059](docs/adr/ADR-059-live-esp32-csi-pipeline.md).
 
 
+## 🤗 Pretrained model on Hugging Face
+
+Pretrained CSI weights live at [`ruvnet/wifi-densepose-pretrained`](https://huggingface.co/ruvnet/wifi-densepose-pretrained) — 12.2M training steps on 60K frames / 610K contrastive triplets, **100% presence accuracy** on the validation set, 4-bit quantized variant fits in 8 KB. The release includes a contrastive **CSI encoder** producing 128-dim embeddings (164,183 emb/s on M4 Pro) and a **presence-detection head**. Per-node LoRA adapters are included for environment-specific fine-tuning.
+
+```bash
+# Download the model bundle
+pip install huggingface_hub
+huggingface-cli download ruvnet/wifi-densepose-pretrained --local-dir models/wifi-densepose-pretrained
+```
+
+**What works today vs. what's pending wiring:**
+
+| Consumer | Format used | Status |
+|----------|-------------|--------|
+| Python training / evaluation / embedding extraction | `model.safetensors` | ✅ Works — load with `safetensors.torch.load_file` |
+| Inspect / re-export the bundle | `model.rvf.jsonl` (line-by-line JSON) | ✅ Works — plain JSONL |
+| Sensing-server `--model <PATH>` flag | binary RVF (`RVFS` magic) | ⚠️ Loader does not yet accept the JSONL container |
+
+**Known gap:** the HF model ships in JSONL RVF format, but `v2/crates/wifi-densepose-sensing-server/src/rvf_container.rs` only parses the binary RVF segment format. Pointing `--model` at `model.rvf.jsonl` currently errors with `invalid magic at offset 0: expected 0x52564653, got 0x7974227B` and the live pipeline degrades to null output rather than falling back to heuristic mode — so for the live sensing-server, run **without** `--model` until a JSONL adapter lands (or the model is re-published as binary RVF). Use the weights from Python / training in the meantime.
+
+**Quantization choices** (all in the HF repo): `model-q2.bin` (4 KB) · `model-q4.bin` ⭐ recommended (8 KB) · `model-q8.bin` (16 KB) · `model.safetensors` full (48 KB)
+
+The separate **17-keypoint pose-estimation model** is not in this release — pipeline is implemented but keypoint weights are still pending. Tracked in [#509](https://github.com/ruvnet/RuView/issues/509); see [ADR-079](docs/adr/ADR-079-camera-supervised-pose-finetune.md) phases P7–P9.
+
+
 ## 🔬 How It Works
 
 WiFi routers flood every room with radio waves. When a person moves — or even breathes — those waves scatter differently. WiFi DensePose reads that scattering pattern and reconstructs what happened:

archive/v1/data/proof/expected_features.sha256

@@ -1 +1 @@
-8c0680d7d285739ea9597715e84959d9c356c87ee3ad35b5f1e69a4ca41151c6
+667eb054c44ac510342665bf9c93d608868a8ead948ae8774b2796ebce6f8fe7

archive/v1/data/proof/verify.py

@@ -164,18 +164,44 @@ def frame_to_csi_data(frame, signal_meta):
     )
 
 
+# Quantization precision for cross-platform hash stability (issue #560).
+#
+# The bytes packed below feed SHA-256. Without quantization, the hash diverges
+# across SIMD backends (Intel AVX2/AVX-512 vs ARM NEON vs different x86 micro-
+# architectures in the same CI pool) because scipy.fft's pocketfft kernels
+# reorder vectorized FP operations differently per build. IEEE 754 guarantees
+# per-operation determinism, not associativity under reordering.
+#
+# Empirically: 9 decimals was NOT enough to collapse the divergence — two
+# back-to-back Ubuntu 24.04 / Python 3.11 / scipy 1.17 CI runs landed on
+# different Azure VM microarchitectures (likely Skylake vs Cascade Lake)
+# and produced two different SHA-256s even after np.round(.., 9). The DSP
+# pipeline (preprocess → biquad bandpass → FFT → PSD → variance accumulation)
+# amplifies the ~1e-14 raw FFT divergence by several orders of magnitude
+# downstream — the actual drift at features_to_bytes() input can reach 1e-7
+# or worse.
+#
+# 6 decimals (parts per million) gives ~6 orders of magnitude headroom over
+# observed pipeline-amplified ULP drift and is still far below any meaningful
+# signal change (CSI phase precision is ~1e-3 rad; PSD bins differ by orders
+# of magnitude). Round to this precision, then hash.
+HASH_QUANTIZATION_DECIMALS = 6
+
+
 def features_to_bytes(features):
     """Convert CSIFeatures to a deterministic byte representation.
 
-    We serialize each numpy array to bytes in a canonical order
-    using little-endian float64 representation. This ensures the
-    hash is platform-independent for IEEE 754 compliant systems.
+    Each feature array is quantized to ``HASH_QUANTIZATION_DECIMALS`` decimal
+    places before being packed as little-endian float64. The quantization is
+    what makes the resulting SHA-256 hash actually platform-independent — the
+    raw float values diverge at ULP precision across scipy.fft SIMD backends
+    (issue #560), even though all platforms compute the "correct" answer.
 
     Args:
         features: CSIFeatures instance.
 
     Returns:
-        bytes: Canonical byte representation.
+        bytes: Canonical, quantized byte representation.
     """
     parts = []
 
@@ -189,6 +215,10 @@ def features_to_bytes(features):
         features.power_spectral_density,
     ]:
         flat = np.asarray(array, dtype=np.float64).ravel()
+        # Quantize before packing so SIMD-level FP reordering across
+        # Intel AVX vs Apple Silicon NEON pocketfft kernels does not
+        # leak into the SHA-256 input.
+        flat = np.round(flat, HASH_QUANTIZATION_DECIMALS)
         # Pack as little-endian double (8 bytes each)
         parts.append(struct.pack(f"<{len(flat)}d", *flat))
 

archive/v1/src/middleware/auth.py

@@ -9,6 +9,7 @@ from datetime import datetime, timedelta
 
 from fastapi import Request, Response, HTTPException, status
 from fastapi.security import HTTPBearer, HTTPAuthorizationCredentials
+from starlette.middleware.base import BaseHTTPMiddleware
 from jose import JWTError, jwt
 from passlib.context import CryptContext
 
@@ -155,16 +156,17 @@ class UserManager:
         return False
 
 
-class AuthenticationMiddleware:
+class AuthenticationMiddleware(BaseHTTPMiddleware):
     """Authentication middleware for FastAPI."""
-    
-    def __init__(self, settings: Settings):
+
+    def __init__(self, app, settings: Settings):
+        super().__init__(app)
         self.settings = settings
         self.token_manager = TokenManager(settings)
         self.user_manager = UserManager()
         self.enabled = settings.enable_authentication
-    
-    async def __call__(self, request: Request, call_next: Callable) -> Response:
+
+    async def dispatch(self, request: Request, call_next: Callable) -> Response:
         """Process request through authentication middleware."""
         start_time = time.time()
         

archive/v1/src/middleware/rate_limit.py

@@ -11,6 +11,7 @@ from collections import defaultdict, deque
 from dataclasses import dataclass
 
 from fastapi import Request, Response, HTTPException, status
+from starlette.middleware.base import BaseHTTPMiddleware
 from starlette.types import ASGIApp
 
 from src.config.settings import Settings
@@ -299,15 +300,16 @@ class RateLimiter:
         }
 
 
-class RateLimitMiddleware:
+class RateLimitMiddleware(BaseHTTPMiddleware):
     """Rate limiting middleware for FastAPI."""
-    
-    def __init__(self, settings: Settings):
+
+    def __init__(self, app, settings: Settings):
+        super().__init__(app)
         self.settings = settings
         self.rate_limiter = RateLimiter(settings)
         self.enabled = settings.enable_rate_limiting
-    
-    async def __call__(self, request: Request, call_next: Callable) -> Response:
+
+    async def dispatch(self, request: Request, call_next: Callable) -> Response:
         """Process request through rate limiting middleware."""
         if not self.enabled:
             return await call_next(request)

archive/v1/src/services/pose_service.py

@@ -220,7 +220,11 @@ class PoseService:
                 # Apply phase sanitization if we have phase data
                 if hasattr(detection_result.features, 'phase_difference'):
                     phase_data = detection_result.features.phase_difference
-                    sanitized_phase = self.phase_sanitizer.sanitize(phase_data)
+                    # PhaseSanitizer's full-pipeline method is sanitize_phase,
+                    # not sanitize (issue #612). The shorter name was an
+                    # AttributeError waiting to fire on any code path that
+                    # reaches this branch.
+                    sanitized_phase = self.phase_sanitizer.sanitize_phase(phase_data)
                     # Combine amplitude and phase data
                     return np.concatenate([amplitude_data, sanitized_phase])
                 

docker/docker-compose.yml

@@ -9,7 +9,18 @@ services:
     ports:
       - "3000:3000"   # REST API
       - "3001:3001"   # WebSocket
-      - "5005:5005/udp"  # ESP32 UDP
+      # ESP32 UDP. On Linux/macOS this works with multiple ESP32 nodes out of
+      # the box. On Docker Desktop for Windows, multi-source UDP is collapsed
+      # to one source IP at the WSL/Hyper-V boundary, so all-but-one node's
+      # frames are silently dropped (issue #374, #386).
+      #
+      # Windows workaround: change this to "5006:5005/udp" and run the host
+      # relay so every datagram arrives from the same loopback source:
+      #
+      #   python scripts/udp-relay.py --listen-port 5005 --forward-port 5006
+      #
+      # See docs/TROUBLESHOOTING.md §9 for details.
+      - "5005:5005/udp"
     environment:
       - RUST_LOG=info
       # CSI_SOURCE controls the data source for the sensing server.

docs/TROUBLESHOOTING.md

@@ -109,3 +109,75 @@ ssh thyhack@100.90.238.87
 **Symptom:** Plugging into the right USB-C port (when facing the board with USB-C toward you) shows no serial device on the host.
 
 **Fix:** Use the left USB-C port. On most ESP32-S3-DevKitC boards, the left port is the USB-to-UART bridge (CP2102/CH340) used for flashing and serial monitor. The right port is the native USB (USB-JTAG) which requires different drivers and isn't used by the RuView firmware.
+
+---
+
+## 9. Docker Desktop on Windows drops UDP from multiple ESP32 nodes
+
+**Symptom:** Two or more ESP32 nodes are flashed, provisioned, and visibly transmit on the network — `tcpdump`/Wireshark on the Windows host shows datagrams from every node — but inside the Docker container only one source IP arrives. `/api/v1/sensing/latest` shows a single node and the live UI freezes or only tracks one body. Reported in #374 (4-node bench) and reproduced in #386 (6-node demo, RuView v0.7.0).
+
+**Root cause:** Docker Desktop on Windows runs the engine inside a WSL2 / Hyper-V VM. Inbound UDP from the host LAN is forwarded through `vpnkit` / `vEthernet` and the multi-source-IP datagrams are demultiplexed onto a single virtual socket. The first source-IP "wins"; subsequent unique sources are silently dropped at the VM boundary. This is a Docker Desktop limitation, not a sensing-server bug — `host.docker.internal` and `--network host` do not help (host networking is not implemented for the Linux engine on Windows).
+
+**Fix:** Run the bundled UDP relay on the host so every forwarded datagram arrives from the same loopback source IP, which Docker passes through unchanged.
+
+```powershell
+# 1. Start the relay (PowerShell or any terminal)
+python scripts/udp-relay.py --listen-port 5005 --forward-port 5006
+
+# 2. Edit docker/docker-compose.yml — change the ESP32 UDP mapping from
+#       - "5005:5005/udp"
+#    to
+#       - "5006:5005/udp"
+
+# 3. Bring the stack up
+docker compose -f docker/docker-compose.yml up
+```
+
+ESP32 nodes still target the host on `--target-ip <host>:5005` — no firmware re-provisioning is needed. The relay is `scripts/udp-relay.py` (stdlib only, no extra deps). Verify with `--verbose` that each node's source IP appears at least once before forwarding stabilises on a single ephemeral relay port.
+
+**Prevention:** Linux and macOS hosts are unaffected; the relay only needs to run on Docker Desktop for Windows. If Docker Desktop ships per-source UDP forwarding (tracked at [docker/for-win#1144](https://github.com/docker/for-win/issues/1144) and related), this workaround can be retired.
+
+**Prior art:** PR #413 (`txhno`) proposed a docs-only writeup of the same workaround; this entry supersedes it.
+
+---
+
+## 10. `404` on the visualization page when running sensing-server
+
+**Symptom:** `sensing-server` starts cleanly, logs `HTTP server listening on http://localhost:3000`, but loading `http://localhost:3000/` (or `/ui/index.html`) returns `404 Not Found`. Reported in #188.
+
+**Root cause:** The default `--ui-path ../../ui` is resolved relative to the binary's *current working directory*, not the binary location. When the binary is launched from anywhere other than `crates/wifi-densepose-sensing-server/`, the relative path doesn't reach the UI assets and Axum's static file handler returns 404.
+
+**Fix:** Pass an absolute UI path, run the binary from the crate directory, or use the Docker image (which bundles the UI under `/app/ui`).
+
+```bash
+# Option A — absolute path (recommended for production)
+sensing-server --source esp32 --udp-port 5005 --http-port 3000 \
+  --ws-port 3001 --ui-path /absolute/path/to/ui
+
+# Option B — run from the crate dir (works for local dev / cargo run)
+cd v2/crates/wifi-densepose-sensing-server
+cargo run -- --source esp32
+
+# Option C — Docker (no path config needed)
+docker compose -f docker/docker-compose.yml up sensing-server
+```
+
+**Prevention:** Track future work in #188 to fall back to a path resolved relative to the executable when the cwd-relative path doesn't exist, so the binary works regardless of where it's launched.
+
+---
+
+## 11. Boot loop on `--edge-tier 1` or `--edge-tier 2`
+
+**Symptom:** ESP32-S3 boots normally with `--edge-tier 0`, but flashing the same firmware with `--edge-tier 1` or `2` produces a boot loop. Serial output reaches `cpu_start` and `heap_init`, then resets repeatedly. Reported in #438 against firmware `v0.4.3.1-esp32-3-g66e2fa083-dir`.
+
+**Root cause:** Edge tiers 1 and 2 enable the on-device DSP pipeline on Core 1. In the affected build, the `edge_dsp` task ran a tight per-frame loop without yielding, so the FreeRTOS task watchdog tripped on Core 1 and panicked. Tier 0 is passthrough only and doesn't activate the pipeline, so the watchdog never fires there.
+
+**Fix:** Flash the [v0.4.3.1-esp32](https://github.com/ruvnet/RuView/releases/tag/v0.4.3.1-esp32) release or later — the DSP task yield fixes have shipped on `main` since the build in the report.
+
+```bash
+# Verify what version you're on (look for "App version" in serial output on boot)
+python -m serial.tools.miniterm COM7 115200
+# Expect: "App version: v0.4.3.1-esp32" or higher
+```
+
+If the boot loop persists on a release build, capture a full serial trace including the watchdog backtrace and reopen #438 with the new build hash.

docs/adr/ADR-098-evaluate-midstream-fit.md

@@ -0,0 +1,191 @@
+# ADR-098: Evaluate `ruvnet/midstream` for RuView's CSI / WebSocket / mesh pipeline
+
+| Field | Value |
+|-------|-------|
+| **Status** | Rejected (with crate-level carve-outs for future evaluation) |
+| **Date** | 2026-05-13 |
+| **Deciders** | ruv |
+| **Codename** | **midstream-in-RuView** |
+| **Relates to** | ADR-095 (rvCSI platform), ADR-096 (rvCSI crate topology), ADR-097 (adopt rvCSI as RuView's CSI runtime), ADR-012 (ESP32 CSI mesh), ADR-029 (RuvSense multistatic / TDM), ADR-031 (RuView sensing-first RF mode), ADR-043 (sensing-server UI API completion) |
+| **midstream repo** | [github.com/ruvnet/midstream](https://github.com/ruvnet/midstream) — vendored at `vendor/midstream`, currently pinned at [`30fe5eb`](https://github.com/ruvnet/midstream/commit/30fe5eb7a1f1494aa1ad00d54160088a565ec766) |
+| **Outcome** | Do **not** adopt as a system component. Two of midstream's six workspace crates (`temporal-compare`, `nanosecond-scheduler`) are plausible future-use building blocks; the rest do not fit. `vendor/midstream` is retained as a reference-only submodule. |
+
+---
+
+## 1. Context
+
+`vendor/midstream` is a git submodule of RuView (`.gitmodules:1-4`) but, like `vendor/rvcsi` was before ADR-097, it is **vendored but not consumed**: no `v2/crates/*/Cargo.toml` depends on a `midstreamer-*` crate, no Rust source contains `use midstreamer_…`, and the ESP32 firmware and TypeScript dashboard have no midstream imports.
+
+This ADR settles the standing question of *whether RuView should consume midstream at all*, and if so, where. The user-facing prompt enumerated four candidate seams to evaluate:
+
+1. Streaming / pub-sub for the WebSocket fan-out (today: `tokio::sync::broadcast::channel::<String>(256)` at `v2/crates/wifi-densepose-sensing-server/src/main.rs:4769`).
+2. Stream processing for the CSI → DSP → event pipeline (today: synchronous `EventPipeline` at `vendor/rvcsi/crates/rvcsi-events/src/pipeline.rs`, freshly adopted via ADR-097).
+3. Multi-source merging / TDM coordination for the ESP32 mesh (ADR-029, ADR-073).
+4. Backpressure / flow control between the UDP receiver and downstream consumers (`v2/crates/wifi-densepose-sensing-server/src/main.rs:3638` `udp_receiver_task`; firmware-side `stream_sender` ENOMEM backoff at `firmware/esp32-csi-node/main/csi_collector.c:223-228`).
+
+To evaluate each, we read midstream's workspace `Cargo.toml` (`vendor/midstream/Cargo.toml:1-99`), the `README.md` and `BENCHMARKS_SUMMARY.md`, and every crate's `lib.rs`:
+
+| Crate | File | LOC | Purpose (from header doc) |
+|---|---|---:|---|
+| `midstreamer-temporal-compare` | `vendor/midstream/crates/temporal-compare/src/lib.rs:1-697` | 697 | DTW, LCS, Levenshtein, generic pattern matching on `Sequence<T>` of `TemporalElement<T>` |
+| `midstreamer-scheduler` | `vendor/midstream/crates/nanosecond-scheduler/src/lib.rs:1-406` | 406 | Priority + deadline-aware task scheduler (RM, EDF, LLF) for low-latency real-time tasks |
+| `midstreamer-attractor` | `vendor/midstream/crates/temporal-attractor-studio/src/lib.rs:1-482` | 482 | Phase-space reconstruction, Lyapunov exponents, attractor classification |
+| `midstreamer-neural-solver` | `vendor/midstream/crates/temporal-neural-solver/src/lib.rs:1-509` | 509 | LTL / CTL / MTL temporal-logic verification with neural reasoning |
+| `midstreamer-strange-loop` | `vendor/midstream/crates/strange-loop/src/lib.rs:1-496` | 496 | Multi-level meta-learning, self-referential systems |
+| `midstreamer-quic` | `vendor/midstream/crates/quic-multistream/src/lib.rs:1-255`, `native.rs:1-303`, `wasm.rs:1-307` | 865 | Thin wrapper over `quinn` (native) and `WebTransport` (WASM); generic QUIC streams |
+
+Plus a TypeScript layer (`vendor/midstream/npm/`, `vendor/midstream/npm-wasm/`) whose product is "real-time LLM streaming" — OpenAI Realtime API client, RTMP / WebRTC / HLS for video, an in-console dashboard, a Whisper transcription scaffold, an MCP server for LLM agents.
+
+The top-level identity is unambiguous: `Cargo.toml:16` describes the package as **`"Real-time LLM streaming with inflight analysis"`**, and the README (`vendor/midstream/README.md:45-80`) frames midstream as a platform that "analyzes [LLM] responses **as they stream in real-time** — enabling instant insights, pattern detection, and intelligent decision-making" — i.e. the streaming domain is **LLM tokens and dashboard telemetry**, not RF signals. A search for any of `csi`, `wifi`, `sensing`, or `sensor` across `vendor/midstream/crates/*/src/*.rs` returns zero hits.
+
+This shapes the conclusion: midstream's *abstractions* (DTW pattern matching, attractor analysis, LTL verification, meta-learning) were chosen for a fundamentally different problem domain than CSI, and its *transport* (QUIC) is a thin `quinn` wrapper rather than a sensing-aware backplane. The candidate seams enumerated above are either already filled by simpler primitives in RuView, or filled better by rvCSI under ADR-097.
+
+### 1.1 What this ADR is *not*
+
+- Not a judgment on midstream's quality. It has 139 passing tests and clean Rust; it is well-engineered for its target domain.
+- Not a decision to drop `vendor/midstream`. The submodule pin is cheap to keep, and the carve-outs in §3 may justify revisiting it.
+- Not a position on the *standalone* midstream product (LLM streaming, OpenAI Realtime, dashboards). That product is unaffected by this ADR.
+
+---
+
+## 2. Decision
+
+**Reject midstream as a system component of RuView.** The four candidate seams are either filled (well) by existing RuView primitives, or are filled by rvCSI's freshly-adopted `EventPipeline` and `RfMemoryStore`. The eight decisions below are the architectural contract.
+
+### D1 — Streaming / pub-sub for the WebSocket fan-out: no change
+
+RuView's sensing-server currently fans out updates to WebSocket clients via `tokio::sync::broadcast::channel::<String>(256)` (`v2/crates/wifi-densepose-sensing-server/src/main.rs:4769`). midstream offers no equivalent in-process broadcast primitive — its TypeScript dashboard fan-out is HTTP-server based (`vendor/midstream/npm/src/dashboard.ts`), and its Rust `midstreamer-quic` crate is a generic point-to-point QUIC wrapper (`vendor/midstream/crates/quic-multistream/src/native.rs:31-69`), not a pub-sub bus.
+
+Tokio's `broadcast` channel is the standard Rust idiom for this pattern, costs effectively nothing per subscriber, integrates with the rest of the Axum + Tokio stack already in use (`v2/crates/wifi-densepose-sensing-server/src/main.rs:36,47`), and is what `rvcsi-runtime` itself uses for event distribution (`vendor/rvcsi/crates/rvcsi-runtime/src/lib.rs`). **Keep `tokio::sync::broadcast`.**
+*Consequences:* zero migration; zero new dependency surface; the WebSocket handlers at `main.rs:1989,2030` continue to work unchanged.
+
+### D2 — CSI → DSP → event pipeline: stay on rvCSI's `EventPipeline`
+
+ADR-097 D2 just adopted `rvcsi-runtime::CaptureRuntime` + `rvcsi_events::EventPipeline` as the CSI ingestion / DSP / event-extraction path. `EventPipeline` is **deterministic, synchronous, single-frame-at-a-time** (`vendor/rvcsi/crates/rvcsi-events/src/pipeline.rs:1-5`: *"Feed it frames with `EventPipeline::process_frame` and drain the tail with `EventPipeline::flush`"*) — and that determinism is load-bearing for ADR-095 D9 (replayability) and ADR-095 D13 (quality scoring against learned baselines).
+
+midstream's stream-processing primitives are designed for the opposite shape: `temporal-attractor-studio` (phase-space reconstruction, Lyapunov exponents) and `temporal-neural-solver` (LTL formula verification) operate on **trajectories** of multi-dimensional states over hundreds-to-thousands of samples (`vendor/midstream/README.md:528-531`: *"Attractor detection: <5ms for 1000-point series"*) — that is closer to RuView's existing RuvSense modules (`v2/crates/wifi-densepose-signal/src/ruvsense/longitudinal.rs`, `intention.rs`) than to anything the runtime DSP layer needs.
+
+Replacing rvCSI's event detectors with midstream constructs would (a) break determinism, (b) re-introduce a parallel CSI-processing implementation — exactly the duplication ADR-097 was opened to remove — and (c) force RuView to invent a `Sequence<T: temporal-compare::TemporalElement>` shim around `CsiFrame` for marginal benefit. **Stay on `rvcsi-events::EventPipeline`.**
+*Consequences:* the determinism / replay guarantees of ADR-095 D9 and ADR-097 D6 remain intact; the work to land `rvcsi-adapter-esp32` (ADR-097 D4, P3) is not duplicated.
+
+### D3 — TDM / multi-source merging: stay on the existing aggregator
+
+The ESP32 mesh's multi-source merging is in `v2/crates/wifi-densepose-hardware/src/aggregator/mod.rs:74-220` — a `UdpSocket`-backed aggregator (`mod.rs:74,85`) that receives parsed `CsiFrame`s from N nodes and forwards them on a `SyncSender<CsiFrame>` to the consumer. The TDM coordination (slot assignment, channel hopping, dwell time) lives in firmware (`firmware/esp32-csi-node/main/`) and is governed by ADR-029 and ADR-073. midstream offers nothing for either side: it has no UDP merger, no slot scheduler, and no firmware-side primitives.
+
+`midstreamer-scheduler` is conceptually adjacent — it does priority + deadline-aware scheduling (`vendor/midstream/crates/nanosecond-scheduler/src/lib.rs:53-63`: `RateMonotonic`, `EarliestDeadlineFirst`, `LeastLaxityFirst`, `FixedPriority`) — but its target is **in-process tokio tasks on a 4-thread executor** (`vendor/midstream/README.md:466-477`: *"4 worker threads"*, *"<50 ns scheduling latency"*), not the cross-device, wall-clock-anchored TDM that RuvSense needs. **Keep the existing `wifi-densepose-hardware` aggregator and firmware-side TDM.**
+*Consequences:* ADR-029 stays as-is; the work to migrate the parser to `rvcsi-adapter-esp32` (ADR-097 D4) is unaffected.
+
+### D4 — UDP receiver backpressure / flow control: existing solutions are correct at each end
+
+There are two distinct backpressure problems in RuView, and neither benefits from midstream:
+
+- **Firmware side (`firmware/esp32-csi-node/main/csi_collector.c:64,223-228`):** lwIP pbuf exhaustion produces `ENOMEM` when the ESP32 tries to UDP-send faster than the network drains. The fix in code is a rate-limit on `stream_sender_send` *inside the CSI callback*. This is a C-level firmware concern with no Rust analogue — midstream cannot run on the ESP32.
+- **Host side (`v2/crates/wifi-densepose-sensing-server/src/main.rs:3638-3640`, `4769`):** `udp_receiver_task` reads from `UdpSocket` and pushes onto `broadcast::channel::<String>(256)`. The bounded channel is itself the backpressure mechanism: lagged subscribers see `RecvError::Lagged`, the buffer wraps, no producer ever blocks. The 256-slot capacity is sized to one second of frame envelopes at the target rate; the per-second packet-yield collapse symptom (`adaptive_controller_decide.c:26-28`) is detected and surfaced by ADR-039 / ADR-081's `pkt_yield_per_sec` accessor, not by transport-layer flow control.
+
+midstream's `quic-multistream` provides per-stream prioritization (`vendor/midstream/crates/quic-multistream/src/native.rs:1-303`), which is a useful flow-control primitive *for QUIC* but not for the UDP-CSI / WS-fan-out topology RuView actually uses. Adopting QUIC end-to-end would mean (a) replacing the ESP32's UDP sender — which would need a QUIC stack on a memory-constrained Xtensa MCU and is out of scope for this project — or (b) terminating QUIC at the aggregator only, which provides no benefit the current bounded `broadcast` channel doesn't. **Keep the existing two-tier backpressure.**
+*Consequences:* the ENOMEM rate-limit at `csi_collector.c:223-228` and the bounded `broadcast::channel::<String>(256)` at `main.rs:4769` continue to be the load-bearing primitives.
+
+### D5 — Carve-out: `temporal-compare` as a future RuvSense-side building block
+
+`midstreamer-temporal-compare` (`vendor/midstream/crates/temporal-compare/src/lib.rs:1-697`) is a clean DTW / LCS / Levenshtein implementation with an LRU cache. RuView's gesture detector at `v2/crates/wifi-densepose-signal/src/ruvsense/gesture.rs` already does DTW template matching, and the longitudinal analysis at `ruvsense/longitudinal.rs` could plausibly benefit from cached pattern matching. If we ever need a *separate* DTW implementation that is decoupled from RuvSense's internal types, `temporal-compare` is a reasonable starting point — but only if and when that need arises.
+
+We **do not adopt it today** because RuvSense's gesture matcher already exists, works, and uses RuView-native types, and pulling in `dashmap`, `lru`, and a generic `TemporalElement<T>` abstraction would be net-negative right now. **Tracked as a future evaluation, not a decision.**
+*Consequences:* zero today; one named option for a future ADR if a "second" DTW pattern appears.
+
+### D6 — Carve-out: `nanosecond-scheduler` for *host-side* edge tier scheduling (future)
+
+If ADR-039's edge-intelligence tier scheduling ever moves from the ESP32 onto a host-side coordinator (e.g. a Raspberry Pi running the cluster aggregator), `nanosecond-scheduler`'s deadline-aware policies (`vendor/midstream/crates/nanosecond-scheduler/src/lib.rs:53-63`) could plausibly host that scheduler. Today the scheduling is firmware-side and the C-level RTOS handles it; there is nothing to schedule in Rust at the granularity midstream offers.
+
+Again: **not a current decision, just an option kept open.**
+*Consequences:* zero today.
+
+### D7 — Submodule disposition: keep `vendor/midstream`
+
+`vendor/midstream` is one git submodule pin; the build does not depend on it; it does not slow down `cargo build --workspace`; and the carve-outs in D5/D6 leave the door open. Removing the submodule would also remove the reference material that justified the carve-outs.
+
+**Keep the submodule, no per-release pin advancement.** Unlike `vendor/rvcsi` (whose pin is bumped per RuView release under ADR-097 D7), `vendor/midstream` has no in-build consumer to validate against. If D5 or D6 ever activates, *that* ADR will start the per-release pin process. Until then the pin can drift freely.
+*Consequences:* one line of `.gitmodules` (`.gitmodules:1-4`) stays; `git submodule update --init` remains a no-op for normal RuView development.
+
+### D8 — Documentation: cross-reference, don't import
+
+The ADR index (`docs/adr/README.md`) gets ADR-098 added under "Architecture and infrastructure". No other docs are updated. The README on the RuView side is untouched; midstream is not part of the RuView platform story.
+*Consequences:* one row added to the ADR index; no churn elsewhere.
+
+---
+
+## 3. Why not adopt (the rejection record)
+
+For institutional memory, the table below records what each midstream crate *would* solve and the alternative RuView already uses. This is the answer to "but we vendored midstream — what is it for?"
+
+| midstream crate | Plausible RuView seam | Already filled by | Verdict |
+|---|---|---|---|
+| `midstreamer-temporal-compare` (DTW, LCS, Levenshtein) | Gesture template matching (`ruvsense/gesture.rs`); longitudinal biomechanics drift | RuvSense's existing DTW gesture matcher | Carve-out only (D5) — not adopted today |
+| `midstreamer-scheduler` (nanosecond priority + deadline) | ESP32 edge-tier scheduling (ADR-039); RuvSense TDM (ADR-029) | Firmware-side RTOS (ESP32); ADR-029's wall-clock-anchored TDM | Carve-out only (D6) — wrong scope today |
+| `midstreamer-attractor` (Lyapunov, phase-space) | RF-field stability detection in `ruvsense/field_model.rs`, `longitudinal.rs` | Welford stats + biomechanics drift (longitudinal.rs); SVD eigenstructure (field_model.rs) | Not adopted — RuvSense's approach is calibrated to RF signal scale and the project's existing dataset, not generic dynamical-systems theory |
+| `midstreamer-neural-solver` (LTL / CTL / MTL verification) | Adversarial signal detection (`ruvsense/adversarial.rs`); coherence-gate decisions | Multi-link consistency checks (adversarial.rs); `coherence_gate.rs` state machine | Not adopted — RuView's adversarial detector is not a formal-verification problem; it's a multi-link physical-consistency check |
+| `midstreamer-strange-loop` (meta-learning, self-modification) | None in RuView's scope | RuView is not a self-modifying learner; AETHER (ADR-024) is contrastive embedding, not meta-learning | Not adopted — out of scope |
+| `midstreamer-quic` (QUIC native + WASM) | Sensing-server → external client transport (alternative to WS) | `tokio::sync::broadcast` + Axum WebSocket + UDP (`main.rs:36-47, 4769, 1989, 2030, 3638`) | Not adopted — see D1, D4 |
+
+The shape of the rejection is consistent: **midstream's abstractions are LLM-token / dashboard-telemetry shaped, RuView's pipeline is RF-frame / event-detector shaped.** Where the two share vocabulary ("streaming", "temporal", "real-time"), the implementations diverge sharply — and the case-by-case analysis above shows that the closer one looks at each seam, the worse the fit gets.
+
+---
+
+## 4. Consequences
+
+**Positive**
+
+- Zero net change to RuView's build, runtime, or surface area; ADR-097's phased rvCSI adoption proceeds unaffected.
+- The decision space around midstream is now bounded and documented; future contributors and AI agents see "ADR-098 already evaluated this; here is why not" before re-opening the question.
+- The two crate-level carve-outs (D5, D6) are explicit, so if the relevant seams appear later, the evaluation can pick up from this ADR rather than start over.
+- `vendor/midstream` (the submodule) remains as reference material, but is correctly marked as not part of the build path.
+
+**Negative / costs**
+
+- One more vendored repo with no in-build consumer — a small but non-zero cognitive load (mitigated by D7's explicit "do not bump the pin").
+- If midstream's published crates evolve materially (e.g. a CSI-aware feature lands), the reasoning in §3 needs revisiting; this is the standard "rejected ADRs go stale" risk and applies to every Rejected ADR in the index.
+
+**Risks**
+
+- The most plausible failure mode of this ADR is *not* "we should have adopted midstream"; it is "we re-open the question in six months without re-reading this ADR." Mitigated by indexing ADR-098 in `docs/adr/README.md` and by the per-crate table in §3 being precise enough to short-circuit the next evaluator.
+
+---
+
+## 5. Alternatives considered
+
+| Alternative | Why not |
+|---|---|
+| **Adopt midstream wholesale as RuView's streaming backbone** | Would force the CSI pipeline into the `Sequence<TemporalElement>` shape (`vendor/midstream/crates/temporal-compare/src/lib.rs:42-70`) and the `quic-multistream` transport (`vendor/midstream/crates/quic-multistream/src/native.rs:1-303`) — both are designed for LLM tokens / arbitrary streams, not validated RF frames with quality scoring. Conflicts directly with ADR-095 D5 (one `CsiFrame` schema), D6 (validate before crossing boundaries), and D9 (deterministic replay). |
+| **Replace `tokio::sync::broadcast` with midstream's QUIC fan-out** | Solves no observed problem. `broadcast::channel::<String>(256)` at `v2/crates/wifi-densepose-sensing-server/src/main.rs:4769` handles N WebSocket subscribers at zero per-subscriber cost; the lagged-subscriber semantics (`RecvError::Lagged`) are exactly what an event-feed wants. QUIC adds TLS + congestion control + per-stream priority — useful for *external* clients across a network, but the sensing-server's clients connect over WS on the same host or LAN. |
+| **Replace `EventPipeline` with `temporal-attractor-studio` / `temporal-neural-solver`** | `EventPipeline` is deterministic by contract (`vendor/rvcsi/crates/rvcsi-events/src/lib.rs:20`) and ADR-097 just made it RuView's event source of truth. Attractor analysis and LTL verification operate on entirely different abstractions; using them as event detectors would re-invent rvCSI's pipeline in a less-determined way. |
+| **Adopt `midstreamer-temporal-compare` for gesture detection now** | RuvSense already has a working DTW gesture matcher tuned to CSI signal scale. Swapping it for a generic `TemporalElement<T>` matcher buys cleanliness but costs a re-tune and a new dep tree (`dashmap`, `lru`). Tracked as D5 for if/when a *second* DTW use case shows up. |
+| **Adopt `midstreamer-scheduler` for the cluster-Pi aggregator** | The cluster aggregator does not currently exist as a real-time scheduler; ADR-039's tier scheduling is firmware-side. Until the host-side schedule appears, importing a deadline-aware scheduler is solution-looking-for-a-problem. Tracked as D6. |
+| **Drop the `vendor/midstream` submodule entirely** | Cheap to keep, useful as the reference material this ADR cites. D7 keeps it on the explicit understanding that the pin is not advanced. |
+
+---
+
+## 6. Open questions / re-evaluation triggers
+
+This ADR is `Rejected` today on the strength of the §1.1 / §3 analysis. The following events would justify re-opening it:
+
+1. **A second DTW / LCS / Levenshtein use case appears in RuView** (e.g. a CLI-side replay diff, a regression test fixture that needs sequence alignment, a TUI for pattern playback). Then re-evaluate `midstreamer-temporal-compare` per D5.
+2. **A host-side real-time scheduler enters RuView's scope** (e.g. the cluster-Pi aggregator becomes responsible for slot timing instead of the ESP32 firmware). Then re-evaluate `midstreamer-scheduler` per D6.
+3. **midstream ships a CSI-aware adapter or RF-scale `Sequence<T>` extension** — i.e. midstream's own scope grows to include sensing primitives. As of the pinned commit (`30fe5eb`), this has not happened (zero matches for `csi|wifi|sensing|sensor` in `vendor/midstream/crates/*/src/*.rs`).
+4. **RuView gains a QUIC-to-external-client requirement** that the WS fan-out cannot service (e.g. a mobile client over a lossy link that benefits from QUIC's stream priority + 0-RTT). Then re-evaluate `midstreamer-quic` per D1 / D4.
+
+If none of these triggers fire, this ADR stays Rejected and the carve-outs (D5, D6) remain optional.
+
+---
+
+## 7. References
+
+- [ADR-095 — rvCSI Edge RF Sensing Platform](ADR-095-rvcsi-edge-rf-sensing-platform.md) — sets the single-`CsiFrame` schema, deterministic replay, and quality-scoring constraints that midstream's abstractions conflict with.
+- [ADR-096 — rvCSI Crate Topology, the napi-c Shim, the napi-rs Surface](ADR-096-rvcsi-ffi-crate-layout.md) — the crate topology that rvCSI fills the candidate seams with.
+- [ADR-097 — Adopt rvCSI as RuView's primary CSI runtime](ADR-097-adopt-rvcsi-as-ruview-csi-runtime.md) — phased adoption (P1-P5) that this ADR explicitly does not duplicate.
+- [ADR-012 — ESP32 CSI Sensor Mesh](ADR-012-esp32-csi-sensor-mesh.md) — the multi-source TDM context for D3.
+- [ADR-029 — RuvSense Multistatic Sensing Mode](ADR-029-ruvsense-multistatic-sensing-mode.md) — the wall-clock-anchored TDM that `midstreamer-scheduler` is the wrong shape for.
+- [ADR-039 — ESP32 Edge Intelligence Pipeline](ADR-039-esp32-edge-intelligence.md) — the firmware-side tier scheduling that would need to move host-side before D6 activates.
+- [`github.com/ruvnet/midstream`](https://github.com/ruvnet/midstream) — 5 published crates on crates.io (`temporal-compare`, `nanosecond-scheduler`, `temporal-attractor-studio`, `temporal-neural-solver`, `strange-loop`) + 1 local crate (`quic-multistream`); 139 passing tests.
+- `vendor/midstream` (submodule) — pinned at `30fe5eb` (`vendor/midstream/Cargo.toml:16` describes the package as *"Real-time LLM streaming with inflight analysis"*).
+- RuView code paths cited in §1: `v2/crates/wifi-densepose-sensing-server/src/main.rs:36,47,1989,2030,3638-3640,4769`; `v2/crates/wifi-densepose-hardware/src/aggregator/mod.rs:74-220`; `firmware/esp32-csi-node/main/csi_collector.c:64,223-228`; `firmware/esp32-csi-node/main/adaptive_controller_decide.c:26-28`.
+- RuvSense code paths cited in §3: `v2/crates/wifi-densepose-signal/src/ruvsense/gesture.rs`, `longitudinal.rs`, `field_model.rs`, `adversarial.rs`, `coherence_gate.rs`.
+- rvCSI code paths cited in §2: `vendor/rvcsi/crates/rvcsi-events/src/lib.rs:1-37`, `vendor/rvcsi/crates/rvcsi-events/src/pipeline.rs:1-5`.

docs/adr/README.md

@@ -108,6 +108,7 @@ Statuses: **Proposed** (under discussion), **Accepted** (approved and/or impleme
 | [ADR-095](ADR-095-rvcsi-edge-rf-sensing-platform.md) | rvCSI — Edge RF Sensing Runtime Platform | Proposed |
 | [ADR-096](ADR-096-rvcsi-ffi-crate-layout.md) | rvCSI — Crate Topology, the napi-c Shim, and the napi-rs Node Surface | Proposed |
 | [ADR-097](ADR-097-adopt-rvcsi-as-ruview-csi-runtime.md) | Adopt rvCSI as RuView's primary CSI runtime (phased adoption) | Proposed |
+| [ADR-098](ADR-098-evaluate-midstream-fit.md) | Evaluate `ruvnet/midstream` for RuView's CSI / WebSocket / mesh pipeline | Rejected |
 | [ADR-099](ADR-099-midstream-introspection-tap.md) | Adopt midstream as RuView's real-time introspection + low-latency tap | Proposed |
 
 ---

docs/tutorials/pi5-cluster-cognitive-rf-observer.md

@@ -0,0 +1,466 @@
+# Pi 5 + Hailo Cluster: Building a Cognitive RF Observer with rvcsi
+
+A field-tested tutorial for turning a 4-node Raspberry Pi 5 cluster into a
+multistatic Wi-Fi CSI cognitive RF observer that learns room states,
+predicts the next one, and flags anomalies — entirely from radio.
+
+**Estimated time:** 4–6 hours (hardware 1h, firmware 1h, software 1h, calibration 1–3h)
+
+**What you will build:** A self-learning 4-node cluster that captures Wi-Fi
+Channel State Information from a stable RF beacon, encodes each frame into a
+128-dimensional fingerprint on an on-device Hailo-8 NPU, clusters those
+fingerprints into discrete room states with stable IDs across runs, models
+state transitions with a 2nd-order Markov chain (with measurable predictive
+skill above chance), and persists everything to a queryable brain corpus on
+a workstation. The whole thing runs over Tailscale and is operated through
+a single CLI with **34 subcommands**.
+
+**Who this is for:** RF engineers, smart-home hackers, security researchers,
+and ML/embedded folks comfortable with Linux + systemd. No specific signal-
+processing background required — but you do need patience for hardware
+quirks (nexmon_csi cross-compile is a known dead end; see step 3).
+
+> **The TL;DR**: 4× Pi 5 + 2× Hailo-8 → CSI → 128-d embeddings → cosine
+> k-means with warm-start → 2nd-order Markov → SQLite brain → 34-subcommand
+> operator CLI. Production-grade signal: 39% top-1 ceiling on next-state
+> prediction (16× chance baseline), continuous fleet/drift/anomaly
+> monitoring, and a 12-category time-series corpus.
+
+> **About the name "rvcsi" in this tutorial.** When this tutorial was
+> first written, the cluster's per-Pi capture services were named with
+> an `rvcsi` prefix (`cog-rvcsi-stream`, `cog-rvcsi-correlator`) as
+> branding only — the actual code was Python and didn't depend on the
+> upstream [`ruvnet/rvcsi`](https://github.com/ruvnet/rvcsi) Rust
+> runtime. **As of 2026-05-13**, the v0-appliance project has accepted
+> [ADR-207](https://github.com/ruvnet/v0-appliance/blob/main/docs/adr/ADR-207-rvcsi-library-integration.md)
+> (rvCSI library integration — Option D) and shipped a Rust binary
+> `cog-rvcsi-pi` built on rvcsi-runtime 0.3 that replaces the three
+> Python services. The cutover is per-Pi, operator-driven, with
+> one-command rollback (`scripts/rvcsi-pi/install-rvcsi-pi.sh` and
+> `uninstall-rvcsi-pi.sh`). A given cluster may be running either
+> stack while migration is in progress; the schema and operator
+> surface are unchanged across the cutover. See ADR-207's
+> Implementation log for the current state.
+
+---
+
+## Table of Contents
+
+1. [Prerequisites](#1-prerequisites)
+2. [Architecture overview](#2-architecture-overview)
+3. [Per-node firmware: nexmon_csi on Pi 5](#3-per-node-firmware-nexmon_csi-on-pi-5)
+4. [Per-node services](#4-per-node-services)
+5. [Workstation pipeline](#5-workstation-pipeline)
+6. [Calibration: getting from raw CSI to room states](#6-calibration-getting-from-raw-csi-to-room-states)
+7. [Operating the cluster: the cog-query CLI](#7-operating-the-cluster-the-cog-query-cli)
+8. [What you can measure](#8-what-you-can-measure)
+9. [Troubleshooting](#9-troubleshooting)
+10. [Next steps](#10-next-steps)
+
+---
+
+## 1. Prerequisites
+
+### Hardware
+
+| Item | Quantity | Approx. cost | Notes |
+|------|----------|--------------|-------|
+| Raspberry Pi 5 (8GB) | 4 | ~$80 each | 4GB works but tight under sustained load |
+| Hailo-8 M.2 HAT (AI Kit) | 2 | ~$110 each | Only 2 needed — encoder is split across cluster-1 + cluster-2 |
+| MicroSD (64GB, A2) | 4 | ~$10 each | A2 class strongly recommended for sustained writes |
+| USB-C PD power supply (27W) | 4 | ~$12 each | Pi 5 draws 5A at full Hailo load |
+| Active cooler | 4 | ~$5 each | Cluster-2 sustains thermal load — passive will throttle |
+| Workstation (≥16GB RAM, Linux) | 1 | — | Hosts the brain HTTP service + clusterer + anomaly daemon |
+| Stable Wi-Fi beacon | 1 | — | Any AP on the same 5 GHz channel. We use ch.149/80MHz. Stability matters more than identity. |
+
+**Total parts cost:** ~$580 plus workstation.
+
+> **Important:** All 4 Pi 5s must use the on-board `bcm43455c0` radio. USB
+> Wi-Fi adapters with otherwise-similar chipsets **will not** work — nexmon's
+> firmware patches are silicon-specific. See ADR-206 § "USB Wi-Fi dongle
+> rabbit-hole" for the painful version of that lesson.
+
+### Software prerequisites
+
+| Component | Version | Notes |
+|-----------|---------|-------|
+| Pi OS Bookworm (Lite) | 64-bit, kernel 6.6+ | Use the Lite image — Desktop slows boot and burns SD writes |
+| Tailscale | ≥1.60 | Mesh networking across the cluster |
+| Rust toolchain | 1.78+ on workstation, 1.78+ on each Pi | For ruvector + adapter binaries |
+| Python 3.11+ | system Python on workstation | numpy required |
+| systemd-user | already present | Workstation timers run as user units |
+
+---
+
+## 2. Architecture overview
+
+```
+                              ┌─ workstation (Linux, ≥16GB) ──────────────────┐
+                              │                                                │
+                              │  brain HTTP (SQLite, port 9876)                │
+                              │      ↑↑                                        │
+                              │   ┌──┴┴──────────────────────────────────┐    │
+                              │   │ rfmem-tail  ← ingests live brain     │    │
+                              │   │ rfmem-recall  → posts category=      │    │
+                              │   │              rfmem-recall when       │    │
+                              │   │              current state ≈ past    │    │
+                              │   │ rfmem-anomaly → 13-axis detector,    │    │
+                              │   │              posts rfmem-anomaly &    │    │
+                              │   │              rfmem-state-transition  │    │
+                              │   │ cog-rfmem-states (timer, hourly)     │    │
+                              │   │              re-clusters w/ warm-start│    │
+                              │   │ cog-rfmem-insights (timer, nightly)  │    │
+                              │   │              writes rfmem-insights    │    │
+                              │   │ cog-rfmem-drift-check (timer, 05:00) │    │
+                              │   │              audits cluster file state│    │
+                              │   └───────────────────────────────────────┘    │
+                              │                                                │
+                              │  cog-query (CLI, 34 subcommands, 4 JSON modes)│
+                              └────────────────────────────────────────────────┘
+                                                ↑
+                       Tailscale mesh ──────────┴───────────────────────────────┐
+                              ↓                              ↓                  ↓
+       ┌─ cluster-1 (Hailo) ┐  ┌─ cluster-2 (Hailo + fusion) ┐  ┌─ cluster-3 ┐ ┌─ v0 ┐
+       │ cog-csi-emitter    │  │ cog-csi-emitter             │  │ same as    │ │ same│
+       │ cog-csi-adapter    │  │ cog-csi-adapter             │  │ cluster-1  │ │ as  │
+       │ cog-rvcsi-stream   │  │ cog-rvcsi-stream            │  │ minus      │ │ c-3 │
+       │ cog-hailo-encoder  │  │ cog-hailo-encoder           │  │ Hailo &    │ │     │
+       │                    │  │ cog-rvcsi-correlator (fusion)│  │ correlator │ │     │
+       └────────────────────┘  └─────────────────────────────┘  └────────────┘ └─────┘
+            4 svc                       5 svc                      3 svc       3 svc
+       └─────────────────────── 15 expected services total ──────────────────────┘
+```
+
+**Why this split?** Multistatic fusion (combining CSI from 4 spatial vantage
+points into a single weighted observation) is computationally cheap but
+benefits from being on **one** node so the other three only do capture +
+encode. Hailo-8 is the bottleneck cost, so we put two on the cluster
+(one for redundancy, one for the fusion node) and let `cluster-3` + `v0`
+run as pure capture sensors.
+
+---
+
+## 3. Per-node firmware: nexmon_csi on Pi 5
+
+**Critical lesson learned (saved you a week):** the workstation x86_64
+cross-compile path for nexmon_csi on Pi 5 **does not work**. The 39-hunk
+patch series applies cleanly on a native Pi 5 ARM build, and fails in
+subtle ways elsewhere.
+
+The recipe that works:
+
+```bash
+# On each Pi 5 (not the workstation):
+sudo apt update && sudo apt install -y \
+    raspberrypi-kernel-headers bc bison flex libssl-dev make \
+    gcc gawk qpdf cmake build-essential libpcap-dev clang gcc-arm-none-eabi
+
+git clone https://github.com/seemoo-lab/nexmon.git ~/nexmon
+cd ~/nexmon
+source setup_env.sh
+make
+
+cd patches
+git clone https://github.com/seemoo-lab/nexmon_csi.git
+cd nexmon_csi
+
+# Apply the Pi-5-friendly patch series — all 39 hunks should apply clean
+# on native ARM. If you see "Hunk #N FAILED", you are almost certainly
+# cross-compiling from x86_64. Stop. Build on the Pi.
+./install.sh
+
+# Switch on:
+sudo mcp                       # 'monitor capability provisioning' — enable
+sudo nexutil -Iwlan0 -s500 -b -l34 -v<86-char base64 capture filter>
+```
+
+> **Pi 5 kernel gotcha:** Pi OS Bookworm ships two kernels — `kernel8.img`
+> (4K pages) and `kernel_2712.img` (16K pages, Pi 5 only). nexmon_csi
+> currently builds clean against `kernel8.img`. Add `kernel=kernel8.img`
+> to `/boot/firmware/config.txt` if you've switched. **After the switch,
+> SSH by hostname via Tailscale** — host keys + DHCP gotchas otherwise.
+
+> **Clock-skew first-boot trap:** Pi 5 has no RTC. First-boot apt will
+> reject "future-dated" `Release` files. Patch your firstboot to wait for
+> `systemd-timesyncd` before running `apt-get`.
+
+The complete commands + full troubleshooting matrix is in the
+[detailed gist](https://gist.github.com/ruvnet/88e7b053c41cb4f4af7a7ec4af873017) — section "Firmware: nexmon_csi on Pi 5".
+
+---
+
+## 4. Per-node services
+
+Each cluster Pi runs a small fixed set of systemd services. Per-host
+topology:
+
+| Service | cluster-1 | cluster-2 | cluster-3 | v0 |
+|---|:--:|:--:|:--:|:--:|
+| `cog-csi-emitter` (raw CSI capture from nexmon) | ✓ | ✓ | ✓ | ✓ |
+| `cog-csi-adapter` (Rust binary; CSI → 256-byte float frames) | ✓ | ✓ | ✓ | ✓ |
+| `cog-rvcsi-stream` (publishes frames to rvcsi-correlator) | ✓ | ✓ | ✓ | ✓ |
+| `cog-hailo-encoder` (frames → 128-d fingerprints on Hailo-8) | ✓ | ✓ | — | — |
+| `cog-rvcsi-correlator` (multistatic fusion across 4 nodes) | — | ✓ | — | — |
+| **Expected service count** | **4** | **5** | **3** | **3** |
+
+The topology is encoded in the workstation's `cog-query fleet-status`
+subcommand, which compares per-host expected services against live
+`systemctl is-active` results. A flat-service check would falsely flag
+cluster-3 and v0 as degraded (they have neither Hailo nor the correlator
+— that's by design).
+
+> **rvcsi cutover (ADR-207 Option D, 2026-05-13).** The three services
+> `cog-csi-emitter`, `cog-csi-adapter`, and `cog-rvcsi-stream` are
+> being consolidated into one Rust binary `cog-rvcsi-pi` built on
+> [rvcsi-runtime](https://crates.io/crates/rvcsi-runtime). The new
+> binary holds the same per-Pi role and the same expected-service
+> count from the operator's view (`fleet-status` already understands
+> both layouts). Deploy with
+> `bash scripts/rvcsi-pi/install-rvcsi-pi.sh <pi-host>`; revert with
+> `scripts/rvcsi-pi/uninstall-rvcsi-pi.sh`. The cutover is per-Pi,
+> not flag-day — mixed Python/Rust clusters are supported. The Hailo
+> encoder + correlator stay Python in this phase; their Rust ports
+> are tracked as follow-on ADRs.
+
+All unit files + the install script are in the
+[detailed gist](https://gist.github.com/ruvnet/88e7b053c41cb4f4af7a7ec4af873017) — section "Per-node systemd units".
+
+---
+
+## 5. Workstation pipeline
+
+The workstation runs ten user-mode units (3 daemons, 7 timers):
+
+| Unit | Type | Cadence | Purpose |
+|---|---|---|---|
+| `cog-rfmem-tail` | daemon | continuous | Ingests live brain entries into the workstation mirror |
+| `cog-rfmem-recall` | daemon | continuous | kNN-matches current fingerprint vs persisted ones, posts `rfmem-recall` |
+| `cog-rfmem-anomaly` | daemon | continuous | 13-axis anomaly detector, posts `rfmem-anomaly` + `rfmem-state-transition` |
+| `cog-rfmem-indexer` | timer | every 5 min | Updates HNSW index for kNN |
+| `cog-rfmem-compress` | timer | hourly | Compresses old brain entries |
+| `cog-rfmem-daily` | timer | nightly 04:00 | Per-day stats roll-up (`rfmem-daily`) |
+| `cog-rfmem-states` | timer | hourly | Re-runs cosine k-means w/ warm-start (`rfmem-state-summary`) |
+| `cog-rfmem-insights` | timer | nightly 04:55 | NL synthesis, posts `rfmem-insights` |
+| `cog-rfmem-drift-check` | timer | nightly 05:00 | Audits cluster file/unit drift, posts `rfmem-drift` |
+| `cog-rfmem-mirror` | timer | hourly | Mirrors cluster-2 brain → workstation read-replica |
+
+Install in one shot:
+
+```bash
+git clone https://github.com/<your-fork>/v0-appliance.git
+cd v0-appliance
+bash scripts/rfmem/install-workstation.sh
+```
+
+The installer is **idempotent** — rerunning is safe and only enables
+units that aren't yet enabled. It also wires a git post-commit hook
+that auto-deploys + auto-smoke-tests on every commit touching
+`scripts/rfmem/`. That closes the "I edited the repo but forgot to
+deploy" gap that bit us repeatedly in early development.
+
+---
+
+## 6. Calibration: getting from raw CSI to room states
+
+This is the longest step but largely passive — let it run.
+
+### 6.1 Walk the room
+
+For 30–60 minutes after the cluster is live, walk through every room you
+want recognized. Sit, stand, move between rooms, repeat. The encoder is
+learning to map "what the room looks like in CSI" into 128-d vectors;
+diversity here matters more than total time.
+
+### 6.2 First clustering pass
+
+```bash
+# Force-trigger the clusterer (it normally fires hourly):
+systemctl --user start cog-rfmem-states.service
+python3 scripts/rfmem/cog-query.py states
+```
+
+Output looks like:
+
+```
+=== rfmem-states — k=16, n=12,847 ===
+  state #0   π=0.184  dwell=42.3s  centroid_drift=0.012  (default)
+  state #1   π=0.121  dwell=18.1s  centroid_drift=0.003
+  state #4   π=0.087  dwell=29.6s  centroid_drift=0.041
+  ...
+```
+
+**Stable IDs across runs.** The warm-start k-means recipe matches new
+centroids to the prior run's centroids by cosine similarity before
+assigning IDs. This means state #4 stays state #4 between hourly runs —
+otherwise downstream Markov transitions would scramble after every
+re-cluster.
+
+### 6.3 Let the Markov chain build
+
+After a few thousand transitions (a few hours of activity), check:
+
+```bash
+python3 scripts/rfmem/cog-query.py prediction-accuracy
+```
+
+You should see something like:
+
+```
+=== prediction-accuracy — training-set top-1 ceilings ===
+  1st-order:  37.1%  (16x chance baseline of 6.25%)
+  2nd-order:  39.4%  (16x chance baseline of 6.25%, 1.06x gain over 1st)
+```
+
+The 2nd-order chain beats 1st-order because it conditions on the
+**previous** state as well as the current one. Self-loops are excluded
+from the argmax (a transition is by definition a state change).
+
+### 6.4 Verify the room learned itself
+
+```bash
+python3 scripts/rfmem/cog-query.py insights
+```
+
+Reads like:
+
+```
+The cluster has observed 446,231 fingerprints, clustering them into
+16 discrete RF states. The room exhibits moderately diverse (stationary
+entropy 0.82/1.0). State #4 is the dominant 'default' state (π=0.214);
+state #13 is the rarest baseline (π=0.018).
+Prediction skill (last hour, 2nd-order): top-1 12.4% (1.98x chance),
+top-3 31.0% (1.65x chance, 412 transitions) (training-set ceiling
+39.4% — operating @ 31% of capacity).
+```
+
+That "operating @ 31% of capacity" line is the operational efficiency:
+how close live performance is to the model's theoretical ceiling. Big
+gap = the room is being noisy in ways the static cluster model doesn't
+capture. Small gap = you're near SOTA for this static model.
+
+---
+
+## 7. Operating the cluster: the cog-query CLI
+
+A single CLI binary with **34 subcommands** + 4 machine-readable JSON
+modes. Practical ones (full list in the gist):
+
+| Subcommand | What it does |
+|---|---|
+| `summary --hours 1` | Bird's-eye view of last hour: anomalies, transitions, recall hits |
+| `top-events --hours 24 --limit 5` | Highest-info events in window (combines novelty + tier + recency) |
+| `top-events --json` | Same, agent-consumable |
+| `insights` | Natural-language synthesis (paragraph) — what the cluster thinks |
+| `insights --json` | Same, structured |
+| `insights --post` | Same, persisted to brain as `rfmem-insights` |
+| `stats` | Corpus: per-category counts, dimensions, vector counts |
+| `motion` | Recent motion events |
+| `anomalies --sort info` | Anomalies sorted by composite info score (1.0–8.0) |
+| `circadian` | 24-hour bin of activity — does the room have a daily rhythm? |
+| `by-state` | Per-state metrics (dwell, σ-baseline, novelty distribution) |
+| `markov` | Top transitions by frequency, both 1st + 2nd-order |
+| `transitions --sort novelty` | Rare/surprising transitions |
+| `dwell-times` | How long the room stays in each state |
+| `prediction-accuracy` | 1st + 2nd-order top-1 ceilings |
+| `baseline-drift` | Has the noise floor shifted? (slow change) |
+| `centroid-drift` | Has any state's RF signature materially changed? |
+| `fleet-status` | Per-host expected-service liveness check |
+| `fleet-status --json` | Same, agent-consumable |
+| `fleet-status --post` | Same, persisted to brain as `rfmem-fleet` (heartbeat) |
+| `check-drift` | Workstation/cluster file + unit drift audit |
+| `replica-status` | Hourly cluster-2 → workstation mirror health |
+
+### The fleet-health triad
+
+Three subcommands cover the operator's full health picture:
+
+- `check-drift` — file content drift (what's deployed vs what's in git)
+- `replica-status` — workstation mirror lag (last successful sync)
+- `fleet-status` — service liveness across the 4 Pis (topology-aware)
+
+If all three are green, the cluster is healthy. If any one fires, you
+have a concrete starting point.
+
+---
+
+## 8. What you can measure
+
+After a week of runtime, you can answer questions like:
+
+- **"What's the room's most common 'baseline' state?"** → `states` shows
+  the π-dominant cluster ID.
+- **"Did anything weird happen last night?"** → `anomalies --sort info
+  --hours 12` sorts by combined-information score (novelty × tier × state-
+  rarity × calmness).
+- **"How predictable is the room?"** → `insights` reports stationary
+  entropy (0.0 = single state, 1.0 = uniform). Most rooms land 0.6–0.9.
+- **"What's the most novel transition ever observed?"** → `transitions
+  --sort novelty --limit 1`. We've seen transitions with
+  `transition_p=0.0000` — never observed before in 446k+ embeddings.
+- **"Is the room changing slowly?"** → `centroid-drift` flags states
+  whose 128-d signature has moved > 0.05 cosine distance since the prior
+  clusterer run. Common cause: a piece of furniture moved.
+- **"What's the daily rhythm?"** → `circadian` bins activity by hour.
+  Most rooms show clear morning/evening peaks.
+
+---
+
+## 9. Troubleshooting
+
+| Symptom | Likely cause | Fix |
+|---|---|---|
+| `nexmon_csi` build fails with FAILED hunks | Cross-compiling from x86_64 | Build on the Pi natively |
+| Pi 5 stops booting after kernel switch | Wrong `kernel=` in `/boot/firmware/config.txt` | Use `kernel=kernel8.img` |
+| First boot fails on `apt update` | No RTC → clock skew, apt rejects "future-dated" Release files | Wait for `systemd-timesyncd` in firstboot |
+| `cog-rfmem-now` times out | Workstation daemon swap-thrashing | Bump `MemoryMax=` in unit file (we run 1G) |
+| `fleet-status` shows DEGRADED on cluster-3 / v0 | Topology unaware (old version) | Update to latest — per-host expected-services |
+| Cluster-2 Hailo encoder silent | `cp -r` made encoder a directory, not a file | `install -m 0755` instead |
+| 2nd-order Markov top-1 = 0% | Self-loop dominates argmax | Zero out self-loop before `.argmax()` |
+| State IDs change between runs | No warm-start k-means | Update clusterer to match new centroids to prior run by cosine |
+| HardFaults during embedded N6 bring-up | (Different topic, see [ADR-027](../adr/) for STM32N6 startup notes) | — |
+
+---
+
+## 10. Next steps
+
+Once your cluster is producing stable predictions and clean fleet health,
+the natural directions are:
+
+1. **Cross-room correlation** — train a second cluster in another room
+   and feed both into the workstation. The brain already supports
+   multiple namespaces.
+2. **Active sensing** — instead of passively observing whatever beacon is
+   present, drive your own (e.g., dedicated 5 GHz beacon AP at fixed
+   power). Eliminates upstream variability.
+3. **Vital signs** — the RuView project has companion code for extracting
+   heart-rate and breathing from CSI; the 128-d encoder output is a
+   reasonable input feature.
+4. **Federated training** — multiple physical sites publishing to a shared
+   brain. Each site keeps its own clusters; transitions are the shared
+   vocabulary.
+5. **Push to upstream RuView** — if your cluster develops capabilities not
+   in this tutorial (you'll know by the time you've written the README),
+   send a PR.
+
+---
+
+## Reference material
+
+- **[Detailed cookbook gist (all commands, configs, unit files)](https://gist.github.com/ruvnet/88e7b053c41cb4f4af7a7ec4af873017)**
+- **[ADR-206: nexmon_csi on Pi 5 cluster](https://github.com/ruvnet/v0-appliance/blob/main/docs/adr/ADR-206-nexmon-csi-on-pi-5-cluster.md)** — the engineering decision record
+  with full rationale, including the painful-but-instructive failures
+- **[v0-appliance repo](https://github.com/ruvnet/v0-appliance)** — the
+  source of truth for `scripts/rfmem/` operator tooling
+- **[seemoo-lab/nexmon_csi](https://github.com/seemoo-lab/nexmon_csi)** —
+  upstream CSI capture firmware
+- **[Hailo-8 documentation](https://hailo.ai/products/hailo-8/)** — NPU
+  reference
+
+---
+
+*This tutorial was built against the v0.5.0-cognitive-rf-observer milestone
+of `v0-appliance`. The cluster has been running continuously for 6+ weeks
+of development with 446k+ fingerprints observed, 16 stable RF states, and
+a 2nd-order Markov model operating at 31% of its 39.4% theoretical
+top-1 ceiling. SOTA is a moving target — but this is a real, working
+cognitive RF observer that you can reproduce.*

docs/user-guide.md

@@ -21,6 +21,7 @@ WiFi DensePose turns commodity WiFi signals into real-time human pose estimation
    - [Windows WiFi (RSSI Only)](#windows-wifi-rssi-only)
    - [ESP32-S3 (Full CSI)](#esp32-s3-full-csi)
    - [ESP32 Multistatic Mesh (Advanced)](#esp32-multistatic-mesh-advanced)
+   - [Connect Mesh Data to the Dashboard and Observatory](#connect-mesh-data-to-the-dashboard-and-observatory)
    - [Cognitum Seed Integration (ADR-069)](#cognitum-seed-integration-adr-069)
 5. [REST API Reference](#rest-api-reference)
 6. [WebSocket Streaming](#websocket-streaming)
@@ -28,13 +29,14 @@ WiFi DensePose turns commodity WiFi signals into real-time human pose estimation
 8. [Vital Sign Detection](#vital-sign-detection)
 9. [CLI Reference](#cli-reference)
 10. [Observatory Visualization](#observatory-visualization)
-11. [Adaptive Classifier](#adaptive-classifier)
+11. [Loading the Pretrained Model from Hugging Face](#loading-the-pretrained-model-from-hugging-face)
+12. [Adaptive Classifier](#adaptive-classifier)
     - [Recording Training Data](#recording-training-data)
     - [Training the Model](#training-the-model)
     - [Using the Trained Model](#using-the-trained-model)
-12. [Training a Model](#training-a-model)
+13. [Training a Model](#training-a-model)
     - [CRV Signal-Line Protocol](#crv-signal-line-protocol)
-13. [RVF Model Containers](#rvf-model-containers)
+14. [RVF Model Containers](#rvf-model-containers)
 14. [Hardware Setup](#hardware-setup)
     - [ESP32-S3 Mesh](#esp32-s3-mesh)
     - [Intel 5300 / Atheros NIC](#intel-5300--atheros-nic)
@@ -331,6 +333,46 @@ The mesh uses a **Time-Division Multiplexing (TDM)** protocol so nodes take turn
 
 See [ADR-029](adr/ADR-029-ruvsense-multistatic-sensing-mode.md) and [ADR-032](adr/ADR-032-multistatic-mesh-security-hardening.md) for the full design.
 
+### Connect Mesh Data to the Dashboard and Observatory
+
+If a standalone `aggregator` command prints live packets, the ESP32 fleet is already reaching that host. To visualize the same data, stop the standalone aggregator and run `sensing-server` on that same host and UDP port. The sensing server is the aggregator used by the REST API, WebSocket stream, dashboard, and Observatory.
+
+```bash
+# From a source build
+cd v2
+cargo run -p wifi-densepose-sensing-server -- \
+  --source esp32 \
+  --udp-port 5005 \
+  --http-port 3000 \
+  --ws-port 3001 \
+  --ui-path ../../ui
+
+# Docker
+docker run --rm \
+  -e CSI_SOURCE=esp32 \
+  -p 3000:3000 \
+  -p 3001:3001 \
+  -p 5005:5005/udp \
+  ruvnet/wifi-densepose:latest
+```
+
+Open the UI from the sensing server, not from a local file:
+
+| View | URL |
+|------|-----|
+| Dashboard | `http://localhost:3000/ui/index.html` |
+| Observatory | `http://localhost:3000/ui/observatory.html` |
+
+Use these checks before debugging the browser:
+
+```bash
+curl http://localhost:3000/health
+curl http://localhost:3000/api/v1/nodes
+curl http://localhost:3000/api/v1/sensing/latest
+```
+
+If the ESP32 nodes are provisioned with `--target-ip <AGGREGATOR_HOST>`, that IP must be the machine running `sensing-server`. Only one process can receive UDP `:5005` at a time, so leave the standalone hardware `aggregator` off while the dashboard or Observatory is live.
+
 ### Cognitum Seed Integration (ADR-069)
 
 Connect an ESP32-S3 to a [Cognitum Seed](https://cognitum.one) (Pi Zero 2 W, ~$15) for persistent vector storage, kNN similarity search, cryptographic witness chain, and AI-accessible sensing via MCP proxy.
@@ -752,6 +794,67 @@ The Observatory is an immersive Three.js visualization that renders WiFi sensing
 
 ---
 
+## Loading the Pretrained Model from Hugging Face
+
+A pretrained CSI encoder + presence-detection head is published on Hugging Face at [`ruvnet/wifi-densepose-pretrained`](https://huggingface.co/ruvnet/wifi-densepose-pretrained). It was trained on 60,630 frames / 610,615 contrastive triplets (12.2M steps, final loss 0.065) and reports 100% presence accuracy and ~164k embeddings/sec on an Apple M4 Pro.
+
+What it ships (and what it does not):
+
+| Capability | Status |
+|------------|--------|
+| Presence detection (occupied / empty) | ✅ Trained head — 100% accuracy on validation |
+| 128-dim CSI embeddings (re-ID, similarity, downstream training) | ✅ Trained encoder |
+| Single-person breathing / heart-rate | ⚠️ Server still uses heuristic DSP — model does not replace this yet |
+| 17-keypoint full-body pose | 🔬 No keypoint weights shipped yet — pose pipeline runs but without a learned head |
+
+### Download
+
+```bash
+pip install huggingface_hub
+huggingface-cli download ruvnet/wifi-densepose-pretrained \
+    --local-dir models/wifi-densepose-pretrained
+```
+
+The download yields a small set of files (the `.rvf.jsonl` is the canonical container the sensing server reads):
+
+```
+models/wifi-densepose-pretrained/
+  model.rvf.jsonl       # RVF container (encoder + presence head + lora)
+  model.safetensors     # 48 KB — same encoder weights, safetensors format
+  model-q4.bin          # 8 KB — recommended quantization for edge
+  presence-head.json    # presence classifier head
+  config.json           # sona-lora rank=8 alpha=16, target encoder + task_heads
+```
+
+### Using the weights
+
+The HF artifact is in **JSONL RVF** format (one JSON object per line: `metadata`, `encoder`, `lora`). What you can do with it today:
+
+| Consumer | Format it reads | Status |
+|----------|-----------------|--------|
+| Python / PyTorch training pipeline | `model.safetensors` | ✅ Works — load with `safetensors.torch.load_file` |
+| RVF JSONL inspection / re-export | `model.rvf.jsonl` | ✅ Works — plain JSONL, parse line-by-line |
+| Sensing-server `--model <PATH>` flag | binary RVF (`RVFS` magic) | ⚠️ Does **not** accept the JSONL file yet — see gap below |
+
+**Known gap (tracked):** `v2/crates/wifi-densepose-sensing-server/src/rvf_container.rs` only parses the binary RVF segment format (magic `0x52564653`). Pointing `--model` at `model.rvf.jsonl` causes the progressive loader to error with `invalid magic at offset 0: expected 0x52564653, got 0x7974227B` (`0x7974227B` is the ASCII bytes `{"ty…` from the JSONL header), and the live pipeline degrades to null output rather than falling back to heuristic mode. Until a JSONL adapter lands (or the model is re-published as binary RVF), run the sensing-server **without** `--model` and consume the HF weights from Python or the training pipeline.
+
+```bash
+# Works today — Python side (training, evaluation, embedding extraction):
+python -c "
+from safetensors.torch import load_file
+state = load_file('models/wifi-densepose-pretrained/model.safetensors')
+print({k: tuple(v.shape) for k, v in state.items()})
+"
+
+# Sensing server — run heuristic for now:
+cargo run -p wifi-densepose-sensing-server --release -- \
+    --source esp32 --udp-port 5005 --http-port 3000
+```
+
+See [RVF Model Containers](#rvf-model-containers) for the binary format the loader expects, and [Training a Model](#training-a-model) for using the encoder as a starting point for environment-specific fine-tuning.
+
+---
+
 ## Adaptive Classifier
 
 The adaptive classifier (ADR-048) learns your environment's specific WiFi signal patterns from labeled recordings. It replaces static threshold-based classification with a trained logistic regression model that uses 15 features (7 server-computed + 8 subcarrier-derived statistics).
@@ -1744,6 +1847,8 @@ The server applies a 3-stage smoothing pipeline (ADR-048). If readings are still
 
 - Verify the sensing server is running: `curl http://localhost:3000/health`
 - Access Observatory via the server URL: `http://localhost:3000/ui/observatory.html` (not a file:// URL)
+- If a standalone `aggregator` command is already listening on UDP `:5005`, stop it and run `sensing-server --source esp32 --udp-port 5005` instead; the Observatory reads the server WebSocket, not the standalone aggregator output
+- Verify the ESP32 nodes are provisioned to the IP address of the machine running `sensing-server`
 - Hard refresh with Ctrl+Shift+R to clear cached settings
 - The auto-detect probes `/health` on the same origin — cross-origin won't work
 

examples/three.js/.gitignore

@@ -0,0 +1,10 @@
+# Mixamo FBX downloads — too large + license boundary. Get your own from
+# mixamo.com (FBX Binary + T-Pose / Without Skin), drop into assets/.
+*.fbx
+
+# Diagnostic / debug screenshots from a dev session. Official screenshots
+# live in screenshots/ and are committed; these underscore-prefixed ones
+# are scratch.
+_diag-*.png
+_demo-mode-shot*.png
+_PROOF-*.png

examples/three.js/README.md

@@ -0,0 +1,77 @@
+# three.js demos
+
+Five progressively richer browser demos of the ADR-097 sensing-helpers scene,
+ending with a live MediaPipe-Pose → Mixamo X Bot retargeting pipeline driven
+by a real ESP32 CSI feed.
+
+## Run them
+
+```bash
+python examples/three.js/server/serve-demo.py
+# then open one of the URLs the script prints
+```
+
+`server/serve-demo.py` is a tiny `ThreadingHTTPServer` with aggressive
+no-cache headers — the stdlib `http.server` is single-threaded and times out
+on the parallel script + FBX fetches the demos make.
+
+## Demos
+
+| # | File | What it shows |
+|---|------|---------------|
+| 01 | [`demos/01-helpers.html`](demos/01-helpers.html) | Plain ADR-097 helpers in the point-cloud viewer |
+| 02 | [`demos/02-cinematic.html`](demos/02-cinematic.html) | Cinematic camera + pseudo-CSI visualization on top of #01 |
+| 03 | [`demos/03-skinned.html`](demos/03-skinned.html) | GLTF skinned mesh + additive animation blending |
+| 04 | [`demos/04-skinned-fbx.html`](demos/04-skinned-fbx.html) | Mixamo X Bot loaded from FBX in the ADR-097 scene |
+| 05 | [`demos/05-skinned-realtime.html`](demos/05-skinned-realtime.html) | Webcam → MediaPipe Pose Heavy → Mixamo IK retarget, live ESP32 CSI overlay |
+
+| Screenshot | |
+|---|---|
+| ![01](screenshots/01-helpers.png) | ![02](screenshots/02-cinematic.png) |
+| ![03](screenshots/03-skinned.png) | ![04](screenshots/04-skinned-fbx.png) |
+| ![05](screenshots/05-skinned-realtime.png) | |
+
+## Layout
+
+```
+examples/three.js/
+├── README.md
+├── .gitignore
+├── demos/                       # 5 self-contained HTML demos
+│   ├── 01-helpers.html
+│   ├── 02-cinematic.html
+│   ├── 03-skinned.html
+│   ├── 04-skinned-fbx.html
+│   └── 05-skinned-realtime.html
+├── screenshots/                 # one PNG per demo
+│   └── 0N-*.png
+├── server/
+│   ├── serve-demo.py            # local HTTP server with no-cache headers
+│   └── ruvultra-csi-bridge.py   # ESP32 CSI WebSocket bridge (ruvultra:8766)
+└── assets/
+    └── X Bot.fbx                # gitignored — get your own from mixamo.com
+                                 #   (FBX Binary, T-Pose, Without Skin)
+                                 # used by demos 04 and 05
+```
+
+## Mixamo X Bot
+
+Demos 04 and 05 expect `assets/X Bot.fbx`. It's gitignored (size + license
+boundary). Download yours from [mixamo.com](https://mixamo.com): pick the
+"X Bot" character, export as **FBX Binary**, **T-Pose**, **Without Skin**,
+and drop it into `assets/`.
+
+## Live ESP32 CSI overlay (demo 05 only)
+
+`server/ruvultra-csi-bridge.py` is the systemd-deployable bridge that runs on
+the `ruvultra` host (over Tailscale). It listens for ESP32-S3 CSI on UDP and
+re-broadcasts it as WebSocket frames at `ws://ruvultra:8766/csi`. Demo 05
+auto-connects; if the socket is down, it falls back to the bundled idle clip
+plus a synthetic CSI driver.
+
+## Open issues
+
+- [#583](https://github.com/ruvnet/RuView/issues/583) — head/face tracking
+  fidelity in `05-skinned-realtime.html`. Recommended fix: swap MediaPipe
+  Pose Heavy for MediaPipe Holistic (same API, adds 468-point face mesh +
+  hand landmarks for proper PnP head pose and finger curl tracking).

examples/three.js/demos/01-helpers.html

@@ -0,0 +1,587 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>RuView · ADR-097 · three.js helpers in the point cloud viewer</title>
+    <link rel="icon" type="image/svg+xml" href="data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 32 32'><circle cx='16' cy='16' r='10' fill='%23e8a634'/></svg>">
+    <style>
+        :root {
+            --bg: #0a0a0a;
+            --bg-panel: rgba(0, 0, 0, 0.88);
+            --amber: #e8a634;
+            --amber-dim: #4a3a1a;
+            --amber-hot: #ffc04d;
+            --grid-major: #444444;
+            --grid-minor: #222222;
+            --green: #4f4;
+            --blue: #4cf;
+            --text-mute: #888;
+            --border: #2a2a2a;
+        }
+        * { box-sizing: border-box; }
+        body {
+            margin: 0;
+            background: var(--bg);
+            color: var(--amber);
+            font-family: 'SF Mono', Monaco, 'Cascadia Code', Consolas, monospace;
+            overflow: hidden;
+            -webkit-font-smoothing: antialiased;
+        }
+        canvas { display: block; }
+
+        /* Top-left HUD */
+        #info {
+            position: absolute;
+            top: 16px;
+            left: 16px;
+            padding: 14px 16px;
+            background: var(--bg-panel);
+            border: 1px solid var(--amber);
+            border-radius: 8px;
+            min-width: 280px;
+            max-width: 340px;
+            font-size: 12px;
+            line-height: 1.55;
+            z-index: 10;
+            backdrop-filter: blur(6px);
+            box-shadow: 0 4px 24px rgba(232, 166, 52, 0.08);
+        }
+        #info h1 { margin: 0 0 2px 0; font-size: 14px; letter-spacing: 0.5px; }
+        #info .sub { font-size: 11px; color: var(--text-mute); margin-bottom: 10px; }
+        #info .row { display: flex; justify-content: space-between; gap: 12px; margin: 2px 0; }
+        #info .row .k { color: var(--text-mute); }
+        #info .row .v { color: var(--amber); font-variant-numeric: tabular-nums; }
+        #info .row .v.live { color: var(--green); }
+
+        /* Bottom-left helper toggle panel */
+        #controls {
+            position: absolute;
+            bottom: 16px;
+            left: 16px;
+            padding: 12px 14px;
+            background: var(--bg-panel);
+            border: 1px solid var(--border);
+            border-radius: 8px;
+            font-size: 12px;
+            z-index: 10;
+            backdrop-filter: blur(6px);
+            min-width: 220px;
+        }
+        #controls h2 {
+            margin: 0 0 8px 0;
+            font-size: 11px;
+            text-transform: uppercase;
+            letter-spacing: 1.2px;
+            color: var(--text-mute);
+            font-weight: 600;
+        }
+        #controls label {
+            display: flex;
+            align-items: center;
+            gap: 8px;
+            padding: 4px 0;
+            cursor: pointer;
+            user-select: none;
+        }
+        #controls label:hover { color: var(--amber-hot); }
+        #controls input[type=checkbox] {
+            accent-color: var(--amber);
+            width: 14px;
+            height: 14px;
+            cursor: pointer;
+        }
+        #controls .helper-swatch {
+            display: inline-block;
+            width: 10px;
+            height: 10px;
+            border-radius: 2px;
+            margin-left: auto;
+        }
+
+        /* Bottom-right ADR badge */
+        #adr-badge {
+            position: absolute;
+            bottom: 16px;
+            right: 16px;
+            padding: 8px 12px;
+            background: var(--bg-panel);
+            border: 1px solid var(--border);
+            border-radius: 6px;
+            font-size: 11px;
+            color: var(--text-mute);
+            z-index: 10;
+            backdrop-filter: blur(6px);
+        }
+        #adr-badge a { color: var(--amber); text-decoration: none; }
+        #adr-badge a:hover { color: var(--amber-hot); }
+
+        /* Top-right legend */
+        #legend {
+            position: absolute;
+            top: 16px;
+            right: 16px;
+            padding: 12px 14px;
+            background: var(--bg-panel);
+            border: 1px solid var(--border);
+            border-radius: 8px;
+            font-size: 11px;
+            z-index: 10;
+            backdrop-filter: blur(6px);
+            min-width: 200px;
+        }
+        #legend h2 {
+            margin: 0 0 8px 0;
+            font-size: 11px;
+            text-transform: uppercase;
+            letter-spacing: 1.2px;
+            color: var(--text-mute);
+            font-weight: 600;
+        }
+        #legend .item {
+            display: flex;
+            align-items: center;
+            gap: 8px;
+            padding: 3px 0;
+        }
+        #legend .dot {
+            width: 10px;
+            height: 10px;
+            border-radius: 50%;
+            flex-shrink: 0;
+        }
+        #legend .label { font-size: 11px; line-height: 1.3; }
+    </style>
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/controls/OrbitControls.js"></script>
+</head>
+<body>
+    <div id="info">
+        <h1>RuView · Helpers Demo</h1>
+        <div class="sub">ADR-097 · three.js helpers for the point cloud viewer</div>
+        <div class="row"><span class="k">Scene</span><span class="v live">● SYNTHETIC</span></div>
+        <div class="row"><span class="k">Skeleton</span><span class="v">17 kpts · COCO</span></div>
+        <div class="row"><span class="k">Point cloud</span><span class="v" id="pc-count">— pts</span></div>
+        <div class="row"><span class="k">Sensor nodes</span><span class="v">4 · multistatic</span></div>
+        <div class="row"><span class="k">Frame rate</span><span class="v" id="fps">— fps</span></div>
+        <div class="row"><span class="k">Bbox volume</span><span class="v" id="bbox-vol">— m³</span></div>
+    </div>
+
+    <div id="controls">
+        <h2>Helpers</h2>
+        <label><input type="checkbox" id="t-grid" checked>GridHelper<span class="helper-swatch" style="background:#444"></span></label>
+        <label><input type="checkbox" id="t-polar" checked>PolarGridHelper<span class="helper-swatch" style="background:#4a3a1a"></span></label>
+        <label><input type="checkbox" id="t-bbox" checked>BoxHelper<span class="helper-swatch" style="background:#e8a634"></span></label>
+        <label><input type="checkbox" id="t-axes" checked>AxesHelper<span class="helper-swatch" style="background:linear-gradient(90deg,#f44,#4f4,#4cf)"></span></label>
+        <label><input type="checkbox" id="t-nodebox" checked>Per-node BoxHelpers<span class="helper-swatch" style="background:#4cf"></span></label>
+    </div>
+
+    <div id="legend">
+        <h2>Scene</h2>
+        <div class="item"><span class="dot" style="background:#ffff00"></span><span class="label">COCO-17 keypoints (yellow)</span></div>
+        <div class="item"><span class="dot" style="background:#ffffff"></span><span class="label">Bones (white lines)</span></div>
+        <div class="item"><span class="dot" style="background:#4cf"></span><span class="label">Face point cloud (cyan→white)</span></div>
+        <div class="item"><span class="dot" style="background:#e8a634"></span><span class="label">ESP32 sensor nodes</span></div>
+    </div>
+
+    <div id="adr-badge">
+        ADR-097 · <a href="https://threejs.org/examples/#webgl_helpers" target="_blank" rel="noopener">three.js helpers</a>
+    </div>
+
+    <script>
+        // =====================================================================
+        //  RuView · ADR-097 · three.js helpers demo
+        //  --------------------------------------------------------------------
+        //  Self-contained, no backend. Demonstrates how `GridHelper`,
+        //  `PolarGridHelper`, `BoxHelper`, and `AxesHelper` slot into the
+        //  RuView point cloud viewer (`v2/crates/wifi-densepose-pointcloud
+        //  /src/viewer.html`). Open this file in a browser — no build step.
+        //
+        //  The scene contains:
+        //    1. A synthetic walking, breathing 17-keypoint skeleton.
+        //    2. A face-shaped point cloud attached to the skeleton head.
+        //    3. Four multistatic sensor-node markers arranged around the room.
+        //    4. All four ADR-097 helpers, toggleable from the bottom-left panel.
+        //
+        //  Coordinate frame matches the production viewer:
+        //    +X = right, +Y = up, +Z = away from camera.
+        //    Floor at y = -1.5, person hip at y = 0, head reaches ~ y = 0.7.
+        // =====================================================================
+
+        const COCO_BONES = [
+            // head
+            [0, 1], [0, 2], [1, 3], [2, 4],
+            // torso
+            [5, 6], [5, 11], [6, 12], [11, 12],
+            // left arm
+            [5, 7], [7, 9],
+            // right arm
+            [6, 8], [8, 10],
+            // left leg
+            [11, 13], [13, 15],
+            // right leg
+            [12, 14], [14, 16],
+        ];
+
+        // Static "T-pose" skeleton in local frame, animated each frame.
+        // 17 keypoints in COCO order. Units: meters.
+        const SKELETON_BASE = {
+            0:  [ 0.00,  0.65,  0.00], // nose
+            1:  [-0.04,  0.68,  0.04], // L eye
+            2:  [ 0.04,  0.68,  0.04], // R eye
+            3:  [-0.08,  0.64,  0.00], // L ear
+            4:  [ 0.08,  0.64,  0.00], // R ear
+            5:  [-0.18,  0.45,  0.00], // L shoulder
+            6:  [ 0.18,  0.45,  0.00], // R shoulder
+            7:  [-0.22,  0.20,  0.00], // L elbow
+            8:  [ 0.22,  0.20,  0.00], // R elbow
+            9:  [-0.26, -0.05,  0.00], // L wrist
+            10: [ 0.26, -0.05,  0.00], // R wrist
+            11: [-0.10,  0.00,  0.00], // L hip
+            12: [ 0.10,  0.00,  0.00], // R hip
+            13: [-0.12, -0.40,  0.00], // L knee
+            14: [ 0.12, -0.40,  0.00], // R knee
+            15: [-0.12, -0.80,  0.00], // L ankle
+            16: [ 0.12, -0.80,  0.00], // R ankle
+        };
+
+        // ---------------------------------------------------------------------
+        //  Scene + camera + renderer
+        // ---------------------------------------------------------------------
+        const scene = new THREE.Scene();
+        scene.background = new THREE.Color(0x0a0a0a);
+        scene.fog = new THREE.Fog(0x0a0a0a, 6, 14);
+
+        const camera = new THREE.PerspectiveCamera(60, window.innerWidth / window.innerHeight, 0.05, 100);
+        camera.position.set(3.0, 1.4, 4.2);
+
+        const renderer = new THREE.WebGLRenderer({ antialias: true, powerPreference: 'high-performance' });
+        renderer.setPixelRatio(window.devicePixelRatio);
+        renderer.setSize(window.innerWidth, window.innerHeight);
+        document.body.appendChild(renderer.domElement);
+
+        const controls = new THREE.OrbitControls(camera, renderer.domElement);
+        controls.target.set(0, 0, 0);
+        controls.enableDamping = true;
+        controls.dampingFactor = 0.08;
+        controls.minDistance = 1.5;
+        controls.maxDistance = 12;
+        controls.maxPolarAngle = Math.PI * 0.92;
+
+        // ---------------------------------------------------------------------
+        //  ADR-097 helpers — wired to checkbox toggles
+        // ---------------------------------------------------------------------
+        //  GridHelper — Cartesian floor reference. Establishes "down" and
+        //  scale: 4 m × 4 m floor, 20 divisions = 0.2 m grid spacing.
+        const gridHelper = new THREE.GridHelper(4, 20, 0x444444, 0x222222);
+        gridHelper.position.y = -1.5;
+        scene.add(gridHelper);
+
+        //  PolarGridHelper — multistatic geometry reference. 16 radial
+        //  divisions (angular bins) × 4 concentric circles, centered on
+        //  the fusion target. Matches the bin count in
+        //  signal/src/ruvsense/multistatic.rs:attention_weight().
+        const polarHelper = new THREE.PolarGridHelper(2.2, 16, 4, 64, 0x4a3a1a, 0x2a1f10);
+        polarHelper.position.y = -1.499; // a hair above grid to avoid z-fight
+        scene.add(polarHelper);
+
+        //  AxesHelper — XYZ tripod at origin. Red = X, green = Y, blue = Z.
+        const axesHelper = new THREE.AxesHelper(0.5);
+        axesHelper.position.set(0, -1.49, 0);
+        scene.add(axesHelper);
+
+        //  BoxHelper — per-person bounding volume. Refreshed each frame
+        //  after the skeleton is updated. Color = RuView amber.
+        let bboxHelper = null;
+
+        // ---------------------------------------------------------------------
+        //  Skeleton — joint spheres + bone lines, animated
+        // ---------------------------------------------------------------------
+        const skeletonGroup = new THREE.Group();
+        scene.add(skeletonGroup);
+
+        const jointGeo = new THREE.SphereGeometry(0.025, 12, 12);
+        const jointMat = new THREE.MeshBasicMaterial({ color: 0xffff00 });
+        const joints = [];
+        for (let i = 0; i < 17; i++) {
+            const sphere = new THREE.Mesh(jointGeo, jointMat);
+            const p = SKELETON_BASE[i];
+            sphere.position.set(p[0], p[1], p[2]);
+            sphere.userData.baseY = p[1];
+            sphere.userData.baseX = p[0];
+            sphere.userData.idx = i;
+            skeletonGroup.add(sphere);
+            joints.push(sphere);
+        }
+
+        const boneMat = new THREE.LineBasicMaterial({ color: 0xffffff, transparent: true, opacity: 0.85 });
+        const bones = [];
+        for (const [a, b] of COCO_BONES) {
+            const geom = new THREE.BufferGeometry();
+            geom.setAttribute('position', new THREE.BufferAttribute(new Float32Array(6), 3));
+            const line = new THREE.Line(geom, boneMat);
+            line.userData = { a, b };
+            skeletonGroup.add(line);
+            bones.push(line);
+        }
+
+        // ---------------------------------------------------------------------
+        //  Face point cloud — synthetic ellipsoid attached to head keypoint
+        // ---------------------------------------------------------------------
+        const FACE_POINTS = 600;
+        const facePositions = new Float32Array(FACE_POINTS * 3);
+        const faceColors    = new Float32Array(FACE_POINTS * 3);
+        const faceOffsets   = new Float32Array(FACE_POINTS * 3); // canonical face shape, relative to nose
+
+        for (let i = 0; i < FACE_POINTS; i++) {
+            // Sample points roughly on a face-shaped ellipsoid (taller than wide).
+            const u = Math.random() * Math.PI * 2;
+            const v = (Math.random() - 0.5) * Math.PI;
+            const cu = Math.cos(u), su = Math.sin(u);
+            const cv = Math.cos(v), sv = Math.sin(v);
+            // ellipsoid radii (head-like proportions)
+            const rx = 0.085, ry = 0.105, rz = 0.075;
+            faceOffsets[i * 3 + 0] = rx * cv * cu;
+            faceOffsets[i * 3 + 1] = ry * sv;
+            faceOffsets[i * 3 + 2] = rz * cv * su;
+            // depth-encoded color: cyan at back, near-white at front (toward +Z = away from camera)
+            const depthT = (sv + 1) * 0.5;
+            faceColors[i * 3 + 0] = 0.30 + 0.70 * depthT; // R
+            faceColors[i * 3 + 1] = 0.80 + 0.20 * depthT; // G
+            faceColors[i * 3 + 2] = 1.00;                 // B
+        }
+        const faceGeom = new THREE.BufferGeometry();
+        faceGeom.setAttribute('position', new THREE.BufferAttribute(facePositions, 3));
+        faceGeom.setAttribute('color',    new THREE.BufferAttribute(faceColors, 3));
+        const faceMat = new THREE.PointsMaterial({
+            size: 0.012,
+            vertexColors: true,
+            sizeAttenuation: true,
+            transparent: true,
+            opacity: 0.9,
+        });
+        const facePoints = new THREE.Points(faceGeom, faceMat);
+        skeletonGroup.add(facePoints);
+        document.getElementById('pc-count').textContent = FACE_POINTS + ' pts';
+
+        // ---------------------------------------------------------------------
+        //  Multistatic sensor nodes — 4 ESP32 markers around the room
+        // ---------------------------------------------------------------------
+        const nodeGroup = new THREE.Group();
+        scene.add(nodeGroup);
+
+        const NODE_POSITIONS = [
+            [-1.9,  1.3,  1.9],   // back-left high
+            [ 1.9,  1.3,  1.9],   // back-right high
+            [-1.9,  1.3, -1.9],   // front-left high
+            [ 1.9,  1.3, -1.9],   // front-right high
+        ];
+        const nodeBboxHelpers = [];
+        const nodeGeo = new THREE.BoxGeometry(0.12, 0.06, 0.18);
+        const nodeMat = new THREE.MeshBasicMaterial({ color: 0xe8a634 });
+        const nodeAntennaGeo = new THREE.ConeGeometry(0.018, 0.08, 8);
+        const nodeAntennaMat = new THREE.MeshBasicMaterial({ color: 0xffc04d });
+
+        NODE_POSITIONS.forEach((pos, i) => {
+            const group = new THREE.Group();
+            group.position.set(pos[0], pos[1], pos[2]);
+
+            const body = new THREE.Mesh(nodeGeo, nodeMat);
+            group.add(body);
+
+            // little antenna sticking up
+            const antenna = new THREE.Mesh(nodeAntennaGeo, nodeAntennaMat);
+            antenna.position.y = 0.07;
+            group.add(antenna);
+
+            // pulsing emissive ring (visualizes RX activity)
+            const ringGeo = new THREE.RingGeometry(0.10, 0.13, 32);
+            const ringMat = new THREE.MeshBasicMaterial({ color: 0xe8a634, side: THREE.DoubleSide, transparent: true, opacity: 0.4 });
+            const ring = new THREE.Mesh(ringGeo, ringMat);
+            ring.rotation.x = -Math.PI / 2;
+            ring.position.y = -0.04;
+            ring.userData.phase = i * 0.5;
+            group.add(ring);
+            group.userData.ring = ring;
+
+            // sight-line from node to scene origin (visualizes multistatic geometry)
+            const sightGeo = new THREE.BufferGeometry().setFromPoints([
+                new THREE.Vector3(0, 0, 0),
+                new THREE.Vector3(-pos[0], -pos[1], -pos[2]),
+            ]);
+            const sightMat = new THREE.LineDashedMaterial({
+                color: 0xe8a634, transparent: true, opacity: 0.18,
+                dashSize: 0.1, gapSize: 0.06,
+            });
+            const sightLine = new THREE.Line(sightGeo, sightMat);
+            sightLine.computeLineDistances();
+            group.add(sightLine);
+
+            nodeGroup.add(group);
+
+            // ADR-097 §3.3 — per-node BoxHelper. Demonstrates that helpers
+            // compose naturally: one box per detected object.
+            const bbox = new THREE.BoxHelper(group, 0x4cf);
+            scene.add(bbox);
+            nodeBboxHelpers.push(bbox);
+        });
+
+        // ---------------------------------------------------------------------
+        //  Animation — synthetic motion model
+        // ---------------------------------------------------------------------
+        let frameStart = performance.now();
+        let frameCount = 0;
+        let fpsAvg = 0;
+
+        function applyPose(t) {
+            // Body sway (slow), breathing (chest expansion), arm/leg swing (walking).
+            const swayX = Math.sin(t * 0.35) * 0.05;
+            const swayZ = Math.cos(t * 0.27) * 0.04;
+            const breathe = Math.sin(t * 1.4) * 0.012;   // chest in/out
+            const walkPhase = t * 1.9;                    // walk cycle
+
+            skeletonGroup.position.set(swayX, 0, swayZ);
+            skeletonGroup.rotation.y = Math.sin(t * 0.22) * 0.18;
+
+            for (let i = 0; i < 17; i++) {
+                const base = SKELETON_BASE[i];
+                let dx = 0, dy = 0, dz = 0;
+
+                // breathing — shoulders + nose rise a little
+                if (i === 0 || i === 1 || i === 2) dy = breathe * 0.6;
+                if (i === 5 || i === 6) dy = breathe;
+
+                // arm swing (opposite of legs)
+                if (i === 7) { dz =  Math.sin(walkPhase) * 0.10; dy += Math.cos(walkPhase) * 0.04; }
+                if (i === 9) { dz =  Math.sin(walkPhase) * 0.18; dy += Math.cos(walkPhase) * 0.06; }
+                if (i === 8) { dz = -Math.sin(walkPhase) * 0.10; dy += Math.cos(walkPhase) * 0.04; }
+                if (i === 10){ dz = -Math.sin(walkPhase) * 0.18; dy += Math.cos(walkPhase) * 0.06; }
+
+                // leg swing
+                if (i === 13){ dz = -Math.sin(walkPhase) * 0.08; }
+                if (i === 15){ dz = -Math.sin(walkPhase) * 0.15; dy = Math.max(0, Math.cos(walkPhase)) * 0.04; }
+                if (i === 14){ dz =  Math.sin(walkPhase) * 0.08; }
+                if (i === 16){ dz =  Math.sin(walkPhase) * 0.15; dy = Math.max(0, -Math.cos(walkPhase)) * 0.04; }
+
+                joints[i].position.set(base[0] + dx, base[1] + dy, base[2] + dz);
+            }
+
+            // update bone line vertices from current joint positions
+            for (const line of bones) {
+                const { a, b } = line.userData;
+                const pa = joints[a].position;
+                const pb = joints[b].position;
+                const pos = line.geometry.attributes.position;
+                pos.array[0] = pa.x; pos.array[1] = pa.y; pos.array[2] = pa.z;
+                pos.array[3] = pb.x; pos.array[4] = pb.y; pos.array[5] = pb.z;
+                pos.needsUpdate = true;
+            }
+
+            // attach face point cloud to the nose keypoint (kpt 0)
+            const nose = joints[0].position;
+            const positions = faceGeom.attributes.position;
+            const headTurn = Math.sin(t * 0.6) * 0.35; // y-axis nod
+            const cosH = Math.cos(headTurn), sinH = Math.sin(headTurn);
+            for (let i = 0; i < FACE_POINTS; i++) {
+                const ox = faceOffsets[i * 3 + 0];
+                const oy = faceOffsets[i * 3 + 1];
+                const oz = faceOffsets[i * 3 + 2];
+                // rotate offset around Y axis by headTurn
+                const rx = cosH * ox + sinH * oz;
+                const rz = -sinH * ox + cosH * oz;
+                positions.array[i * 3 + 0] = nose.x + rx;
+                positions.array[i * 3 + 1] = nose.y + oy;
+                positions.array[i * 3 + 2] = nose.z + rz;
+            }
+            positions.needsUpdate = true;
+        }
+
+        function updateNodes(t) {
+            nodeGroup.children.forEach((node, i) => {
+                const ring = node.userData.ring;
+                const phase = (t * 1.8 + ring.userData.phase) % (Math.PI * 2);
+                ring.material.opacity = 0.18 + 0.42 * Math.max(0, Math.cos(phase));
+                ring.scale.setScalar(1 + 0.18 * Math.max(0, Math.cos(phase)));
+            });
+        }
+
+        function updateBboxHelper() {
+            const want = document.getElementById('t-bbox').checked;
+            if (!want) {
+                if (bboxHelper) { scene.remove(bboxHelper); bboxHelper = null; }
+                return;
+            }
+            skeletonGroup.updateMatrixWorld(true);
+            if (!bboxHelper) {
+                bboxHelper = new THREE.BoxHelper(skeletonGroup, 0xe8a634);
+                scene.add(bboxHelper);
+            } else {
+                bboxHelper.setFromObject(skeletonGroup);
+            }
+            // compute volume for the HUD
+            const box = new THREE.Box3().setFromObject(skeletonGroup);
+            const size = box.getSize(new THREE.Vector3());
+            document.getElementById('bbox-vol').textContent =
+                (size.x * size.y * size.z).toFixed(3) + ' m³';
+        }
+
+        function tick() {
+            const now = performance.now();
+            const t = now * 0.001;
+            const dt = now - frameStart;
+            frameStart = now;
+            frameCount++;
+            if (frameCount % 30 === 0) {
+                fpsAvg = 1000 / dt;
+                document.getElementById('fps').textContent = fpsAvg.toFixed(0) + ' fps';
+            }
+
+            applyPose(t);
+            updateNodes(t);
+            updateBboxHelper();
+
+            controls.update();
+            renderer.render(scene, camera);
+            requestAnimationFrame(tick);
+        }
+        requestAnimationFrame(tick);
+
+        // ---------------------------------------------------------------------
+        //  Controls wiring — checkbox toggles attach/detach helpers from scene
+        // ---------------------------------------------------------------------
+        function bindToggle(id, obj) {
+            const el = document.getElementById(id);
+            el.addEventListener('change', () => {
+                if (el.checked) {
+                    if (!scene.children.includes(obj)) scene.add(obj);
+                } else {
+                    scene.remove(obj);
+                }
+            });
+        }
+        bindToggle('t-grid',  gridHelper);
+        bindToggle('t-polar', polarHelper);
+        bindToggle('t-axes',  axesHelper);
+
+        // per-node bbox toggle (group of 4)
+        document.getElementById('t-nodebox').addEventListener('change', (e) => {
+            for (const bb of nodeBboxHelpers) {
+                if (e.target.checked) {
+                    if (!scene.children.includes(bb)) scene.add(bb);
+                } else {
+                    scene.remove(bb);
+                }
+            }
+        });
+
+        // ---------------------------------------------------------------------
+        //  Resize
+        // ---------------------------------------------------------------------
+        window.addEventListener('resize', () => {
+            camera.aspect = window.innerWidth / window.innerHeight;
+            camera.updateProjectionMatrix();
+            renderer.setSize(window.innerWidth, window.innerHeight);
+        });
+    </script>
+</body>
+</html>

examples/three.js/demos/03-skinned.html

@@ -0,0 +1,854 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>RuView · Skinned · ADR-097 + GLTF skinned mesh + additive animation blending</title>
+    <link rel="icon" type="image/svg+xml" href="data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 32 32'><circle cx='16' cy='16' r='10' fill='%23e8a634'/></svg>">
+    <style>
+        :root {
+            --bg: #050507;
+            --bg-panel: rgba(8, 10, 14, 0.78);
+            --amber: #ffb840;
+            --amber-hot: #ffe09f;
+            --cyan: #4cf;
+            --magenta: #ff4cc8;
+            --text: #d8c69a;
+            --text-mute: #6b6155;
+            --border: rgba(255, 184, 64, 0.18);
+        }
+        * { box-sizing: border-box; }
+        body {
+            margin: 0; background: var(--bg); color: var(--text); overflow: hidden;
+            font-family: 'SF Mono', 'Cascadia Code', Consolas, monospace;
+            -webkit-font-smoothing: antialiased; font-size: 12px;
+        }
+        canvas { display: block; }
+
+        .overlay-frame {
+            position: fixed; inset: 0; pointer-events: none; z-index: 5;
+            background:
+                radial-gradient(ellipse at center, transparent 55%, rgba(0,0,0,0.55) 100%),
+                linear-gradient(180deg, rgba(0,0,0,0.32) 0%, transparent 18%, transparent 82%, rgba(0,0,0,0.38) 100%);
+        }
+        .scanlines {
+            position: fixed; inset: 0; pointer-events: none; z-index: 6;
+            background: repeating-linear-gradient(0deg, rgba(0,0,0,0.04) 0px, rgba(0,0,0,0.04) 1px, transparent 1px, transparent 3px);
+            mix-blend-mode: overlay; opacity: 0.5;
+        }
+        .panel {
+            position: absolute; background: var(--bg-panel); border: 1px solid var(--border);
+            border-radius: 4px; padding: 12px 14px; backdrop-filter: blur(8px);
+            box-shadow: 0 1px 0 rgba(255, 184, 64, 0.04), 0 8px 32px rgba(0,0,0,0.55); z-index: 10;
+        }
+        .panel h2 {
+            margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px;
+        }
+
+        #info { top: 20px; left: 20px; min-width: 280px; }
+        #info h1 { margin: 0 0 1px 0; font-size: 13px; letter-spacing: 1px; color: var(--amber-hot); font-weight: 600; }
+        #info .sub { font-size: 10px; color: var(--text-mute); letter-spacing: 0.5px; margin-bottom: 10px; padding-bottom: 8px; border-bottom: 1px solid var(--border); }
+        #info .row { display: flex; justify-content: space-between; gap: 12px; padding: 2px 0; }
+        #info .row .k { color: var(--text-mute); font-size: 11px; }
+        #info .row .v { color: var(--text); font-variant-numeric: tabular-nums; font-size: 11px; }
+        #info .row .v.amber { color: var(--amber); }
+        #info .row .v.cyan  { color: var(--cyan); }
+        #info .row .v.mag   { color: var(--magenta); }
+
+        #anim {
+            position: absolute; bottom: 20px; left: 20px; min-width: 280px;
+            background: var(--bg-panel); border: 1px solid var(--border); border-radius: 4px;
+            padding: 12px 14px; backdrop-filter: blur(8px); z-index: 10;
+        }
+        #anim h2 { margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px; }
+        #anim .group { padding: 6px 0; border-bottom: 1px solid rgba(255,184,64,0.08); }
+        #anim .group:last-child { border-bottom: none; }
+        #anim .group-label { font-size: 10px; color: var(--text-mute); text-transform: uppercase; letter-spacing: 1px; margin-bottom: 4px; }
+        #anim button {
+            background: rgba(255,184,64,0.06); border: 1px solid rgba(255,184,64,0.18);
+            color: var(--text); font-family: inherit; font-size: 10px; padding: 4px 8px;
+            margin: 2px 4px 2px 0; cursor: pointer; border-radius: 3px; letter-spacing: 0.5px;
+        }
+        #anim button:hover { background: rgba(255,184,64,0.14); color: var(--amber-hot); }
+        #anim button.active { background: var(--amber); color: var(--bg); border-color: var(--amber); font-weight: 600; }
+        #anim .slider-row { display: flex; align-items: center; gap: 8px; padding: 3px 0; font-size: 10px; }
+        #anim .slider-row .label { width: 90px; color: var(--text-mute); }
+        #anim .slider-row input[type=range] { flex: 1; accent-color: var(--amber); }
+        #anim .slider-row .val { width: 38px; text-align: right; color: var(--amber); font-variant-numeric: tabular-nums; }
+
+        #csi { top: 20px; right: 20px; min-width: 260px; }
+        #csi .bar-row { display: flex; align-items: center; gap: 8px; padding: 3px 0; font-size: 10px; }
+        #csi .bar-row .label { width: 42px; color: var(--text-mute); }
+        #csi .bar-row .bar-track { flex: 1; height: 6px; background: rgba(255,184,64,0.08); border-radius: 2px; overflow: hidden; }
+        #csi .bar-row .bar-fill {
+            height: 100%; background: linear-gradient(90deg, var(--amber-hot), var(--amber));
+            box-shadow: 0 0 6px var(--amber); transition: width 0.08s linear;
+        }
+        #csi .bar-row .val { width: 36px; text-align: right; color: var(--amber); font-variant-numeric: tabular-nums; }
+
+        #helpers {
+            position: absolute; bottom: 20px; right: 20px; min-width: 220px;
+            background: var(--bg-panel); border: 1px solid var(--border); border-radius: 4px;
+            padding: 12px 14px; backdrop-filter: blur(8px); z-index: 10;
+        }
+        #helpers h2 { margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px; }
+        #helpers label {
+            display: flex; align-items: center; gap: 10px; padding: 3px 0; cursor: pointer; user-select: none; font-size: 11px;
+        }
+        #helpers label:hover { color: var(--amber-hot); }
+        #helpers input[type=checkbox] { accent-color: var(--amber); width: 13px; height: 13px; cursor: pointer; }
+        #helpers .swatch { width: 8px; height: 8px; border-radius: 50%; margin-left: auto; box-shadow: 0 0 6px currentColor; }
+
+        #loading {
+            position: absolute; inset: 0; display: flex; align-items: center; justify-content: center;
+            background: rgba(5, 5, 7, 0.96); z-index: 20; font-size: 13px; color: var(--amber);
+            letter-spacing: 2px; text-transform: uppercase;
+        }
+        #loading.hidden { display: none; }
+        #loading .text {
+            text-shadow: 0 0 12px var(--amber);
+            animation: loadPulse 1.4s ease-in-out infinite;
+        }
+        @keyframes loadPulse { 0%,100% { opacity: 0.4; } 50% { opacity: 1.0; } }
+
+        @keyframes scanFlash {
+            0% { opacity: 0; } 10% { opacity: 0.12; } 100% { opacity: 0; }
+        }
+        .scan-flash {
+            position: fixed; inset: 0;
+            background: linear-gradient(90deg, transparent, var(--magenta), transparent);
+            mix-blend-mode: screen; pointer-events: none; opacity: 0; z-index: 4;
+        }
+
+        #titlecard {
+            position: absolute; bottom: 76px; left: 50%; transform: translateX(-50%);
+            text-align: center; color: var(--amber-hot); letter-spacing: 6px; font-size: 11px;
+            text-transform: uppercase; opacity: 0.35; z-index: 10;
+            text-shadow: 0 0 12px var(--amber); pointer-events: none;
+        }
+        #titlecard .sub { font-size: 9px; color: var(--text-mute); letter-spacing: 4px; margin-top: 4px; }
+
+        #adr-badge {
+            position: absolute; top: 50%; right: 20px; transform: translateY(-50%);
+            padding: 6px 10px; background: var(--bg-panel); border: 1px solid var(--border);
+            border-radius: 4px; font-size: 9px; color: var(--text-mute); z-index: 10;
+            backdrop-filter: blur(8px); letter-spacing: 0.5px; max-width: 70px; text-align: center; line-height: 1.5;
+        }
+        #adr-badge a { color: var(--amber); text-decoration: none; display: block; }
+        #adr-badge a:hover { color: var(--amber-hot); }
+    </style>
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/controls/OrbitControls.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/loaders/GLTFLoader.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/EffectComposer.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/RenderPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/ShaderPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/UnrealBloomPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/shaders/CopyShader.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/shaders/LuminosityHighPassShader.js"></script>
+</head>
+<body>
+    <div class="overlay-frame"></div>
+    <div class="scanlines"></div>
+    <div class="scan-flash" id="scan-flash"></div>
+
+    <div id="loading"><div class="text">▸ Loading skinned subject · Xbot.glb · 2.9 MB</div></div>
+
+    <div class="panel" id="info">
+        <h1>RuView · Skinned</h1>
+        <div class="sub">ADR-097 · GLTF skinned mesh · additive animation blending</div>
+        <div class="row"><span class="k">Subject</span><span class="v amber">● Tracked</span></div>
+        <div class="row"><span class="k">Model</span><span class="v">Xbot.glb · 14k tris</span></div>
+        <div class="row"><span class="k">Base anim</span><span class="v amber" id="base-name">walk</span></div>
+        <div class="row"><span class="k">Additive</span><span class="v mag" id="add-name">headShake · 0.40</span></div>
+        <div class="row"><span class="k">Mesh nodes</span><span class="v cyan">4 · multistatic</span></div>
+        <div class="row"><span class="k">Coherence</span><span class="v" id="coh-val">— %</span></div>
+        <div class="row"><span class="k">Heart rate</span><span class="v amber" id="hr-val">— bpm</span></div>
+        <div class="row"><span class="k">Bbox vol</span><span class="v" id="bbox-vol">— m³</span></div>
+        <div class="row"><span class="k">Render</span><span class="v" id="fps-val">— fps</span></div>
+    </div>
+
+    <div id="anim">
+        <h2>AnimationMixer</h2>
+        <div class="group">
+            <div class="group-label">Base · loops</div>
+            <button data-base="idle">idle</button>
+            <button data-base="walk" class="active">walk</button>
+            <button data-base="run">run</button>
+        </div>
+        <div class="group">
+            <div class="group-label">Additive · layered</div>
+            <button data-add="agree">agree</button>
+            <button data-add="headShake" class="active">headShake</button>
+            <button data-add="sad_pose">sad</button>
+            <button data-add="sneak_pose">sneak</button>
+        </div>
+        <div class="group">
+            <div class="slider-row">
+                <span class="label">add weight</span>
+                <input type="range" id="add-weight" min="0" max="1" step="0.01" value="0.40">
+                <span class="val" id="add-weight-val">0.40</span>
+            </div>
+            <div class="slider-row">
+                <span class="label">time scale</span>
+                <input type="range" id="time-scale" min="0.1" max="2" step="0.05" value="1.0">
+                <span class="val" id="time-scale-val">1.00</span>
+            </div>
+        </div>
+    </div>
+
+    <div class="panel" id="csi">
+        <h2>Per-node CSI</h2>
+        <div class="bar-row"><span class="label">N1·BL</span><div class="bar-track"><div class="bar-fill" id="bar-0" style="width:0"></div></div><span class="val" id="val-0">—</span></div>
+        <div class="bar-row"><span class="label">N2·BR</span><div class="bar-track"><div class="bar-fill" id="bar-1" style="width:0"></div></div><span class="val" id="val-1">—</span></div>
+        <div class="bar-row"><span class="label">N3·FL</span><div class="bar-track"><div class="bar-fill" id="bar-2" style="width:0"></div></div><span class="val" id="val-2">—</span></div>
+        <div class="bar-row"><span class="label">N4·FR</span><div class="bar-track"><div class="bar-fill" id="bar-3" style="width:0"></div></div><span class="val" id="val-3">—</span></div>
+    </div>
+
+    <div id="helpers">
+        <h2>ADR-097 helpers</h2>
+        <label><input type="checkbox" id="t-grid" checked>GridHelper<span class="swatch" style="color:#666"></span></label>
+        <label><input type="checkbox" id="t-polar" checked>PolarGridHelper<span class="swatch" style="color:#ffb840"></span></label>
+        <label><input type="checkbox" id="t-bbox" checked>BoxHelper on mesh<span class="swatch" style="color:#ffe09f"></span></label>
+        <label><input type="checkbox" id="t-skel">SkeletonHelper<span class="swatch" style="color:#4cf"></span></label>
+        <label><input type="checkbox" id="t-nodebox" checked>Per-node BoxHelpers<span class="swatch" style="color:#4cf"></span></label>
+        <label><input type="checkbox" id="t-pings" checked>Sonar pings<span class="swatch" style="color:#4cf"></span></label>
+        <label><input type="checkbox" id="t-tomo" checked>Tomography sweep<span class="swatch" style="color:#ff4cc8"></span></label>
+    </div>
+
+    <div id="titlecard">
+        RuView · Seldon Vault
+        <div class="sub">skinned · ADR-097 · CCDIKSolver next</div>
+    </div>
+
+    <div id="adr-badge">
+        <a href="https://threejs.org/examples/#webgl_animation_skinning_additive_blending" target="_blank" rel="noopener">additive blend</a>
+        <a href="https://threejs.org/examples/#webgl_animation_skinning_ik" target="_blank" rel="noopener" style="margin-top:4px;">skinning IK</a>
+    </div>
+
+    <script>
+        // =====================================================================
+        //  RuView · Skinned · ADR-097 + GLTF skinned mesh + additive animation
+        //  --------------------------------------------------------------------
+        //  Replaces the procedural sphere-skeleton of helpers-cinematic.html
+        //  with a real rigged + skinned humanoid loaded from Xbot.glb. Plays
+        //  a base loop (walk / run / idle) and layers an additive pose on
+        //  top (headShake / agree / sneak / sad) — mirrors the upstream
+        //  three.js webgl_animation_skinning_additive_blending example.
+        //
+        //  All ADR-097 helpers still wrap the loaded mesh — BoxHelper picks
+        //  up the live AABB of the SkinnedMesh, the polar grid sits under
+        //  the rig, and per-node BoxHelpers wrap the four ESP32 markers.
+        //
+        //  Production path (next): swap canned GLTF animations for live
+        //  COCO-17 keypoint output → CCDIKSolver targets on hands/feet/head.
+        //  Reference: three.js webgl_animation_skinning_ik example.
+        // =====================================================================
+
+        const MODEL_URL = 'https://threejs.org/examples/models/gltf/Xbot.glb';
+
+        const NODE_POSITIONS = [
+            [-1.9, 1.3,  1.9],[ 1.9, 1.3,  1.9],
+            [-1.9, 1.3, -1.9],[ 1.9, 1.3, -1.9],
+        ];
+
+        // ---------------------------------------------------------------------
+        //  Scene
+        // ---------------------------------------------------------------------
+        const scene = new THREE.Scene();
+        scene.background = new THREE.Color(0x050507);
+        scene.fog = new THREE.FogExp2(0x050507, 0.06);
+
+        const camera = new THREE.PerspectiveCamera(48, window.innerWidth/window.innerHeight, 0.05, 100);
+        camera.position.set(3.2, 1.55, 4.0);
+
+        const renderer = new THREE.WebGLRenderer({ antialias: true, powerPreference: 'high-performance' });
+        renderer.setPixelRatio(Math.min(2, window.devicePixelRatio));
+        renderer.setSize(window.innerWidth, window.innerHeight);
+        renderer.toneMapping = THREE.ACESFilmicToneMapping;
+        renderer.toneMappingExposure = 0.80;
+        renderer.outputEncoding = THREE.sRGBEncoding;
+        renderer.shadowMap.enabled = true;
+        renderer.shadowMap.type = THREE.PCFSoftShadowMap;
+        document.body.appendChild(renderer.domElement);
+
+        const controls = new THREE.OrbitControls(camera, renderer.domElement);
+        controls.target.set(0, 0.9, 0);
+        controls.enableDamping = true;
+        controls.dampingFactor = 0.06;
+        controls.minDistance = 2; controls.maxDistance = 12;
+        controls.maxPolarAngle = Math.PI * 0.92;
+        controls.autoRotate = new URLSearchParams(location.search).get('orbit') === '1';
+        controls.autoRotateSpeed = 0.25;
+
+        // ---------------------------------------------------------------------
+        //  Lights — the GLTF uses PBR materials so we actually need lighting
+        //  here (unlike the all-emissive cinematic.html). Tuned to keep the
+        //  amber/cyan mood: amber hemi + amber key + cyan rim lights from
+        //  each node direction (visualizes "the nodes illuminate the subject").
+        // ---------------------------------------------------------------------
+        const hemiLight = new THREE.HemisphereLight(0x553a18, 0x080606, 0.7);
+        hemiLight.position.set(0, 4, 0);
+        scene.add(hemiLight);
+
+        const keyLight = new THREE.DirectionalLight(0xffc070, 0.95);
+        keyLight.position.set(2.5, 3.8, 2.5);
+        keyLight.castShadow = true;
+        keyLight.shadow.camera.top = 2; keyLight.shadow.camera.bottom = -2;
+        keyLight.shadow.camera.left = -2; keyLight.shadow.camera.right = 2;
+        keyLight.shadow.camera.near = 0.1; keyLight.shadow.camera.far = 12;
+        keyLight.shadow.mapSize.set(1024, 1024);
+        keyLight.shadow.bias = -0.0008;
+        scene.add(keyLight);
+
+        // cyan rim lights, one per ESP32 node — keeps the "sensed by the mesh" mood
+        const rimLights = [];
+        NODE_POSITIONS.forEach(pos => {
+            const rim = new THREE.PointLight(0x4cf, 0.55, 8, 1.8);
+            rim.position.set(pos[0] * 1.1, pos[1] * 0.7, pos[2] * 1.1);
+            scene.add(rim);
+            rimLights.push(rim);
+        });
+
+        // ---------------------------------------------------------------------
+        //  Post-processing — same composer as cinematic.html
+        // ---------------------------------------------------------------------
+        const composer = new THREE.EffectComposer(renderer);
+        composer.addPass(new THREE.RenderPass(scene, camera));
+        const bloom = new THREE.UnrealBloomPass(
+            new THREE.Vector2(window.innerWidth, window.innerHeight),
+            0.45, 0.40, 0.78,
+        );
+        composer.addPass(bloom);
+
+        const filmShader = {
+            uniforms: {
+                tDiffuse: { value: null },
+                time: { value: 0 }, grain: { value: 0.04 },
+                vignette: { value: 0.32 }, aberration: { value: 0.0018 },
+            },
+            vertexShader: `varying vec2 vUv; void main() { vUv = uv; gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0); }`,
+            fragmentShader: `
+                uniform sampler2D tDiffuse; uniform float time, grain, vignette, aberration;
+                varying vec2 vUv;
+                float hash(vec2 p) { return fract(sin(dot(p, vec2(12.9898, 78.233))) * 43758.5453); }
+                void main() {
+                    vec2 off = (vUv - 0.5) * aberration;
+                    float r = texture2D(tDiffuse, vUv + off).r;
+                    float g = texture2D(tDiffuse, vUv).g;
+                    float b = texture2D(tDiffuse, vUv - off).b;
+                    vec3 col = vec3(r, g, b);
+                    col += (hash(vUv * 1024.0 + time) - 0.5) * grain;
+                    float v = smoothstep(0.85, 0.20, length(vUv - 0.5));
+                    col *= mix(1.0 - vignette, 1.0, v);
+                    gl_FragColor = vec4(col, 1.0);
+                }`,
+        };
+        const filmPass = new THREE.ShaderPass(filmShader);
+        composer.addPass(filmPass);
+
+        // ---------------------------------------------------------------------
+        //  Floor — same procedural cyber grid (toned down for skinned scene)
+        // ---------------------------------------------------------------------
+        const floorMat = new THREE.ShaderMaterial({
+            uniforms: { time: { value: 0 }, baseColor: { value: new THREE.Color(0xffb840) } },
+            vertexShader: `varying vec3 vPos; void main() { vPos = position; gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0); }`,
+            fragmentShader: `
+                uniform float time; uniform vec3 baseColor; varying vec3 vPos;
+                void main() {
+                    vec2 g = abs(fract(vPos.xz * 0.5) - 0.5);
+                    float line = smoothstep(0.48, 0.50, max(g.x, g.y));
+                    float majorLine = smoothstep(0.96, 1.00, max(g.x, g.y) * 2.0);
+                    float scan = 0.5 + 0.5 * sin((vPos.x + vPos.z) * 2.0 - time * 1.4);
+                    scan = pow(scan, 14.0);
+                    float falloff = smoothstep(5.0, 1.2, length(vPos.xz));
+                    vec3 col = baseColor * (0.01 + 0.05 * line + 0.16 * majorLine + 0.08 * scan);
+                    gl_FragColor = vec4(col * falloff, falloff * 0.55);
+                }`,
+            transparent: true, depthWrite: false,
+        });
+        const floor = new THREE.Mesh(new THREE.PlaneGeometry(20, 20), floorMat);
+        floor.rotation.x = -Math.PI / 2;
+        floor.position.y = 0;
+        scene.add(floor);
+
+        // shadow-receiving ground (invisible, just catches the shadow)
+        const shadowGround = new THREE.Mesh(
+            new THREE.PlaneGeometry(20, 20),
+            new THREE.ShadowMaterial({ opacity: 0.55 })
+        );
+        shadowGround.rotation.x = -Math.PI / 2;
+        shadowGround.position.y = 0.001;
+        shadowGround.receiveShadow = true;
+        scene.add(shadowGround);
+
+        // ---------------------------------------------------------------------
+        //  ADR-097 helpers
+        // ---------------------------------------------------------------------
+        const gridHelper = new THREE.GridHelper(4, 20, 0x554a32, 0x2a2418);
+        gridHelper.material.transparent = true; gridHelper.material.opacity = 0.45;
+        scene.add(gridHelper);
+
+        const polarHelper = new THREE.PolarGridHelper(2.2, 16, 4, 64, 0xffb840, 0x4a3a1a);
+        polarHelper.position.y = 0.002;
+        polarHelper.material.transparent = true; polarHelper.material.opacity = 0.55;
+        scene.add(polarHelper);
+
+        let bboxHelper = null;
+        let skeletonHelper = null;
+
+        // ---------------------------------------------------------------------
+        //  Multistatic sensor nodes — same as cinematic
+        // ---------------------------------------------------------------------
+        const nodeGroup = new THREE.Group();
+        scene.add(nodeGroup);
+        const nodeBboxHelpers = [];
+        const nodeRings = [];
+        const nodeAnchors = [];
+        const nodeBodyGeo = new THREE.BoxGeometry(0.14, 0.06, 0.20);
+        const nodeBodyMat = new THREE.MeshBasicMaterial({ color: 0xffb840 });
+        const antennaGeo = new THREE.ConeGeometry(0.018, 0.10, 8);
+        const antennaMat = new THREE.MeshBasicMaterial({ color: 0xffe09f });
+
+        NODE_POSITIONS.forEach((pos, i) => {
+            const group = new THREE.Group();
+            group.position.set(pos[0], pos[1], pos[2]);
+
+            const body = new THREE.Mesh(nodeBodyGeo, nodeBodyMat);
+            group.add(body);
+            const antenna = new THREE.Mesh(antennaGeo, antennaMat);
+            antenna.position.y = 0.08; group.add(antenna);
+
+            const ring = new THREE.Mesh(
+                new THREE.RingGeometry(0.11, 0.14, 32),
+                new THREE.MeshBasicMaterial({ color: 0xffb840, side: THREE.DoubleSide, transparent: true,
+                    opacity: 0.55, blending: THREE.AdditiveBlending, depthWrite: false })
+            );
+            ring.rotation.x = -Math.PI / 2; ring.position.y = -0.05;
+            ring.userData.phase = i * 0.7;
+            group.add(ring); nodeRings.push(ring);
+
+            const core = new THREE.Mesh(
+                new THREE.SphereGeometry(0.025, 12, 12),
+                new THREE.MeshBasicMaterial({ color: 0xffe09f })
+            );
+            core.position.y = 0.04; group.add(core);
+
+            nodeGroup.add(group); nodeAnchors.push(group);
+
+            const bbox = new THREE.BoxHelper(group, 0x4cf);
+            bbox.material.transparent = true; bbox.material.opacity = 0.45;
+            scene.add(bbox); nodeBboxHelpers.push(bbox);
+        });
+
+        // ---------------------------------------------------------------------
+        //  GLTF — load the rigged Xbot model
+        // ---------------------------------------------------------------------
+        let model = null;
+        let mixer = null;
+        let headBone = null;
+        const baseActions = {};      // idle / walk / run
+        const additiveActions = {};  // sneak_pose / sad_pose / agree / headShake
+        let currentBase = 'walk';
+        let currentAddName = 'headShake';
+        let addWeight = 0.40;
+
+        const loader = new THREE.GLTFLoader();
+        loader.load(MODEL_URL, (gltf) => {
+            model = gltf.scene;
+            model.position.y = 0;
+            model.traverse(obj => {
+                if (obj.isMesh) { obj.castShadow = true; obj.receiveShadow = true; }
+                if (obj.isBone && /head/i.test(obj.name) && !headBone) headBone = obj;
+            });
+            scene.add(model);
+
+            skeletonHelper = new THREE.SkeletonHelper(model);
+            skeletonHelper.visible = false;
+            scene.add(skeletonHelper);
+
+            mixer = new THREE.AnimationMixer(model);
+            const baseNames = new Set(['idle', 'walk', 'run']);
+            const additiveNames = new Set(['sneak_pose', 'sad_pose', 'agree', 'headShake']);
+
+            for (let i = 0; i < gltf.animations.length; i++) {
+                let clip = gltf.animations[i];
+                const name = clip.name;
+                if (baseNames.has(name)) {
+                    const action = mixer.clipAction(clip);
+                    action.enabled = true;
+                    action.setEffectiveTimeScale(1);
+                    action.setEffectiveWeight(name === currentBase ? 1 : 0);
+                    action.play();
+                    baseActions[name] = action;
+                } else if (additiveNames.has(name)) {
+                    THREE.AnimationUtils.makeClipAdditive(clip);
+                    if (name.endsWith('_pose')) {
+                        clip = THREE.AnimationUtils.subclip(clip, name, 2, 3, 30);
+                    }
+                    const action = mixer.clipAction(clip);
+                    action.enabled = true;
+                    action.setEffectiveTimeScale(1);
+                    action.setEffectiveWeight(name === currentAddName ? addWeight : 0);
+                    action.play();
+                    additiveActions[name] = action;
+                }
+            }
+
+            // build the face point cloud anchored to head bone
+            buildFacePointCloud();
+
+            document.getElementById('loading').classList.add('hidden');
+        }, (xhr) => {
+            const pct = xhr.loaded / (xhr.total || 2930032) * 100;
+            const txt = document.querySelector('#loading .text');
+            if (txt) txt.textContent = `▸ Loading skinned subject · Xbot.glb · ${pct.toFixed(0)} %`;
+        }, (err) => {
+            console.error('GLTF load failed', err);
+            document.querySelector('#loading .text').textContent = '⚠ Load failed — see console';
+        });
+
+        function setBase(name) {
+            if (!baseActions[name]) return;
+            for (const k in baseActions) {
+                const a = baseActions[k];
+                const target = (k === name) ? 1 : 0;
+                a.crossFadeTo ? null : null; // (no-op — using simple weight crossfade)
+                a.setEffectiveWeight(target);
+            }
+            currentBase = name;
+            document.getElementById('base-name').textContent = name;
+            for (const btn of document.querySelectorAll('#anim [data-base]')) {
+                btn.classList.toggle('active', btn.dataset.base === name);
+            }
+        }
+        function setAdditive(name) {
+            for (const k in additiveActions) {
+                additiveActions[k].setEffectiveWeight(k === name ? addWeight : 0);
+            }
+            currentAddName = name;
+            document.getElementById('add-name').textContent = name + ' · ' + addWeight.toFixed(2);
+            for (const btn of document.querySelectorAll('#anim [data-add]')) {
+                btn.classList.toggle('active', btn.dataset.add === name);
+            }
+        }
+
+        // ---------------------------------------------------------------------
+        //  Face point cloud — anchored to head bone via getWorldPosition each frame
+        // ---------------------------------------------------------------------
+        const FACE_POINTS = 480;
+        const facePositions = new Float32Array(FACE_POINTS * 3);
+        const faceOffsets   = new Float32Array(FACE_POINTS * 3);
+        const facePhases    = new Float32Array(FACE_POINTS);
+        let facePoints = null;
+        function buildFacePointCloud() {
+            for (let i = 0; i < FACE_POINTS; i++) {
+                const u = Math.random() * Math.PI * 2;
+                const v = (Math.random() - 0.5) * Math.PI * 0.95;
+                const cu = Math.cos(u), su = Math.sin(u);
+                const cv = Math.cos(v), sv = Math.sin(v);
+                faceOffsets[i*3+0] = 0.085 * cv * cu;
+                faceOffsets[i*3+1] = 0.108 * sv;
+                faceOffsets[i*3+2] = 0.072 * cv * su;
+                facePhases[i] = Math.random() * Math.PI * 2;
+            }
+            const geom = new THREE.BufferGeometry();
+            geom.setAttribute('position', new THREE.BufferAttribute(facePositions, 3));
+            geom.setAttribute('aPhase',   new THREE.BufferAttribute(facePhases, 1));
+            const mat = new THREE.ShaderMaterial({
+                uniforms: { time: { value: 0 } },
+                vertexShader: `
+                    attribute float aPhase; uniform float time;
+                    varying float vAlpha;
+                    void main() {
+                        vec4 mv = modelViewMatrix * vec4(position, 1.0);
+                        float shimmer = 0.5 + 0.5 * sin(time * 3.0 + aPhase);
+                        vAlpha = 0.18 + 0.30 * shimmer;
+                        gl_Position = projectionMatrix * mv;
+                        gl_PointSize = (1.6 + shimmer * 1.0) * (200.0 / -mv.z);
+                    }`,
+                fragmentShader: `
+                    varying float vAlpha;
+                    void main() {
+                        vec2 c = gl_PointCoord - 0.5;
+                        float d = length(c);
+                        if (d > 0.5) discard;
+                        float falloff = smoothstep(0.5, 0.0, d);
+                        vec3 col = mix(vec3(0.18, 0.52, 0.72), vec3(0.55, 0.62, 0.72), 0.5);
+                        gl_FragColor = vec4(col * (1.0 + falloff * 0.3), vAlpha * falloff);
+                    }`,
+                transparent: true, depthWrite: false,
+            });
+            facePoints = new THREE.Points(geom, mat);
+            scene.add(facePoints);
+        }
+
+        // ---------------------------------------------------------------------
+        //  Sonar pings + tomography sweep — same as cinematic.html
+        // ---------------------------------------------------------------------
+        const PING_POOL = 24;
+        const pings = [];
+        const pingGeo = new THREE.TorusGeometry(1, 0.012, 8, 48);
+        for (let i = 0; i < PING_POOL; i++) {
+            const mat = new THREE.MeshBasicMaterial({ color: 0x4cf, transparent: true, opacity: 0, depthWrite: false });
+            const mesh = new THREE.Mesh(pingGeo, mat);
+            mesh.visible = false; scene.add(mesh);
+            pings.push({ mesh, active: false, t0: 0, duration: 0,
+                origin: new THREE.Vector3(), target: new THREE.Vector3() });
+        }
+        let pingIndex = 0;
+        function emitPing(origin, target) {
+            const p = pings[pingIndex]; pingIndex = (pingIndex + 1) % PING_POOL;
+            p.active = true; p.t0 = performance.now() * 0.001;
+            p.duration = 0.55 + Math.random() * 0.20;
+            p.origin.copy(origin); p.target.copy(target);
+            p.mesh.position.copy(origin); p.mesh.visible = true;
+            p.mesh.material.opacity = 0;
+            const dir = new THREE.Vector3().subVectors(target, origin).normalize();
+            p.mesh.quaternion.setFromUnitVectors(new THREE.Vector3(0, 0, 1), dir);
+        }
+
+        const tomoMat = new THREE.ShaderMaterial({
+            uniforms: { time: { value: 0 }, intensity: { value: 0 } },
+            vertexShader: `varying vec2 vUv; void main() { vUv = uv; gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0); }`,
+            fragmentShader: `
+                uniform float time, intensity; varying vec2 vUv;
+                void main() {
+                    float band = exp(-pow((vUv.x - 0.5) * 14.0, 2.0));
+                    float lines = 0.5 + 0.5 * sin(vUv.y * 90.0 + time * 4.0);
+                    vec3 col = vec3(1.0, 0.3, 0.78) * band * (0.6 + 0.4 * lines);
+                    gl_FragColor = vec4(col, intensity * band * 0.75);
+                }`,
+            transparent: true, blending: THREE.AdditiveBlending, depthWrite: false, side: THREE.DoubleSide,
+        });
+        const tomoPlane = new THREE.Mesh(new THREE.PlaneGeometry(8, 6), tomoMat);
+        tomoPlane.rotation.y = Math.PI / 2;
+        tomoPlane.position.set(-2, 1.0, 0);
+        tomoPlane.visible = false;
+        scene.add(tomoPlane);
+        let tomoActive = false, tomoT0 = 0, tomoNextAt = 4 + Math.random() * 4;
+
+        // ---------------------------------------------------------------------
+        //  Pseudo-CSI driver — same as cinematic
+        // ---------------------------------------------------------------------
+        const csiAmp = [0, 0, 0, 0];
+        let csiCoherence = 0.5;
+        const csiNoise = [0, 0, 0, 0];
+
+        function tickCsi(t, targetWorld) {
+            for (let i = 0; i < 4; i++) csiNoise[i] = csiNoise[i] * 0.92 + (Math.random() - 0.5) * 0.08;
+            let mean = 0; const amps = [];
+            for (let i = 0; i < 4; i++) {
+                const np = NODE_POSITIONS[i];
+                const dx = np[0] - targetWorld.x, dy = np[1] - targetWorld.y, dz = np[2] - targetWorld.z;
+                const r2 = dx*dx + dy*dy + dz*dz;
+                const fall = 1.0 / (1.0 + r2 * 0.18);
+                const breath = Math.sin(t * 0.27 * Math.PI * 2) * 0.10;
+                const heart = Math.sin(t * 1.18 * Math.PI * 2) * 0.04;
+                const walk = Math.sin(t * 1.9 + i * 0.5) * 0.12;
+                const a = Math.max(0, Math.min(1, fall + breath + heart + walk + csiNoise[i] * 0.30));
+                amps.push(a);
+                csiAmp[i] = csiAmp[i] * 0.7 + a * 0.3;
+                mean += a;
+            }
+            mean /= 4;
+            let v = 0; for (let i = 0; i < 4; i++) v += (amps[i] - mean) ** 2;
+            v = Math.sqrt(v / 4);
+            csiCoherence = csiCoherence * 0.85 + Math.max(0, Math.min(1, 1.0 - v * 2.5)) * 0.15;
+        }
+
+        // ---------------------------------------------------------------------
+        //  Per-frame updates
+        // ---------------------------------------------------------------------
+        const tmpVec = new THREE.Vector3();
+        let lastPingT = [0, 0, 0, 0];
+
+        function updateNodes() {
+            for (let i = 0; i < 4; i++) {
+                const ring = nodeRings[i];
+                const amp = csiAmp[i];
+                ring.material.opacity = 0.32 + 0.55 * amp;
+                ring.scale.setScalar(1 + 0.30 * amp);
+                rimLights[i].intensity = 0.30 + 0.60 * amp * csiCoherence;
+            }
+        }
+        function maybeEmitPings(t, modelCenter) {
+            if (!document.getElementById('t-pings').checked || !model) return;
+            for (let i = 0; i < 4; i++) {
+                const interval = 1.2 / (0.25 + csiAmp[i]);
+                if (t - lastPingT[i] > interval) {
+                    lastPingT[i] = t;
+                    const target = modelCenter.clone();
+                    target.y += (Math.random() - 0.3) * 0.8;
+                    target.x += (Math.random() - 0.5) * 0.2;
+                    const origin = nodeAnchors[i].getWorldPosition(new THREE.Vector3());
+                    emitPing(origin, target);
+                }
+            }
+        }
+        function updatePings(t) {
+            for (const p of pings) {
+                if (!p.active) continue;
+                const u = (t - p.t0) / p.duration;
+                if (u >= 1) { p.active = false; p.mesh.visible = false; continue; }
+                p.mesh.position.lerpVectors(p.origin, p.target, u);
+                p.mesh.scale.setScalar(0.03 + u * 0.18);
+                p.mesh.material.opacity = (1.0 - u) * 0.40 * csiCoherence;
+            }
+        }
+        function updateTomography(t) {
+            if (!document.getElementById('t-tomo').checked) { tomoActive = false; tomoPlane.visible = false; return; }
+            if (!tomoActive && t > tomoNextAt) {
+                tomoActive = true; tomoT0 = t; tomoPlane.visible = true;
+                const sf = document.getElementById('scan-flash');
+                sf.style.animation = 'none';
+                requestAnimationFrame(() => { sf.style.animation = 'scanFlash 1.6s ease-out'; });
+            }
+            if (tomoActive) {
+                const dur = 2.4;
+                const e = (t - tomoT0) / dur;
+                if (e >= 1) {
+                    tomoActive = false; tomoPlane.visible = false;
+                    tomoNextAt = t + 4 + Math.random() * 5;
+                } else {
+                    tomoPlane.position.x = -3 + e * 6;
+                    tomoMat.uniforms.intensity.value = Math.sin(e * Math.PI);
+                    tomoMat.uniforms.time.value = t;
+                }
+            }
+        }
+        function updateBbox() {
+            const want = document.getElementById('t-bbox').checked && model;
+            if (!want) {
+                if (bboxHelper) { scene.remove(bboxHelper); bboxHelper = null; }
+                document.getElementById('bbox-vol').textContent = '—';
+                return;
+            }
+            if (!bboxHelper) {
+                bboxHelper = new THREE.BoxHelper(model, 0xffe09f);
+                bboxHelper.material.transparent = true; bboxHelper.material.opacity = 0.55;
+                scene.add(bboxHelper);
+            } else bboxHelper.setFromObject(model);
+            const box = new THREE.Box3().setFromObject(model);
+            const size = box.getSize(new THREE.Vector3());
+            document.getElementById('bbox-vol').textContent = (size.x * size.y * size.z).toFixed(3) + ' m³';
+        }
+        function updateFaceCloud(t) {
+            if (!facePoints || !headBone) return;
+            const headWorld = new THREE.Vector3();
+            headBone.getWorldPosition(headWorld);
+            const pos = facePoints.geometry.attributes.position;
+            for (let i = 0; i < FACE_POINTS; i++) {
+                pos.array[i*3+0] = headWorld.x + faceOffsets[i*3+0];
+                pos.array[i*3+1] = headWorld.y + faceOffsets[i*3+1] + 0.06;
+                pos.array[i*3+2] = headWorld.z + faceOffsets[i*3+2];
+            }
+            pos.needsUpdate = true;
+            facePoints.material.uniforms.time.value = t;
+        }
+        let hudT = 0;
+        function updateHud(t, fps) {
+            if (t - hudT < 0.1) return;
+            hudT = t;
+            for (let i = 0; i < 4; i++) {
+                const pct = Math.round(csiAmp[i] * 100);
+                document.getElementById('bar-' + i).style.width = pct + '%';
+                document.getElementById('val-' + i).textContent = pct + '%';
+            }
+            document.getElementById('coh-val').textContent = (csiCoherence * 100).toFixed(0) + ' %';
+            document.getElementById('hr-val').textContent = (68 + Math.sin(t * 0.3) * 4).toFixed(0) + ' bpm';
+            document.getElementById('fps-val').textContent = fps.toFixed(0) + ' fps';
+        }
+
+        // ---------------------------------------------------------------------
+        //  UI wiring
+        // ---------------------------------------------------------------------
+        for (const btn of document.querySelectorAll('#anim [data-base]')) {
+            btn.addEventListener('click', () => setBase(btn.dataset.base));
+        }
+        for (const btn of document.querySelectorAll('#anim [data-add]')) {
+            btn.addEventListener('click', () => setAdditive(btn.dataset.add));
+        }
+        document.getElementById('add-weight').addEventListener('input', (e) => {
+            addWeight = parseFloat(e.target.value);
+            document.getElementById('add-weight-val').textContent = addWeight.toFixed(2);
+            if (additiveActions[currentAddName]) additiveActions[currentAddName].setEffectiveWeight(addWeight);
+            document.getElementById('add-name').textContent = currentAddName + ' · ' + addWeight.toFixed(2);
+        });
+        document.getElementById('time-scale').addEventListener('input', (e) => {
+            const ts = parseFloat(e.target.value);
+            document.getElementById('time-scale-val').textContent = ts.toFixed(2);
+            if (mixer) mixer.timeScale = ts;
+        });
+        function bindToggle(id, obj) {
+            document.getElementById(id).addEventListener('change', e => {
+                if (e.target.checked && !scene.children.includes(obj)) scene.add(obj);
+                else if (!e.target.checked) scene.remove(obj);
+            });
+        }
+        bindToggle('t-grid',  gridHelper);
+        bindToggle('t-polar', polarHelper);
+        document.getElementById('t-skel').addEventListener('change', e => {
+            if (skeletonHelper) skeletonHelper.visible = e.target.checked;
+        });
+        document.getElementById('t-nodebox').addEventListener('change', e => {
+            for (const bb of nodeBboxHelpers) {
+                if (e.target.checked && !scene.children.includes(bb)) scene.add(bb);
+                else if (!e.target.checked) scene.remove(bb);
+            }
+        });
+
+        // ---------------------------------------------------------------------
+        //  Main loop
+        // ---------------------------------------------------------------------
+        const clock = new THREE.Clock();
+        let lastMs = performance.now();
+        let fpsEma = 60;
+        function tick() {
+            const nowMs = performance.now();
+            const dt = nowMs - lastMs;
+            lastMs = nowMs;
+            fpsEma = fpsEma * 0.92 + (1000 / Math.max(dt, 1)) * 0.08;
+            const t = nowMs * 0.001;
+            const delta = clock.getDelta();
+
+            if (mixer) mixer.update(delta);
+            floorMat.uniforms.time.value = t;
+            filmShader.uniforms.time.value = t;
+
+            // get model center for CSI / ping targeting
+            const center = new THREE.Vector3();
+            if (model) {
+                const box = new THREE.Box3().setFromObject(model);
+                box.getCenter(center);
+            } else center.set(0, 0.9, 0);
+
+            tickCsi(t, center);
+            updateNodes();
+            maybeEmitPings(t, center);
+            updatePings(t);
+            updateTomography(t);
+            updateBbox();
+            updateFaceCloud(t);
+
+            controls.update();
+            composer.render();
+
+            updateHud(t, fpsEma);
+            requestAnimationFrame(tick);
+        }
+        requestAnimationFrame(tick);
+
+        window.addEventListener('resize', () => {
+            camera.aspect = window.innerWidth / window.innerHeight;
+            camera.updateProjectionMatrix();
+            renderer.setSize(window.innerWidth, window.innerHeight);
+            composer.setSize(window.innerWidth, window.innerHeight);
+            bloom.setSize(window.innerWidth, window.innerHeight);
+        });
+    </script>
+</body>
+</html>

examples/three.js/demos/04-skinned-fbx.html

@@ -0,0 +1,961 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>RuView · Skinned (FBX) · Mixamo X Bot in the ADR-097 helpers scene</title>
+    <link rel="icon" type="image/svg+xml" href="data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 32 32'><circle cx='16' cy='16' r='10' fill='%23e8a634'/></svg>">
+    <style>
+        :root {
+            --bg: #050507; --bg-panel: rgba(8,10,14,0.78);
+            --amber: #ffb840; --amber-hot: #ffe09f;
+            --cyan: #4cf; --magenta: #ff4cc8;
+            --text: #d8c69a; --text-mute: #6b6155;
+            --border: rgba(255,184,64,0.18);
+        }
+        * { box-sizing: border-box; }
+        body {
+            margin: 0; background: var(--bg); color: var(--text); overflow: hidden;
+            font-family: 'SF Mono', 'Cascadia Code', Consolas, monospace;
+            -webkit-font-smoothing: antialiased; font-size: 12px;
+        }
+        canvas { display: block; }
+        .overlay-frame {
+            position: fixed; inset: 0; pointer-events: none; z-index: 5;
+            background:
+                radial-gradient(ellipse at center, transparent 55%, rgba(0,0,0,0.55) 100%),
+                linear-gradient(180deg, rgba(0,0,0,0.32) 0%, transparent 18%, transparent 82%, rgba(0,0,0,0.38) 100%);
+        }
+        .scanlines {
+            position: fixed; inset: 0; pointer-events: none; z-index: 6;
+            background: repeating-linear-gradient(0deg, rgba(0,0,0,0.04) 0px, rgba(0,0,0,0.04) 1px, transparent 1px, transparent 3px);
+            mix-blend-mode: overlay; opacity: 0.5;
+        }
+        .panel {
+            position: absolute; background: var(--bg-panel); border: 1px solid var(--border);
+            border-radius: 4px; padding: 12px 14px; backdrop-filter: blur(8px);
+            box-shadow: 0 1px 0 rgba(255,184,64,0.04), 0 8px 32px rgba(0,0,0,0.55); z-index: 10;
+        }
+        .panel h2 {
+            margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px;
+        }
+        #info { top: 20px; left: 20px; min-width: 280px; }
+        #info h1 { margin: 0 0 1px 0; font-size: 13px; letter-spacing: 1px; color: var(--amber-hot); font-weight: 600; }
+        #info .sub { font-size: 10px; color: var(--text-mute); letter-spacing: 0.5px; margin-bottom: 10px; padding-bottom: 8px; border-bottom: 1px solid var(--border); }
+        #info .row { display: flex; justify-content: space-between; gap: 12px; padding: 2px 0; }
+        #info .row .k { color: var(--text-mute); font-size: 11px; }
+        #info .row .v { color: var(--text); font-variant-numeric: tabular-nums; font-size: 11px; }
+        #info .row .v.amber { color: var(--amber); }
+        #info .row .v.cyan  { color: var(--cyan); }
+        #info .row .v.mag   { color: var(--magenta); }
+
+        #anim {
+            position: absolute; bottom: 20px; left: 20px; min-width: 280px;
+            background: var(--bg-panel); border: 1px solid var(--border); border-radius: 4px;
+            padding: 12px 14px; backdrop-filter: blur(8px); z-index: 10;
+        }
+        #anim h2 { margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px; }
+        #anim .row { padding: 6px 0; font-size: 10px; }
+        #anim .row .label { color: var(--text-mute); margin-right: 8px; }
+        #anim button {
+            background: rgba(255,184,64,0.06); border: 1px solid rgba(255,184,64,0.18);
+            color: var(--text); font-family: inherit; font-size: 10px; padding: 4px 8px;
+            margin: 2px 4px 2px 0; cursor: pointer; border-radius: 3px; letter-spacing: 0.5px;
+        }
+        #anim button:hover { background: rgba(255,184,64,0.14); color: var(--amber-hot); }
+        #anim button.active { background: var(--amber); color: var(--bg); border-color: var(--amber); font-weight: 600; }
+        #anim .slider-row { display: flex; align-items: center; gap: 8px; padding: 3px 0; font-size: 10px; margin-top: 6px; border-top: 1px solid rgba(255,184,64,0.08); padding-top: 8px; }
+        #anim .slider-row .label { width: 90px; }
+        #anim .slider-row input[type=range] { flex: 1; accent-color: var(--amber); }
+        #anim .slider-row .val { width: 38px; text-align: right; color: var(--amber); font-variant-numeric: tabular-nums; }
+        #anim .empty-hint {
+            font-size: 10px; color: var(--text-mute); line-height: 1.5; margin-top: 4px;
+            padding: 8px; background: rgba(255,184,64,0.04); border-radius: 3px;
+            border-left: 2px solid var(--amber);
+        }
+        #anim .empty-hint a { color: var(--amber); text-decoration: none; }
+        #anim .empty-hint a:hover { color: var(--amber-hot); text-decoration: underline; }
+
+        #helpers {
+            position: absolute; bottom: 20px; right: 20px; min-width: 220px;
+            background: var(--bg-panel); border: 1px solid var(--border); border-radius: 4px;
+            padding: 12px 14px; backdrop-filter: blur(8px); z-index: 10;
+        }
+        #helpers h2 { margin: 0 0 8px 0; font-size: 10px; text-transform: uppercase; letter-spacing: 2px;
+            color: var(--amber); font-weight: 600; border-bottom: 1px solid var(--border); padding-bottom: 6px; }
+        #helpers label {
+            display: flex; align-items: center; gap: 10px; padding: 3px 0; cursor: pointer; user-select: none; font-size: 11px;
+        }
+        #helpers label:hover { color: var(--amber-hot); }
+        #helpers input[type=checkbox] { accent-color: var(--amber); width: 13px; height: 13px; cursor: pointer; }
+        #helpers .swatch { width: 8px; height: 8px; border-radius: 50%; margin-left: auto; box-shadow: 0 0 6px currentColor; }
+
+        #csi { top: 20px; right: 20px; min-width: 260px; }
+        #csi .bar-row { display: flex; align-items: center; gap: 8px; padding: 3px 0; font-size: 10px; }
+        #csi .bar-row .label { width: 42px; color: var(--text-mute); }
+        #csi .bar-row .bar-track { flex: 1; height: 6px; background: rgba(255,184,64,0.08); border-radius: 2px; overflow: hidden; }
+        #csi .bar-row .bar-fill {
+            height: 100%; background: linear-gradient(90deg, var(--amber-hot), var(--amber));
+            box-shadow: 0 0 6px var(--amber); transition: width 0.08s linear;
+        }
+        #csi .bar-row .val { width: 36px; text-align: right; color: var(--amber); font-variant-numeric: tabular-nums; }
+
+        #loading {
+            position: absolute; inset: 0; display: flex; align-items: center; justify-content: center;
+            background: rgba(5,5,7,0.96); z-index: 20; font-size: 13px; color: var(--amber);
+            letter-spacing: 2px; text-transform: uppercase;
+        }
+        #loading.hidden { display: none; }
+        #loading .text { text-shadow: 0 0 12px var(--amber); animation: loadPulse 1.4s ease-in-out infinite; }
+        @keyframes loadPulse { 0%,100% { opacity: 0.4; } 50% { opacity: 1.0; } }
+
+        @keyframes scanFlash { 0% { opacity: 0; } 10% { opacity: 0.12; } 100% { opacity: 0; } }
+        .scan-flash {
+            position: fixed; inset: 0;
+            background: linear-gradient(90deg, transparent, var(--magenta), transparent);
+            mix-blend-mode: screen; pointer-events: none; opacity: 0; z-index: 4;
+        }
+
+        #titlecard {
+            position: absolute; bottom: 76px; left: 50%; transform: translateX(-50%);
+            text-align: center; color: var(--amber-hot); letter-spacing: 6px; font-size: 11px;
+            text-transform: uppercase; opacity: 0.35; z-index: 10;
+            text-shadow: 0 0 12px var(--amber); pointer-events: none;
+        }
+        #titlecard .sub { font-size: 9px; color: var(--text-mute); letter-spacing: 4px; margin-top: 4px; }
+    </style>
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r128/three.min.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/controls/OrbitControls.js"></script>
+    <script src="https://unpkg.com/fflate@0.7.4/umd/index.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/curves/NURBSCurve.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/loaders/FBXLoader.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/EffectComposer.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/RenderPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/ShaderPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/postprocessing/UnrealBloomPass.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/shaders/CopyShader.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/three@0.128.0/examples/js/shaders/LuminosityHighPassShader.js"></script>
+</head>
+<body>
+    <div class="overlay-frame"></div>
+    <div class="scanlines"></div>
+    <div class="scan-flash" id="scan-flash"></div>
+    <div id="loading"><div class="text">▸ Loading skinned subject · X Bot.fbx</div></div>
+
+    <div class="panel" id="info">
+        <h1>RuView · Skinned (FBX)</h1>
+        <div class="sub">ADR-097 · Mixamo X Bot · loaded via FBXLoader</div>
+        <div class="row"><span class="k">Subject</span><span class="v amber">● Tracked</span></div>
+        <div class="row"><span class="k">Source</span><span class="v" id="src-name">X Bot.fbx</span></div>
+        <div class="row"><span class="k">Format</span><span class="v">FBX 7700 · 1.75 MB</span></div>
+        <div class="row"><span class="k">Bones</span><span class="v" id="bone-count">—</span></div>
+        <div class="row"><span class="k">Animation</span><span class="v amber" id="anim-name">—</span></div>
+        <div class="row"><span class="k">Mesh nodes</span><span class="v cyan">4 · multistatic</span></div>
+        <div class="row"><span class="k">Coherence</span><span class="v" id="coh-val">— %</span></div>
+        <div class="row"><span class="k">Heart rate</span><span class="v amber" id="hr-val">— bpm</span></div>
+        <div class="row"><span class="k">Bbox vol</span><span class="v" id="bbox-vol">— m³</span></div>
+        <div class="row"><span class="k">Render</span><span class="v" id="fps-val">— fps</span></div>
+    </div>
+
+    <div id="anim">
+        <h2>AnimationMixer</h2>
+        <div class="row">
+            <span class="label">clips</span>
+            <span id="clip-buttons"></span>
+        </div>
+        <div class="slider-row">
+            <span class="label">time scale</span>
+            <input type="range" id="time-scale" min="0.1" max="2" step="0.05" value="1.0">
+            <span class="val" id="time-scale-val">1.00</span>
+        </div>
+        <div class="empty-hint" id="empty-hint" style="display:none;">
+            <strong>No animations in this FBX.</strong><br>
+            Mixamo's "T-Pose / Without Skin" export rigs the model but has no clips.
+            Re-download with <em>"Original Pose"</em> + an animation selected
+            (e.g. <a href="https://www.mixamo.com/#/?page=1&query=walking&type=Motion%2CMotionPack" target="_blank" rel="noopener">Walking</a>) to get a clip, or drop another FBX with anim and reload.
+        </div>
+    </div>
+
+    <div class="panel" id="csi">
+        <h2>Per-node CSI</h2>
+        <div class="bar-row"><span class="label">N1·BL</span><div class="bar-track"><div class="bar-fill" id="bar-0"></div></div><span class="val" id="val-0">—</span></div>
+        <div class="bar-row"><span class="label">N2·BR</span><div class="bar-track"><div class="bar-fill" id="bar-1"></div></div><span class="val" id="val-1">—</span></div>
+        <div class="bar-row"><span class="label">N3·FL</span><div class="bar-track"><div class="bar-fill" id="bar-2"></div></div><span class="val" id="val-2">—</span></div>
+        <div class="bar-row"><span class="label">N4·FR</span><div class="bar-track"><div class="bar-fill" id="bar-3"></div></div><span class="val" id="val-3">—</span></div>
+    </div>
+
+    <div id="helpers">
+        <h2>ADR-097 helpers</h2>
+        <label><input type="checkbox" id="t-grid" checked>GridHelper<span class="swatch" style="color:#666"></span></label>
+        <label><input type="checkbox" id="t-polar" checked>PolarGridHelper<span class="swatch" style="color:#ffb840"></span></label>
+        <label><input type="checkbox" id="t-bbox" checked>BoxHelper on mesh<span class="swatch" style="color:#ffe09f"></span></label>
+        <label><input type="checkbox" id="t-skel">SkeletonHelper<span class="swatch" style="color:#4cf"></span></label>
+        <label><input type="checkbox" id="t-nodebox" checked>Per-node BoxHelpers<span class="swatch" style="color:#4cf"></span></label>
+        <label><input type="checkbox" id="t-pings" checked>Sonar pings<span class="swatch" style="color:#4cf"></span></label>
+        <label><input type="checkbox" id="t-tomo" checked>Tomography sweep<span class="swatch" style="color:#ff4cc8"></span></label>
+        <label><input type="checkbox" id="t-rays" checked>RF illumination cones<span class="swatch" style="color:#ffb840"></span></label>
+    </div>
+
+    <div id="titlecard">
+        RuView · Seldon Vault
+        <div class="sub">FBXLoader · Mixamo · ADR-097</div>
+    </div>
+
+    <script>
+        // =====================================================================
+        //  RuView · Skinned (FBX) · Mixamo X Bot loaded via FBXLoader
+        //  --------------------------------------------------------------------
+        //  Sibling of helpers-skinned.html that loads a local .fbx file
+        //  rather than the canonical GLB. Same cinematic atmosphere
+        //  (UnrealBloomPass, sonar pings, tomography sweep, pseudo-CSI),
+        //  same ADR-097 helpers wrapping the rigged mesh.
+        //
+        //  Mixamo FBX caveats handled here:
+        //    1. Mixamo exports in cm (100 = 1 m). We auto-detect by the
+        //       loaded model's bbox height and rescale to ~1.7 m human size.
+        //    2. PhongMaterial → StandardMaterial swap for cleaner shading
+        //       under our amber key + cyan rim lights.
+        //    3. Bone name probing for the head (Mixamo: "mixamorigHead",
+        //       legacy: "Bip01_Head", or any bone with /head/i match).
+        //    4. Graceful no-animations case — many Mixamo exports are
+        //       rig-only.
+        // =====================================================================
+
+        const MODEL_URL = '../assets/X%20Bot.fbx';
+
+        const NODE_POSITIONS = [
+            [-1.9, 1.3,  1.9],[ 1.9, 1.3,  1.9],
+            [-1.9, 1.3, -1.9],[ 1.9, 1.3, -1.9],
+        ];
+
+        // ---------------------------------------------------------------------
+        //  Scene / camera / renderer
+        // ---------------------------------------------------------------------
+        const scene = new THREE.Scene();
+        scene.background = new THREE.Color(0x050507);
+        scene.fog = new THREE.FogExp2(0x050507, 0.06);
+
+        const camera = new THREE.PerspectiveCamera(48, window.innerWidth/window.innerHeight, 0.05, 100);
+        camera.position.set(3.2, 1.55, 4.0);
+
+        const renderer = new THREE.WebGLRenderer({ antialias: true, powerPreference: 'high-performance' });
+        renderer.setPixelRatio(Math.min(2, window.devicePixelRatio));
+        renderer.setSize(window.innerWidth, window.innerHeight);
+        renderer.toneMapping = THREE.ACESFilmicToneMapping;
+        renderer.toneMappingExposure = 0.80;
+        renderer.outputEncoding = THREE.sRGBEncoding;
+        renderer.shadowMap.enabled = true;
+        renderer.shadowMap.type = THREE.PCFSoftShadowMap;
+        document.body.appendChild(renderer.domElement);
+
+        const controls = new THREE.OrbitControls(camera, renderer.domElement);
+        controls.target.set(0, 0.9, 0);
+        controls.enableDamping = true; controls.dampingFactor = 0.06;
+        controls.minDistance = 2; controls.maxDistance = 12;
+        controls.maxPolarAngle = Math.PI * 0.92;
+        controls.autoRotate = new URLSearchParams(location.search).get('orbit') === '1';
+        controls.autoRotateSpeed = 0.25;
+
+        // ---------------------------------------------------------------------
+        //  Lights — amber key + cyan rim from each ESP32 direction
+        // ---------------------------------------------------------------------
+        scene.add(new THREE.HemisphereLight(0x553a18, 0x080606, 0.7));
+
+        const keyLight = new THREE.DirectionalLight(0xffc070, 1.05);
+        keyLight.position.set(2.5, 3.8, 2.5);
+        keyLight.castShadow = true;
+        keyLight.shadow.camera.top = 2; keyLight.shadow.camera.bottom = -2;
+        keyLight.shadow.camera.left = -2; keyLight.shadow.camera.right = 2;
+        keyLight.shadow.camera.near = 0.1; keyLight.shadow.camera.far = 12;
+        keyLight.shadow.mapSize.set(1024, 1024);
+        keyLight.shadow.bias = -0.0008;
+        scene.add(keyLight);
+
+        const rimLights = [];
+        NODE_POSITIONS.forEach(pos => {
+            const rim = new THREE.PointLight(0x4cf, 0.55, 8, 1.8);
+            rim.position.set(pos[0] * 1.1, pos[1] * 0.7, pos[2] * 1.1);
+            scene.add(rim); rimLights.push(rim);
+        });
+
+        // ---------------------------------------------------------------------
+        //  Post-processing
+        // ---------------------------------------------------------------------
+        const composer = new THREE.EffectComposer(renderer);
+        composer.addPass(new THREE.RenderPass(scene, camera));
+        const bloom = new THREE.UnrealBloomPass(
+            new THREE.Vector2(window.innerWidth, window.innerHeight),
+            0.45, 0.40, 0.78,
+        );
+        composer.addPass(bloom);
+        const filmShader = {
+            uniforms: { tDiffuse: { value: null }, time: { value: 0 }, grain: { value: 0.04 },
+                vignette: { value: 0.32 }, aberration: { value: 0.0018 } },
+            vertexShader: `varying vec2 vUv; void main() { vUv = uv; gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0); }`,
+            fragmentShader: `
+                uniform sampler2D tDiffuse; uniform float time, grain, vignette, aberration;
+                varying vec2 vUv;
+                float hash(vec2 p) { return fract(sin(dot(p, vec2(12.9898, 78.233))) * 43758.5453); }
+                void main() {
+                    vec2 off = (vUv - 0.5) * aberration;
+                    float r = texture2D(tDiffuse, vUv + off).r;
+                    float g = texture2D(tDiffuse, vUv).g;
+                    float b = texture2D(tDiffuse, vUv - off).b;
+                    vec3 col = vec3(r, g, b);
+                    col += (hash(vUv * 1024.0 + time) - 0.5) * grain;
+                    float v = smoothstep(0.85, 0.20, length(vUv - 0.5));
+                    col *= mix(1.0 - vignette, 1.0, v);
+                    gl_FragColor = vec4(col, 1.0);
+                }`,
+        };
+        const filmPass = new THREE.ShaderPass(filmShader);
+        composer.addPass(filmPass);
+
+        // ---------------------------------------------------------------------
+        //  Floor (same procedural shader as cinematic / skinned-glb)
+        // ---------------------------------------------------------------------
+        const floorMat = new THREE.ShaderMaterial({
+            uniforms: { time: { value: 0 }, baseColor: { value: new THREE.Color(0xffb840) } },
+            vertexShader: `varying vec3 vPos; void main() { vPos = position; gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0); }`,
+            fragmentShader: `
+                uniform float time; uniform vec3 baseColor; varying vec3 vPos;
+                void main() {
+                    vec2 g = abs(fract(vPos.xz * 0.5) - 0.5);
+                    float line = smoothstep(0.48, 0.50, max(g.x, g.y));
+                    float majorLine = smoothstep(0.96, 1.00, max(g.x, g.y) * 2.0);
+                    float scan = 0.5 + 0.5 * sin((vPos.x + vPos.z) * 2.0 - time * 1.4);
+                    scan = pow(scan, 14.0);
+                    float falloff = smoothstep(5.0, 1.2, length(vPos.xz));
+                    vec3 col = baseColor * (0.01 + 0.05 * line + 0.16 * majorLine + 0.08 * scan);
+                    gl_FragColor = vec4(col * falloff, falloff * 0.55);
+                }`,
+            transparent: true, depthWrite: false,
+        });
+        const floor = new THREE.Mesh(new THREE.PlaneGeometry(20, 20), floorMat);
+        floor.rotation.x = -Math.PI / 2;
+        scene.add(floor);
+
+        const shadowGround = new THREE.Mesh(
+            new THREE.PlaneGeometry(20, 20),
+            new THREE.ShadowMaterial({ opacity: 0.55 })
+        );
+        shadowGround.rotation.x = -Math.PI / 2;
+        shadowGround.position.y = 0.001;
+        shadowGround.receiveShadow = true;
+        scene.add(shadowGround);
+
+        // ---------------------------------------------------------------------
+        //  ADR-097 helpers + sensor nodes (same as helpers-skinned.html)
+        // ---------------------------------------------------------------------
+        const gridHelper = new THREE.GridHelper(4, 20, 0x554a32, 0x2a2418);
+        gridHelper.material.transparent = true; gridHelper.material.opacity = 0.45;
+        scene.add(gridHelper);
+
+        const polarHelper = new THREE.PolarGridHelper(2.2, 16, 4, 64, 0xffb840, 0x4a3a1a);
+        polarHelper.position.y = 0.002;
+        polarHelper.material.transparent = true; polarHelper.material.opacity = 0.55;
+        scene.add(polarHelper);
+
+        let bboxHelper = null;
+        let skeletonHelper = null;
+
+        const nodeBboxHelpers = [];
+        const nodeRings = [];
+        const nodeAnchors = [];
+        NODE_POSITIONS.forEach((pos, i) => {
+            const group = new THREE.Group();
+            group.position.set(pos[0], pos[1], pos[2]);
+
+            group.add(new THREE.Mesh(
+                new THREE.BoxGeometry(0.14, 0.06, 0.20),
+                new THREE.MeshBasicMaterial({ color: 0xffb840 })
+            ));
+            const antenna = new THREE.Mesh(
+                new THREE.ConeGeometry(0.018, 0.10, 8),
+                new THREE.MeshBasicMaterial({ color: 0xffe09f })
+            );
+            antenna.position.y = 0.08; group.add(antenna);
+
+            const ring = new THREE.Mesh(
+                new THREE.RingGeometry(0.11, 0.14, 32),
+                new THREE.MeshBasicMaterial({ color: 0xffb840, side: THREE.DoubleSide,
+                    transparent: true, opacity: 0.55, blending: THREE.AdditiveBlending, depthWrite: false })
+            );
+            ring.rotation.x = -Math.PI / 2; ring.position.y = -0.05;
+            group.add(ring); nodeRings.push(ring);
+
+            const core = new THREE.Mesh(
+                new THREE.SphereGeometry(0.025, 12, 12),
+                new THREE.MeshBasicMaterial({ color: 0xffe09f })
+            );
+            core.position.y = 0.04; group.add(core);
+
+            scene.add(group); nodeAnchors.push(group);
+
+            const bbox = new THREE.BoxHelper(group, 0x4cf);
+            bbox.material.transparent = true; bbox.material.opacity = 0.45;
+            scene.add(bbox); nodeBboxHelpers.push(bbox);
+        });
+
+        // ---------------------------------------------------------------------
+        //  God-ray cones — one per node, pointed at the subject. Visualizes
+        //  "the four ESP32s are jointly illuminating the body with RF". Each
+        //  cone has a volumetric-feeling gradient shader and is opacity-
+        //  modulated by that node's csiAmp × csiCoherence (so when a node's
+        //  signal degrades, its ray dims).
+        // ---------------------------------------------------------------------
+        const godRayMat = (color, idx) => new THREE.ShaderMaterial({
+            uniforms: {
+                time:      { value: 0 },
+                intensity: { value: 0.0 },
+                color:     { value: new THREE.Color(color) },
+                seed:      { value: idx * 17.3 },
+            },
+            vertexShader: `
+                varying vec2 vUv;
+                varying float vY;
+                void main() {
+                    vUv = uv;
+                    vY = position.y;
+                    gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0);
+                }`,
+            fragmentShader: `
+                uniform float time, intensity, seed;
+                uniform vec3 color;
+                varying vec2 vUv;
+                varying float vY;
+                float hash(vec2 p) { return fract(sin(dot(p, vec2(12.9898, 78.233))) * 43758.5453); }
+                void main() {
+                    // along the cone (uv.y goes 0=tip → 1=base), fade out at the base
+                    float edgeFade = smoothstep(0.0, 0.18, vUv.y) * smoothstep(1.0, 0.65, vUv.y);
+                    // soft radial falloff (cone-edge transparency)
+                    float radial = sin(vUv.y * 3.14159);
+                    radial = pow(radial, 2.0);
+                    // volumetric noise (slow scrolling)
+                    float n = hash(floor(vUv * vec2(40.0, 60.0)) + vec2(seed, time * 0.4));
+                    float scroll = 0.85 + 0.30 * sin(vUv.y * 32.0 - time * 1.4 + seed);
+                    float a = edgeFade * radial * scroll * (0.55 + 0.45 * n);
+                    gl_FragColor = vec4(color, a * intensity * 0.25);
+                }`,
+            transparent: true,
+            blending: THREE.AdditiveBlending,
+            depthWrite: false,
+            side: THREE.DoubleSide,
+        });
+        const godRays = [];
+        for (let i = 0; i < 4; i++) {
+            // cone with apex at node, expanding toward the subject
+            // height 4 m (more than enough to reach subject), radius 0.45 m at base
+            const geom = new THREE.ConeGeometry(0.45, 4.0, 28, 1, true);
+            // ConeGeometry tip is at +Y, base at -Y — rotate so tip is along -Y
+            // (we'll later orient each cone so its tip touches the node).
+            geom.translate(0, -2.0, 0); // shift so apex is at origin
+            const mat = godRayMat(0xffb840, i);
+            const cone = new THREE.Mesh(geom, mat);
+            scene.add(cone);
+            godRays.push({ mesh: cone, mat });
+        }
+        function updateGodRays(t) {
+            if (!model) return;
+            const want = document.getElementById('t-rays').checked;
+            const center = new THREE.Vector3();
+            const box = new THREE.Box3().setFromObject(model);
+            box.getCenter(center);
+            for (let i = 0; i < 4; i++) {
+                godRays[i].mesh.visible = want;
+                if (!want) continue;
+                const node = nodeAnchors[i];
+                const np = node.getWorldPosition(new THREE.Vector3());
+                const dir = new THREE.Vector3().subVectors(center, np);
+                const len = dir.length();
+                dir.normalize();
+                const ray = godRays[i];
+                ray.mesh.position.copy(np);
+                // align cone's -Y axis (apex direction after the geometry shift)
+                // to point along `dir`
+                ray.mesh.quaternion.setFromUnitVectors(new THREE.Vector3(0, -1, 0), dir);
+                // stretch cone length to actual distance, keep base width reasonable
+                ray.mesh.scale.set(1, len / 4.0, 1);
+                ray.mat.uniforms.time.value = t;
+                // intensity follows that node's CSI amplitude * global coherence
+                const target = csiAmp[i] * csiCoherence * 1.4;
+                ray.mat.uniforms.intensity.value =
+                    ray.mat.uniforms.intensity.value * 0.85 + target * 0.15;
+            }
+        }
+
+        // ---------------------------------------------------------------------
+        //  FBX load with Mixamo-aware fixups
+        // ---------------------------------------------------------------------
+        let model = null;
+        let mixer = null;
+        let headBone = null;
+        let boneCount = 0;
+        const clipActions = {};   // by clip name
+        let currentClip = null;
+
+        const loader = new THREE.FBXLoader();
+        loader.load(MODEL_URL, (object) => {
+            model = object;
+
+            // 1. Scale fix — Mixamo defaults to cm; detect by bbox height and
+            //    rescale so the rig reads as ~1.7 m human size.
+            const raw = new THREE.Box3().setFromObject(model);
+            const height = raw.max.y - raw.min.y;
+            if (height > 10) {
+                model.scale.setScalar(1 / 100);   // cm → m
+            } else if (height > 5) {
+                model.scale.setScalar(1 / 50);    // catch in-between rigs
+            }
+            // recenter on origin at floor
+            const b2 = new THREE.Box3().setFromObject(model);
+            model.position.y -= b2.min.y;
+
+            // 2. Material upgrade + shadow casting + head/bone scan
+            model.traverse((obj) => {
+                if (obj.isMesh) {
+                    obj.castShadow = true;
+                    obj.receiveShadow = true;
+                    // Phong → Standard for cleaner shading under our PBR lights.
+                    // Keep diffuse map + skinning intact.
+                    if (obj.material && obj.material.isMeshPhongMaterial) {
+                        const m = obj.material;
+                        const upgraded = new THREE.MeshStandardMaterial({
+                            map: m.map, normalMap: m.normalMap, color: m.color,
+                            skinning: !!obj.isSkinnedMesh,
+                            metalness: 0.0, roughness: 0.85,
+                        });
+                        obj.material = upgraded;
+                    }
+                }
+                if (obj.isBone) {
+                    boneCount++;
+                    if (!headBone && /head/i.test(obj.name)) headBone = obj;
+                }
+            });
+            document.getElementById('bone-count').textContent = boneCount;
+
+            scene.add(model);
+
+            skeletonHelper = new THREE.SkeletonHelper(model);
+            skeletonHelper.visible = false;
+            scene.add(skeletonHelper);
+
+            // 3. Animations — Mixamo exports one clip per FBX (sometimes none)
+            const clips = object.animations || [];
+            if (clips.length === 0) {
+                document.getElementById('anim-name').textContent = 'none (rig-only)';
+                document.getElementById('empty-hint').style.display = 'block';
+            } else {
+                mixer = new THREE.AnimationMixer(model);
+                const btnHost = document.getElementById('clip-buttons');
+                for (const clip of clips) {
+                    const action = mixer.clipAction(clip);
+                    clipActions[clip.name] = action;
+                    const btn = document.createElement('button');
+                    btn.textContent = clip.name || 'clip-' + Object.keys(clipActions).length;
+                    btn.addEventListener('click', () => playClip(clip.name));
+                    btnHost.appendChild(btn);
+                }
+                playClip(clips[0].name);
+            }
+
+            // 4. Face point cloud
+            if (headBone) buildFacePointCloud();
+
+            document.getElementById('loading').classList.add('hidden');
+        }, (xhr) => {
+            const total = xhr.total || 1750032;
+            const pct = (xhr.loaded / total * 100).toFixed(0);
+            const txt = document.querySelector('#loading .text');
+            if (txt) txt.textContent = `▸ Loading skinned subject · X Bot.fbx · ${pct} %`;
+        }, (err) => {
+            console.error('FBX load failed', err);
+            const txt = document.querySelector('#loading .text');
+            if (txt) txt.textContent = '⚠ Load failed — see console';
+        });
+
+        function playClip(name) {
+            for (const k in clipActions) {
+                const a = clipActions[k];
+                if (k === name) {
+                    a.reset(); a.play(); currentClip = name;
+                    document.getElementById('anim-name').textContent = name;
+                    for (const btn of document.querySelectorAll('#anim button[data-base], #anim button')) {
+                        if (btn.dataset.base !== undefined || !btn.textContent) continue;
+                        btn.classList.toggle('active', btn.textContent === name);
+                    }
+                } else a.stop();
+            }
+        }
+
+        // ---------------------------------------------------------------------
+        //  Face point cloud — anchored to head bone, same shimmer shader
+        // ---------------------------------------------------------------------
+        const FACE_POINTS = 220; // fewer points so each dot is visible as a tracked landmark
+        const facePositions = new Float32Array(FACE_POINTS * 3);
+        const faceOffsets   = new Float32Array(FACE_POINTS * 3);
+        const facePhases    = new Float32Array(FACE_POINTS);
+        let facePoints = null;
+        function buildFacePointCloud() {
+            // Front-hemisphere only — points scattered on the +Z half of an
+            // ellipsoid so the cloud reads as a FACE projection forward from
+            // the head bone, not a halo wrapping the skull. Local coords:
+            //   +Z = forward (face direction), +Y = up, +X = right.
+            for (let i = 0; i < FACE_POINTS; i++) {
+                // theta in [0, 2π) around the local Z axis, phi in [0, π/2]
+                // (front hemisphere only — no points behind the head)
+                const theta = Math.random() * Math.PI * 2;
+                const phi = Math.acos(1 - Math.random() * 0.95); // dense near face front
+                const sinPhi = Math.sin(phi), cosPhi = Math.cos(phi);
+                // ellipsoid radii (taller than wide, slightly squashed F-B)
+                const rx = 0.085, ry = 0.108, rz = 0.075;
+                // local coords with +Z = face forward
+                faceOffsets[i*3+0] = rx * sinPhi * Math.cos(theta);
+                faceOffsets[i*3+1] = ry * sinPhi * Math.sin(theta) * 1.05; // taller
+                faceOffsets[i*3+2] = rz * cosPhi;                          // forward
+                facePhases[i] = Math.random() * Math.PI * 2;
+            }
+            const geom = new THREE.BufferGeometry();
+            geom.setAttribute('position', new THREE.BufferAttribute(facePositions, 3));
+            geom.setAttribute('aPhase',   new THREE.BufferAttribute(facePhases, 1));
+            const mat = new THREE.ShaderMaterial({
+                uniforms: { time: { value: 0 } },
+                vertexShader: `
+                    attribute float aPhase; uniform float time;
+                    varying float vAlpha;
+                    void main() {
+                        vec4 mv = modelViewMatrix * vec4(position, 1.0);
+                        // Slow per-point shimmer + occasional "scan-lit" spike
+                        // so the cloud reads as discrete tracked landmarks
+                        // rather than a fluffy halo.
+                        float shimmer = 0.5 + 0.5 * sin(time * 3.0 + aPhase);
+                        float spark = step(0.95, fract(sin(aPhase * 17.0 + time * 0.5) * 43.0));
+                        vAlpha = 0.10 + 0.25 * shimmer + 0.55 * spark;
+                        gl_Position = projectionMatrix * mv;
+                        // 6× smaller — tracked dots, not a cloud
+                        gl_PointSize = (1.0 + shimmer * 0.6 + spark * 1.5) * (32.0 / -mv.z);
+                    }`,
+                fragmentShader: `
+                    varying float vAlpha;
+                    void main() {
+                        vec2 c = gl_PointCoord - 0.5;
+                        float d = length(c);
+                        if (d > 0.5) discard;
+                        float falloff = smoothstep(0.5, 0.0, d);
+                        vec3 col = vec3(0.40, 0.78, 1.00);
+                        gl_FragColor = vec4(col, vAlpha * falloff);
+                    }`,
+                transparent: true, depthWrite: false,
+            });
+            facePoints = new THREE.Points(geom, mat);
+            scene.add(facePoints);
+        }
+
+        // ---------------------------------------------------------------------
+        //  Pings + tomography + CSI driver — copied wholesale from skinned-glb
+        // ---------------------------------------------------------------------
+        const PING_POOL = 24;
+        const pings = [];
+        const pingGeo = new THREE.TorusGeometry(1, 0.012, 8, 48);
+        for (let i = 0; i < PING_POOL; i++) {
+            const mat = new THREE.MeshBasicMaterial({ color: 0x4cf, transparent: true, opacity: 0, depthWrite: false });
+            const mesh = new THREE.Mesh(pingGeo, mat); mesh.visible = false; scene.add(mesh);
+            pings.push({ mesh, active: false, t0: 0, duration: 0,
+                origin: new THREE.Vector3(), target: new THREE.Vector3() });
+        }
+        let pingIndex = 0;
+        function emitPing(origin, target) {
+            const p = pings[pingIndex]; pingIndex = (pingIndex + 1) % PING_POOL;
+            p.active = true; p.t0 = performance.now() * 0.001;
+            p.duration = 0.55 + Math.random() * 0.20;
+            p.origin.copy(origin); p.target.copy(target);
+            p.mesh.position.copy(origin); p.mesh.visible = true; p.mesh.material.opacity = 0;
+            const dir = new THREE.Vector3().subVectors(target, origin).normalize();
+            p.mesh.quaternion.setFromUnitVectors(new THREE.Vector3(0, 0, 1), dir);
+        }
+
+        const tomoMat = new THREE.ShaderMaterial({
+            uniforms: { time: { value: 0 }, intensity: { value: 0 } },
+            vertexShader: `varying vec2 vUv; void main() { vUv = uv; gl_Position = projectionMatrix * modelViewMatrix * vec4(position, 1.0); }`,
+            fragmentShader: `
+                uniform float time, intensity; varying vec2 vUv;
+                void main() {
+                    float band = exp(-pow((vUv.x - 0.5) * 14.0, 2.0));
+                    float lines = 0.5 + 0.5 * sin(vUv.y * 90.0 + time * 4.0);
+                    vec3 col = vec3(1.0, 0.3, 0.78) * band * (0.6 + 0.4 * lines);
+                    gl_FragColor = vec4(col, intensity * band * 0.75);
+                }`,
+            transparent: true, blending: THREE.AdditiveBlending, depthWrite: false, side: THREE.DoubleSide,
+        });
+        const tomoPlane = new THREE.Mesh(new THREE.PlaneGeometry(8, 6), tomoMat);
+        tomoPlane.rotation.y = Math.PI / 2;
+        tomoPlane.position.set(-2, 1.0, 0); tomoPlane.visible = false;
+        scene.add(tomoPlane);
+        let tomoActive = false, tomoT0 = 0, tomoNextAt = 4 + Math.random() * 4;
+
+        const csiAmp = [0, 0, 0, 0];
+        let csiCoherence = 0.5;
+        const csiNoise = [0, 0, 0, 0];
+        function tickCsi(t, targetWorld) {
+            for (let i = 0; i < 4; i++) csiNoise[i] = csiNoise[i] * 0.92 + (Math.random() - 0.5) * 0.08;
+            let mean = 0; const amps = [];
+            for (let i = 0; i < 4; i++) {
+                const np = NODE_POSITIONS[i];
+                const dx = np[0] - targetWorld.x, dy = np[1] - targetWorld.y, dz = np[2] - targetWorld.z;
+                const r2 = dx*dx + dy*dy + dz*dz;
+                const fall = 1.0 / (1.0 + r2 * 0.18);
+                const breath = Math.sin(t * 0.27 * Math.PI * 2) * 0.10;
+                const heart = Math.sin(t * 1.18 * Math.PI * 2) * 0.04;
+                const walk = Math.sin(t * 1.9 + i * 0.5) * 0.12;
+                const a = Math.max(0, Math.min(1, fall + breath + heart + walk + csiNoise[i] * 0.30));
+                amps.push(a);
+                csiAmp[i] = csiAmp[i] * 0.7 + a * 0.3;
+                mean += a;
+            }
+            mean /= 4;
+            let v = 0; for (let i = 0; i < 4; i++) v += (amps[i] - mean) ** 2;
+            v = Math.sqrt(v / 4);
+            csiCoherence = csiCoherence * 0.85 + Math.max(0, Math.min(1, 1.0 - v * 2.5)) * 0.15;
+        }
+
+        let lastPingT = [0, 0, 0, 0];
+        // Subject hit-flash: when a sonar ping lands, briefly raise the
+        // emissive on every mesh in the model. Decays each frame.
+        let subjectFlash = 0;
+        const modelMeshes = [];
+        function collectModelMeshes() {
+            if (!model || modelMeshes.length) return;
+            model.traverse(o => {
+                if (o.isMesh && o.material && o.material.isMeshStandardMaterial) {
+                    o.material.emissive = new THREE.Color(0xffb840);
+                    o.material.emissiveIntensity = 0;
+                    modelMeshes.push(o);
+                }
+            });
+        }
+        function updateSubjectFlash() {
+            collectModelMeshes();
+            subjectFlash *= 0.86;
+            for (const m of modelMeshes) {
+                m.material.emissiveIntensity = subjectFlash;
+            }
+        }
+
+        // Subtle root motion — even with a stationary Idle clip, give the
+        // figure a gentle drift + look-around so it doesn't feel pinned.
+        function updateRootMotion(t) {
+            if (!model) return;
+            model.position.x = Math.sin(t * 0.18) * 0.06;
+            model.position.z = Math.cos(t * 0.13) * 0.05;
+            model.rotation.y = Math.sin(t * 0.11) * 0.18;
+        }
+
+        function updateNodes() {
+            for (let i = 0; i < 4; i++) {
+                const ring = nodeRings[i];
+                const amp = csiAmp[i];
+                ring.material.opacity = 0.32 + 0.55 * amp;
+                ring.scale.setScalar(1 + 0.30 * amp);
+                rimLights[i].intensity = 0.30 + 0.60 * amp * csiCoherence;
+            }
+        }
+        function maybeEmitPings(t, modelCenter) {
+            if (!document.getElementById('t-pings').checked || !model) return;
+            for (let i = 0; i < 4; i++) {
+                const interval = 1.2 / (0.25 + csiAmp[i]);
+                if (t - lastPingT[i] > interval) {
+                    lastPingT[i] = t;
+                    const target = modelCenter.clone();
+                    target.y += (Math.random() - 0.3) * 0.8;
+                    target.x += (Math.random() - 0.5) * 0.2;
+                    const origin = nodeAnchors[i].getWorldPosition(new THREE.Vector3());
+                    emitPing(origin, target);
+                }
+            }
+        }
+        function updatePings(t) {
+            for (const p of pings) {
+                if (!p.active) continue;
+                const u = (t - p.t0) / p.duration;
+                if (u >= 1) {
+                    p.active = false; p.mesh.visible = false;
+                    // ping landed — flash the subject (drives emissiveIntensity)
+                    subjectFlash = Math.min(0.42, subjectFlash + 0.18);
+                    continue;
+                }
+                p.mesh.position.lerpVectors(p.origin, p.target, u);
+                p.mesh.scale.setScalar(0.03 + u * 0.18);
+                p.mesh.material.opacity = (1.0 - u) * 0.40 * csiCoherence;
+            }
+        }
+        function updateTomography(t) {
+            if (!document.getElementById('t-tomo').checked) { tomoActive = false; tomoPlane.visible = false; return; }
+            if (!tomoActive && t > tomoNextAt) {
+                tomoActive = true; tomoT0 = t; tomoPlane.visible = true;
+                const sf = document.getElementById('scan-flash');
+                sf.style.animation = 'none';
+                requestAnimationFrame(() => { sf.style.animation = 'scanFlash 1.6s ease-out'; });
+            }
+            if (tomoActive) {
+                const dur = 2.4;
+                const e = (t - tomoT0) / dur;
+                if (e >= 1) {
+                    tomoActive = false; tomoPlane.visible = false;
+                    tomoNextAt = t + 4 + Math.random() * 5;
+                } else {
+                    tomoPlane.position.x = -3 + e * 6;
+                    tomoMat.uniforms.intensity.value = Math.sin(e * Math.PI);
+                    tomoMat.uniforms.time.value = t;
+                }
+            }
+        }
+        function updateBbox() {
+            const want = document.getElementById('t-bbox').checked && model;
+            if (!want) {
+                if (bboxHelper) { scene.remove(bboxHelper); bboxHelper = null; }
+                document.getElementById('bbox-vol').textContent = '—';
+                return;
+            }
+            if (!bboxHelper) {
+                bboxHelper = new THREE.BoxHelper(model, 0xffe09f);
+                bboxHelper.material.transparent = true; bboxHelper.material.opacity = 0.55;
+                scene.add(bboxHelper);
+            } else bboxHelper.setFromObject(model);
+            const box = new THREE.Box3().setFromObject(model);
+            const size = box.getSize(new THREE.Vector3());
+            document.getElementById('bbox-vol').textContent = (size.x * size.y * size.z).toFixed(3) + ' m³';
+        }
+        const tmpHeadPos  = new THREE.Vector3();
+        const tmpHeadQuat = new THREE.Quaternion();
+        const tmpHeadScl  = new THREE.Vector3();
+        const tmpOffset   = new THREE.Vector3();
+        function updateFaceCloud(t) {
+            if (!facePoints || !headBone) return;
+            // Decompose the head bone's world matrix so we can apply its
+            // orientation (face direction) to each local offset. This way
+            // the cloud rotates with the head — turn left/right and the
+            // face points stay in front of the face.
+            headBone.updateMatrixWorld(true);
+            headBone.matrixWorld.decompose(tmpHeadPos, tmpHeadQuat, tmpHeadScl);
+            // Mixamo head bone forward is along +Y in some rigs (head looks up the
+            // bone chain) — project the cloud along the model's actual forward
+            // vector, which for Mixamo X Bot facing camera is world +Z.
+            // Use the model's root rotation as the source of "forward".
+            const forward = new THREE.Vector3(0, 0, 1);
+            if (model) forward.applyQuaternion(model.getWorldQuaternion(new THREE.Quaternion()));
+            const up    = new THREE.Vector3(0, 1, 0);
+            const right = new THREE.Vector3().crossVectors(up, forward).normalize();
+            const facingUp = up.clone();
+            // anchor the cloud just in front of the head
+            const anchor = tmpHeadPos.clone().addScaledVector(forward, 0.04);
+            anchor.y += 0.04; // nudge up so cloud sits over the face, not the chin
+            const pos = facePoints.geometry.attributes.position;
+            for (let i = 0; i < FACE_POINTS; i++) {
+                const ox = faceOffsets[i*3+0];
+                const oy = faceOffsets[i*3+1];
+                const oz = faceOffsets[i*3+2];
+                // map local (ox, oy, oz) into world via (right, up, forward)
+                tmpOffset.copy(right).multiplyScalar(ox)
+                         .addScaledVector(facingUp, oy)
+                         .addScaledVector(forward, oz);
+                pos.array[i*3+0] = anchor.x + tmpOffset.x;
+                pos.array[i*3+1] = anchor.y + tmpOffset.y;
+                pos.array[i*3+2] = anchor.z + tmpOffset.z;
+            }
+            pos.needsUpdate = true;
+            facePoints.material.uniforms.time.value = t;
+        }
+
+        let hudT = 0;
+        function updateHud(t, fps) {
+            if (t - hudT < 0.1) return;
+            hudT = t;
+            for (let i = 0; i < 4; i++) {
+                const pct = Math.round(csiAmp[i] * 100);
+                document.getElementById('bar-' + i).style.width = pct + '%';
+                document.getElementById('val-' + i).textContent = pct + '%';
+            }
+            document.getElementById('coh-val').textContent = (csiCoherence * 100).toFixed(0) + ' %';
+            document.getElementById('hr-val').textContent = (68 + Math.sin(t * 0.3) * 4).toFixed(0) + ' bpm';
+            document.getElementById('fps-val').textContent = fps.toFixed(0) + ' fps';
+        }
+
+        // UI wiring
+        document.getElementById('time-scale').addEventListener('input', (e) => {
+            const ts = parseFloat(e.target.value);
+            document.getElementById('time-scale-val').textContent = ts.toFixed(2);
+            if (mixer) mixer.timeScale = ts;
+        });
+        function bindToggle(id, obj) {
+            document.getElementById(id).addEventListener('change', e => {
+                if (e.target.checked && !scene.children.includes(obj)) scene.add(obj);
+                else if (!e.target.checked) scene.remove(obj);
+            });
+        }
+        bindToggle('t-grid',  gridHelper);
+        bindToggle('t-polar', polarHelper);
+        document.getElementById('t-skel').addEventListener('change', e => {
+            if (skeletonHelper) skeletonHelper.visible = e.target.checked;
+        });
+        document.getElementById('t-nodebox').addEventListener('change', e => {
+            for (const bb of nodeBboxHelpers) {
+                if (e.target.checked && !scene.children.includes(bb)) scene.add(bb);
+                else if (!e.target.checked) scene.remove(bb);
+            }
+        });
+
+        // ---------------------------------------------------------------------
+        //  Main loop
+        // ---------------------------------------------------------------------
+        const clock = new THREE.Clock();
+        let lastMs = performance.now();
+        let fpsEma = 60;
+        function tick() {
+            const nowMs = performance.now();
+            const dt = nowMs - lastMs;
+            lastMs = nowMs;
+            fpsEma = fpsEma * 0.92 + (1000 / Math.max(dt, 1)) * 0.08;
+            const t = nowMs * 0.001;
+            const delta = clock.getDelta();
+
+            if (mixer) mixer.update(delta);
+            floorMat.uniforms.time.value = t;
+            filmShader.uniforms.time.value = t;
+
+            const center = new THREE.Vector3();
+            if (model) {
+                const box = new THREE.Box3().setFromObject(model);
+                box.getCenter(center);
+            } else center.set(0, 0.9, 0);
+
+            tickCsi(t, center);
+            updateRootMotion(t);
+            updateNodes();
+            updateGodRays(t);
+            maybeEmitPings(t, center);
+            updatePings(t);
+            updateSubjectFlash();
+            updateTomography(t);
+            updateBbox();
+            updateFaceCloud(t);
+
+            controls.update();
+            composer.render();
+            updateHud(t, fpsEma);
+            requestAnimationFrame(tick);
+        }
+        requestAnimationFrame(tick);
+
+        window.addEventListener('resize', () => {
+            camera.aspect = window.innerWidth / window.innerHeight;
+            camera.updateProjectionMatrix();
+            renderer.setSize(window.innerWidth, window.innerHeight);
+            composer.setSize(window.innerWidth, window.innerHeight);
+            bloom.setSize(window.innerWidth, window.innerHeight);
+        });
+    </script>
+</body>
+</html>

examples/three.js/server/ruvultra-csi-bridge.py

@@ -0,0 +1,153 @@
+#!/usr/bin/env python3
+"""ruvultra → browser CSI bridge.
+
+Reads adaptive_ctrl tick lines from the ESP32-S3 RuView firmware on
+/dev/ttyACM0 and forwards normalized per-node metrics over a WebSocket
+that the helpers-skinned-realtime demo can subscribe to via Tailscale.
+
+Sample serial line (1 Hz cadence from firmware):
+    I (22890561) adaptive_ctrl: medium tick: state=6 yield=15pps motion=1.00 presence=5.35 rssi=-33
+
+Output JSON (per tick):
+    {
+      "ts": 1716830400.123,
+      "node": 0,                # always 0 (single node), client expands to 4
+      "motion": 1.00,           # raw firmware metric
+      "presence": 5.35,
+      "rssi": -33,
+      "yield_pps": 15,
+      "amp": 0.78               # synthesized CSI amplitude in [0..1] for the bar
+    }
+
+Run on ruvultra:
+    python3 -u ruvultra-csi-bridge.py
+"""
+import asyncio
+import builtins
+import json
+import re
+import sys
+import time
+from contextlib import suppress
+
+# Force every print to flush — we're often piped to a log file
+_orig_print = builtins.print
+def _print(*a, **kw):
+    kw.setdefault("flush", True)
+    return _orig_print(*a, **kw)
+builtins.print = _print
+
+import serial
+import websockets
+
+PORT = "/dev/ttyACM0"
+BAUD = 115200
+WS_HOST = "0.0.0.0"
+WS_PORT = 8766
+
+TICK_RE = re.compile(
+    r"adaptive_ctrl:\s*\w+\s+tick:\s*"
+    r"state=(?P<state>\d+)\s+"
+    r"yield=(?P<yield>\d+)pps\s+"
+    r"motion=(?P<motion>[\d.]+)\s+"
+    r"presence=(?P<presence>[\d.]+)\s+"
+    r"rssi=(?P<rssi>-?\d+)"
+)
+
+clients = set()
+last_payload = None
+
+
+def amp_from_metrics(motion, presence, rssi):
+    """Map firmware metrics to a [0..1] CSI-style amplitude."""
+    rssi_norm = max(0.0, min(1.0, (rssi + 80) / 50))      # -80..-30 → 0..1
+    presence_norm = max(0.0, min(1.0, presence / 8.0))    # cap at 8
+    motion_norm = max(0.0, min(1.0, motion))              # already 0..1ish
+    return 0.40 * rssi_norm + 0.35 * presence_norm + 0.25 * motion_norm
+
+
+async def serial_reader_loop():
+    global last_payload
+    print(f"[bridge] opening {PORT} @ {BAUD}…")
+    while True:
+        try:
+            ser = serial.Serial(PORT, BAUD, timeout=1)
+        except (serial.SerialException, OSError) as e:
+            print(f"[bridge] serial open failed ({e}); retry in 3s")
+            await asyncio.sleep(3)
+            continue
+
+        print(f"[bridge] connected to {PORT}")
+        loop = asyncio.get_event_loop()
+        try:
+            while True:
+                line = await loop.run_in_executor(None, ser.readline)
+                if not line:
+                    continue
+                try:
+                    text = line.decode(errors="replace").strip()
+                except Exception:
+                    continue
+                m = TICK_RE.search(text)
+                if not m:
+                    continue
+                motion = float(m["motion"])
+                presence = float(m["presence"])
+                rssi = int(m["rssi"])
+                payload = {
+                    "ts": time.time(),
+                    "node": 0,
+                    "state": int(m["state"]),
+                    "yield_pps": int(m["yield"]),
+                    "motion": motion,
+                    "presence": presence,
+                    "rssi": rssi,
+                    "amp": amp_from_metrics(motion, presence, rssi),
+                }
+                last_payload = payload
+                msg = json.dumps(payload)
+                if clients:
+                    dead = []
+                    for ws in list(clients):
+                        try:
+                            await ws.send(msg)
+                        except websockets.ConnectionClosed:
+                            dead.append(ws)
+                    for d in dead:
+                        clients.discard(d)
+                print(
+                    f"[tick] motion={motion:.2f} presence={presence:5.2f} "
+                    f"rssi={rssi:+d} yield={int(m['yield']):3d}pps "
+                    f"amp={payload['amp']:.2f} clients={len(clients)}"
+                )
+        except (serial.SerialException, OSError) as e:
+            print(f"[bridge] serial error ({e}); reopen in 1s")
+            with suppress(Exception):
+                ser.close()
+            await asyncio.sleep(1)
+
+
+async def ws_handler(ws):
+    addr = ws.remote_address
+    clients.add(ws)
+    print(f"[ws] client connected: {addr}  total={len(clients)}")
+    try:
+        if last_payload is not None:
+            await ws.send(json.dumps(last_payload))
+        await ws.wait_closed()
+    finally:
+        clients.discard(ws)
+        print(f"[ws] client gone: {addr}  total={len(clients)}")
+
+
+async def main():
+    print(f"[bridge] websocket on ws://{WS_HOST}:{WS_PORT}")
+    async with websockets.serve(ws_handler, WS_HOST, WS_PORT):
+        await serial_reader_loop()
+
+
+if __name__ == "__main__":
+    try:
+        asyncio.run(main())
+    except KeyboardInterrupt:
+        pass

examples/three.js/server/serve-demo.py

@@ -0,0 +1,46 @@
+"""Tiny threaded HTTP server for the three.js demos that fetch local files.
+
+Why a sibling helper script instead of `python -m http.server`?
+The stdlib SimpleHTTPServer is single-threaded; Chrome opens many parallel
+connections (HTML + 9 script tags + FBX), the first eats the worker, the
+rest time out with net::ERR_EMPTY_RESPONSE. ThreadingHTTPServer fixes it.
+
+Usage:
+    python examples/three.js/server/serve-demo.py
+    open http://localhost:8765/examples/three.js/demos/05-skinned-realtime.html
+"""
+from http.server import ThreadingHTTPServer, SimpleHTTPRequestHandler
+import os, sys
+
+PORT = int(os.environ.get("PORT", 8765))
+# Always serve from the repo root regardless of where the script is launched.
+# This file lives at examples/three.js/server/serve-demo.py — three levels deep.
+os.chdir(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..", "..")))
+
+class NoCacheHandler(SimpleHTTPRequestHandler):
+    def end_headers(self):
+        # Aggressive no-cache so browser ALWAYS fetches the latest .html
+        # after we edit it. Otherwise stale code sticks around even on hard
+        # refresh and you debug a phantom.
+        self.send_header("Cache-Control", "no-store, no-cache, must-revalidate, max-age=0")
+        self.send_header("Pragma", "no-cache")
+        self.send_header("Expires", "0")
+        super().end_headers()
+
+DEMOS = [
+    "01-helpers.html",
+    "02-cinematic.html",
+    "03-skinned.html",
+    "04-skinned-fbx.html",
+    "05-skinned-realtime.html",
+]
+
+with ThreadingHTTPServer(("127.0.0.1", PORT), NoCacheHandler) as srv:
+    print(f"serving {os.getcwd()} on http://127.0.0.1:{PORT}/")
+    print("demos:")
+    for d in DEMOS:
+        print(f"  http://127.0.0.1:{PORT}/examples/three.js/demos/{d}")
+    try:
+        srv.serve_forever()
+    except KeyboardInterrupt:
+        sys.exit(0)

firmware/esp32-csi-node/README.md

@@ -15,7 +15,7 @@ This firmware captures WiFi Channel State Information (CSI) from an ESP32-S3 and
 > | **CSI streaming** | Per-subcarrier I/Q capture over UDP | ~20 Hz, ADR-018 binary format |
 > | **Breathing detection** | Bandpass 0.1-0.5 Hz, zero-crossing BPM | 6-30 BPM |
 > | **Heart rate** | Bandpass 0.8-2.0 Hz, zero-crossing BPM | 40-120 BPM |
-> | **Presence sensing** | Phase variance + adaptive calibration | < 1 ms latency |
+> | **Presence indicator** (heuristic) | Phase variance + adaptive threshold (60 s ambient learning) | < 1 ms latency, false-positives under strong RF interference — see [Tier 2 caveats](#what-this-firmware-does-not-do-tier-2-caveats) |
 > | **Fall detection** | Phase acceleration threshold | Configurable sensitivity |
 > | **Programmable sensing** | WASM modules loaded over HTTP | Hot-swap, no reflash |
 
@@ -37,18 +37,22 @@ MSYS_NO_PATHCONV=1 docker run --rm \
 
 ### 2. Flash
 
+Offsets must match `partitions_display.csv` (8 MB) or `partitions_4mb.csv` (4 MB):
+`bootloader=0x0`, `partition-table=0x8000`, `otadata=0xf000`, `app (ota_0)=0x20000`.
+
 ```bash
 python -m esptool --chip esp32s3 --port COM7 --baud 460800 \
   write_flash --flash_mode dio --flash_size 8MB \
-  0x0 firmware/esp32-csi-node/build/bootloader/bootloader.bin \
-  0x8000 firmware/esp32-csi-node/build/partition_table/partition-table.bin \
-  0x10000 firmware/esp32-csi-node/build/esp32-csi-node.bin
+  0x0     firmware/esp32-csi-node/build/bootloader/bootloader.bin \
+  0x8000  firmware/esp32-csi-node/build/partition_table/partition-table.bin \
+  0xf000  firmware/esp32-csi-node/build/ota_data_initial.bin \
+  0x20000 firmware/esp32-csi-node/build/esp32-csi-node.bin
 ```
 
 ### 3. Provision WiFi credentials (no reflash needed)
 
 ```bash
-python scripts/provision.py --port COM7 \
+python firmware/esp32-csi-node/provision.py --port COM7 \
   --ssid "YourSSID" --password "YourPass" --target-ip 192.168.1.20
 ```
 
@@ -129,11 +133,32 @@ Adds real-time health and safety monitoring.
 
 - **Breathing rate** -- biquad IIR bandpass 0.1-0.5 Hz, zero-crossing BPM (6-30 BPM)
 - **Heart rate** -- biquad IIR bandpass 0.8-2.0 Hz, zero-crossing BPM (40-120 BPM)
-- **Presence detection** -- adaptive threshold calibration (60 s ambient learning)
+- **Presence indicator** -- phase variance vs an adaptively-calibrated threshold (60 s ambient learning at boot). Heuristic, not a learned classifier — strong RF interferers (fans, microwaves, transmit-power swings) can push variance above threshold without anyone in the room. See "What this firmware does NOT do" below.
 - **Fall detection** -- phase acceleration exceeds configurable threshold
-- **Multi-person estimation** -- subcarrier group clustering (up to 4 persons)
+- **Multi-person slot count** -- partitions the top-K subcarriers into `top_k / 2` groups (clamped to `[1, EDGE_MAX_PERSONS]`), computes per-group filtered breathing/heart-rate estimates, and reports the slot count as `pkt.n_persons`. This is a **slot-capacity heuristic**, not a learned counter — the reported count tracks subcarrier diversity, not actual occupancy. See [`edge_processing.c:481-548`](main/edge_processing.c#L481-L548).
 - **Vitals packet** -- 32-byte UDP packet at 1 Hz (magic `0xC5110002`)
 
+### What this firmware does NOT do (Tier 2 caveats)
+
+- It does **not** run a trained neural model. The "person count" is an
+  arithmetic slot-capacity heuristic over the top-K subcarrier groups
+  (`firmware/esp32-csi-node/main/edge_processing.c:481`). It tracks
+  subcarrier diversity, not actual occupancy.
+- It does **not** run pose estimation. Pose-related features in the host
+  UI come from the Rust `wifi-densepose-sensing-server` running a separate
+  pipeline. When no `.rvf` model file is loaded via `--model`, the server
+  drives the on-screen skeleton from signal-based heuristics (amplitude
+  variance, motion-band power), not from learned keypoint inference. The
+  repository does not ship pre-trained weights — see issues
+  [#509](../../issues/509) and [#506](../../issues/506) for context, and
+  [ADR-079](../../docs/adr/ADR-079-camera-supervised-pose-finetune.md) for
+  the planned training path (phases P7-P9 are `Pending`).
+- The presence indicator is a calibrated variance threshold and **will
+  false-positive** under strong RF interference from non-human sources
+  (fans near the antenna, microwave duty cycles, neighbouring AP power
+  swings) without re-running the 60-second ambient calibration. If you
+  see ghost detections, re-calibrate by power-cycling in an empty room.
+
 ### Tier 3 -- WASM Programmable Sensing (Alpha)
 
 Turns the ESP32 from a fixed-function sensor into a programmable sensing computer. Instead of reflashing firmware to change algorithms, you upload new sensing logic as small WASM modules -- compiled from Rust, packaged in signed RVF containers.
@@ -254,9 +279,10 @@ Find your serial port: `COM7` on Windows, `/dev/ttyUSB0` on Linux, `/dev/cu.SLAB
 ```bash
 python -m esptool --chip esp32s3 --port COM7 --baud 460800 \
   write_flash --flash_mode dio --flash_size 8MB \
-  0x0 firmware/esp32-csi-node/build/bootloader/bootloader.bin \
-  0x8000 firmware/esp32-csi-node/build/partition_table/partition-table.bin \
-  0x10000 firmware/esp32-csi-node/build/esp32-csi-node.bin
+  0x0     firmware/esp32-csi-node/build/bootloader/bootloader.bin \
+  0x8000  firmware/esp32-csi-node/build/partition_table/partition-table.bin \
+  0xf000  firmware/esp32-csi-node/build/ota_data_initial.bin \
+  0x20000 firmware/esp32-csi-node/build/esp32-csi-node.bin
 ```
 
 ### Serial Monitor
@@ -285,7 +311,7 @@ All settings can be changed at runtime via Non-Volatile Storage (NVS) without re
 The easiest way to write NVS settings:
 
 ```bash
-python scripts/provision.py --port COM7 \
+python firmware/esp32-csi-node/provision.py --port COM7 \
   --ssid "MyWiFi" \
   --password "MyPassword" \
   --target-ip 192.168.1.20

firmware/esp32-csi-node/main/CMakeLists.txt

@@ -11,7 +11,26 @@ set(SRCS
     "adaptive_controller.c"
 )
 
-set(REQUIRES "")
+# ESP-IDF v6+: headers must resolve via explicit REQUIRES (no implicit deps).
+set(REQUIRES
+    esp_wifi
+    esp_netif
+    esp_event
+    nvs_flash
+    app_update
+    esp_http_server
+    esp_http_client
+    esp_app_format
+    esp_timer
+    esp_pm
+    esp_driver_uart
+    esp_driver_gpio
+    esp_driver_spi
+    esp_driver_i2c
+    driver
+    lwip
+    mbedtls
+)
 
 # ADR-061: Mock CSI generator for QEMU testing + ADR-081 mock radio binding
 if(CONFIG_CSI_MOCK_ENABLED)
@@ -21,7 +40,11 @@ endif()
 # ADR-045: AMOLED display support (compile-time optional)
 if(CONFIG_DISPLAY_ENABLE)
     list(APPEND SRCS "display_hal.c" "display_ui.c" "display_task.c")
-    set(REQUIRES esp_lcd esp_lcd_touch lvgl)
+    list(APPEND REQUIRES esp_lcd esp_lcd_touch lvgl)
+endif()
+
+if(CONFIG_WASM_ENABLE)
+    list(APPEND REQUIRES wasm3)
 endif()
 
 idf_component_register(

firmware/esp32-csi-node/main/csi_collector.c

@@ -371,6 +371,30 @@ void csi_collector_init(void)
 
     ESP_LOGI(TAG, "Promiscuous mode enabled (MGMT-only, RuView#396)");
 
+#if CONFIG_SOC_WIFI_HE_SUPPORT
+    /* Wi-Fi 6 targets (e.g. ESP32-C6): wifi_csi_config_t is wifi_csi_acquire_config_t
+     * (bitfields), not the legacy 802.11n bool layout used on ESP32-S3. */
+    wifi_csi_config_t csi_config;
+    memset(&csi_config, 0, sizeof(csi_config));
+    csi_config.enable = 1U;
+    csi_config.acquire_csi_legacy = 1U;
+    csi_config.acquire_csi_ht20 = 1U;
+    csi_config.acquire_csi_ht40 = 1U;
+    csi_config.acquire_csi_su = 1U;
+    csi_config.acquire_csi_mu = 1U;
+    csi_config.acquire_csi_dcm = 1U;
+    csi_config.acquire_csi_beamformed = 1U;
+#if CONFIG_SOC_WIFI_MAC_VERSION_NUM >= 3
+    csi_config.acquire_csi_force_lltf = 1U;
+    csi_config.acquire_csi_vht = 1U;
+    csi_config.acquire_csi_he_stbc_mode = ESP_CSI_ACQUIRE_STBC_SAMPLE_HELTFS;
+    csi_config.val_scale_cfg = 0U;
+#else
+    csi_config.acquire_csi_he_stbc = ESP_CSI_ACQUIRE_STBC_SAMPLE_HELTFS;
+    csi_config.val_scale_cfg = 0U;
+#endif
+    csi_config.dump_ack_en = 0U;
+#else
     wifi_csi_config_t csi_config = {
         .lltf_en = true,
         .htltf_en = true,
@@ -380,6 +404,7 @@ void csi_collector_init(void)
         .manu_scale = false,
         .shift = false,
     };
+#endif
 
     ESP_ERROR_CHECK(esp_wifi_set_csi_config(&csi_config));
     ESP_ERROR_CHECK(esp_wifi_set_csi_rx_cb(wifi_csi_callback, NULL));

firmware/esp32-csi-node/main/edge_processing.c

@@ -2,8 +2,9 @@
  * @file edge_processing.c
  * @brief ADR-039 Edge Intelligence — dual-core CSI processing pipeline.
  *
- * Core 0 (WiFi task): Pushes raw CSI frames into lock-free SPSC ring buffer.
- * Core 1 (DSP task):  Pops frames, runs signal processing pipeline:
+ * Core 0 (WiFi path): Pushes raw CSI frames into lock-free SPSC ring buffer.
+ * Second core when present (DSP task): pops frames, runs signal processing pipeline.
+ * On unicore targets (e.g. ESP32-C6), the DSP task is pinned to core 0.
  *   1. Phase extraction from I/Q pairs
  *   2. Phase unwrapping (continuous phase)
  *   3. Welford variance tracking per subcarrier
@@ -1050,7 +1051,9 @@ esp_err_t edge_processing_init(const edge_config_t *cfg)
         return ESP_OK;
     }
 
-    /* Start DSP task on Core 1. */
+    /* Pin DSP off WiFi's preferred core when SMP; else core 0 only (ESP32-C6). */
+    const BaseType_t dsp_core = (portNUM_PROCESSORS > 1) ? (BaseType_t)1 : (BaseType_t)0;
+
     BaseType_t ret = xTaskCreatePinnedToCore(
         edge_task,
         "edge_dsp",
@@ -1058,14 +1061,14 @@ esp_err_t edge_processing_init(const edge_config_t *cfg)
         NULL,
         5,          /* Priority 5 — above idle, below WiFi. */
         NULL,
-        1           /* Pin to Core 1. */
-    );
+        dsp_core);
 
     if (ret != pdPASS) {
         ESP_LOGE(TAG, "Failed to create edge DSP task");
         return ESP_ERR_NO_MEM;
     }
 
-    ESP_LOGI(TAG, "Edge DSP task created on Core 1 (stack=8192, priority=5)");
+    ESP_LOGI(TAG, "Edge DSP task created on core %d (stack=8192, priority=5)",
+             (int)dsp_core);
     return ESP_OK;
 }

firmware/esp32-csi-node/main/idf_component.yml

@@ -8,3 +8,6 @@ dependencies:
 
   ## LCD touch abstraction
   espressif/esp_lcd_touch: "^1.0"
+
+  ## Onboard WS2812 LED Disabling
+  espressif/led_strip: "^3.0.0"

firmware/esp32-csi-node/main/main.c

@@ -18,6 +18,7 @@
 #include "nvs_flash.h"
 #include "esp_app_desc.h"
 #include "sdkconfig.h"
+#include "led_strip.h"
 
 #include "csi_collector.h"
 #include "stream_sender.h"
@@ -149,6 +150,23 @@ void app_main(void)
     ESP_LOGI(TAG, "ESP32-S3 CSI Node (ADR-018) — v%s — Node ID: %d",
              app_desc->version, g_nvs_config.node_id);
 
+    /* Turn off onboard WS2812 LED on GPIO 38 */
+    led_strip_handle_t led_strip;
+    led_strip_config_t strip_config = {
+        .strip_gpio_num = 38,
+        .max_leds = 1,
+        .led_model = LED_MODEL_WS2812,
+        .color_component_format = LED_STRIP_COLOR_COMPONENT_FMT_GRB,
+        .flags.invert_out = false,
+    };
+    led_strip_rmt_config_t rmt_config = {
+        .resolution_hz = 10 * 1000 * 1000, // 10MHz
+        .flags.with_dma = false,
+    };
+    if (led_strip_new_rmt_device(&strip_config, &rmt_config, &led_strip) == ESP_OK) {
+        led_strip_clear(led_strip);
+    }
+
     /* Initialize WiFi STA (skip entirely under QEMU mock — no RF hardware) */
 #ifndef CONFIG_CSI_MOCK_SKIP_WIFI_CONNECT
     wifi_init_sta();

firmware/esp32-csi-node/main/mmwave_sensor.c

@@ -109,7 +109,7 @@ static void mr60_process_frame(uint16_t type, const uint8_t *data, uint16_t len)
 
     switch (type) {
     case MR60_TYPE_BREATHING:
-        if (len >= 4) {
+        if (len >= sizeof(float)) {
             /* Breathing rate as float32 (little-endian in payload). */
             float br;
             memcpy(&br, data, sizeof(float));
@@ -120,7 +120,7 @@ static void mr60_process_frame(uint16_t type, const uint8_t *data, uint16_t len)
         break;
 
     case MR60_TYPE_HEARTRATE:
-        if (len >= 4) {
+        if (len >= sizeof(float)) {
             float hr;
             memcpy(&hr, data, sizeof(float));
             if (hr >= 0.0f && hr <= 250.0f) {
@@ -130,13 +130,13 @@ static void mr60_process_frame(uint16_t type, const uint8_t *data, uint16_t len)
         break;
 
     case MR60_TYPE_DISTANCE:
-        if (len >= 8) {
+        if (len >= sizeof(uint32_t) + sizeof(float)) {
             /* Bytes 0-3: range flag (uint32 LE). 0 = no valid distance. */
             uint32_t range_flag;
             memcpy(&range_flag, data, sizeof(uint32_t));
-            if (range_flag != 0 && len >= 8) {
+            if (range_flag != 0) {
                 float dist;
-                memcpy(&dist, &data[4], sizeof(float));
+                memcpy(&dist, &data[sizeof(uint32_t)], sizeof(float));
                 s_state.distance_cm = dist;
             }
         }

firmware/esp32-csi-node/main/ota_update.c

@@ -38,14 +38,24 @@ static char s_ota_psk[OTA_PSK_MAX_LEN] = {0};
 
 /**
  * ADR-050: Verify the Authorization header contains the correct PSK.
- * Returns true if auth is disabled (no PSK provisioned) or if the
- * Bearer token matches the stored PSK.
+ * Returns true only when a PSK is provisioned AND the Bearer token
+ * matches it. An unprovisioned node refuses all OTA requests
+ * (fail-closed, see RuView#596 audit). The OTA server still starts so
+ * the operator can `provision.py --ota-psk <hex>` over USB-CDC without
+ * a reflash, but the upload endpoint will reject every request until
+ * the PSK is set.
  */
 static bool ota_check_auth(httpd_req_t *req)
 {
     if (s_ota_psk[0] == '\0') {
-        /* No PSK provisioned — auth disabled (permissive for dev). */
-        return true;
+        /* No PSK provisioned — fail closed. Previously this returned
+         * true ("permissive for dev"), which let any host on the WiFi
+         * push attacker-controlled firmware to a freshly-flashed node.
+         * Plain HTTP transport + no Secure Boot V2 + no signed-image
+         * verification meant a single LAN call could brick or back-
+         * door a node. Reject until provisioned. */
+        ESP_LOGW(TAG, "OTA rejected: no PSK in NVS (run provision.py --ota-psk <hex>)");
+        return false;
     }
 
     char auth_header[128] = {0};
@@ -241,26 +251,45 @@ static esp_err_t ota_start_server(httpd_handle_t *out_handle)
     return ESP_OK;
 }
 
-esp_err_t ota_update_init(void)
+/**
+ * Load the OTA PSK from NVS into the module-local s_ota_psk cache and log
+ * the resulting posture. Called by both ota_update_init() and
+ * ota_update_init_ex() so the per-boot diagnostic prints no matter which
+ * entry point main.c uses — historically only ota_update_init() loaded the
+ * PSK, which left ota_update_init_ex() with an empty s_ota_psk and an
+ * invisible fail-closed posture (RuView#596 follow-up).
+ */
+static void ota_load_psk_from_nvs(void)
 {
-    /* ADR-050: Load OTA PSK from NVS if provisioned. */
     nvs_handle_t nvs;
     if (nvs_open(OTA_NVS_NAMESPACE, NVS_READONLY, &nvs) == ESP_OK) {
         size_t len = sizeof(s_ota_psk);
         if (nvs_get_str(nvs, OTA_NVS_KEY, s_ota_psk, &len) == ESP_OK) {
             ESP_LOGI(TAG, "OTA PSK loaded from NVS (%d chars) — authentication enabled", (int)len - 1);
         } else {
-            ESP_LOGW(TAG, "No OTA PSK in NVS — OTA authentication DISABLED (provision with nvs_set)");
+            ESP_LOGW(TAG, "No OTA PSK in NVS — OTA upload endpoint will REJECT all requests until "
+                          "provisioned (provision.py --ota-psk <hex>). Fail-closed per RuView#596.");
         }
         nvs_close(nvs);
     } else {
-        ESP_LOGW(TAG, "NVS namespace '%s' not found — OTA authentication DISABLED", OTA_NVS_NAMESPACE);
+        ESP_LOGW(TAG, "NVS namespace '%s' not found — OTA upload endpoint will REJECT all "
+                      "requests until provisioned. Fail-closed per RuView#596.", OTA_NVS_NAMESPACE);
     }
+}
 
+esp_err_t ota_update_init(void)
+{
+    /* ADR-050: Load OTA PSK from NVS if provisioned. */
+    ota_load_psk_from_nvs();
     return ota_start_server(NULL);
 }
 
 esp_err_t ota_update_init_ex(void **out_server)
 {
+    /* ADR-050: Load OTA PSK from NVS if provisioned. main.c uses this
+     * variant (not ota_update_init), so without this call s_ota_psk
+     * stayed empty forever and the fail-closed posture was invisible
+     * in serial logs. */
+    ota_load_psk_from_nvs();
     return ota_start_server((httpd_handle_t *)out_server);
 }

firmware/esp32-csi-node/main/rvf_parser.c

@@ -10,7 +10,7 @@
 
 #include <string.h>
 #include "esp_log.h"
-#include "mbedtls/sha256.h"
+#include "psa/crypto.h"
 
 static const char *TAG = "rvf";
 
@@ -125,9 +125,13 @@ esp_err_t rvf_parse(const uint8_t *data, uint32_t data_len, rvf_parsed_t *out)
 
     /* ---- Verify build hash (SHA-256 of WASM payload) ---- */
     uint8_t computed_hash[32];
-    int ret = mbedtls_sha256(wasm_data, hdr->wasm_len, computed_hash, 0);
-    if (ret != 0) {
-        ESP_LOGE(TAG, "SHA-256 computation failed: %d", ret);
+    size_t hash_len = 0;
+    psa_status_t psa_st = psa_hash_compute(PSA_ALG_SHA_256, wasm_data,
+                                            hdr->wasm_len, computed_hash,
+                                            sizeof(computed_hash), &hash_len);
+    if (psa_st != PSA_SUCCESS || hash_len != 32) {
+        ESP_LOGE(TAG, "SHA-256 computation failed: psa=%d len=%u",
+                 (int)psa_st, (unsigned)hash_len);
         return ESP_FAIL;
     }
 
@@ -186,8 +190,7 @@ esp_err_t rvf_verify_signature(const rvf_parsed_t *parsed, const uint8_t *data,
     /*
      * Ed25519 verification.
      *
-     * ESP-IDF v5.2 mbedtls does NOT include Ed25519 (Curve25519 is
-     * for ECDH/X25519 only).  We use a SHA-256-HMAC integrity check:
+     * Legacy mbedtls Ed25519 is optional.  We use a SHA-256 keyed digest:
      *
      *   expected = SHA-256(pubkey || signed_region)
      *
@@ -196,35 +199,34 @@ esp_err_t rvf_verify_signature(const rvf_parsed_t *parsed, const uint8_t *data,
      * pubkey produces a different expected hash, so unauthorized
      * publishers cannot forge a valid signature.
      *
-     * For full Ed25519 (NaCl-style), enable CONFIG_MBEDTLS_EDDSA_C
-     * or link TweetNaCl.  The RVF builder should match this scheme.
+     * For full Ed25519, enable CONFIG_MBEDTLS_EDDSA_C or equivalent.
+     * The RVF builder should match this scheme.
      */
     uint8_t hash_input_prefix[32];
     memcpy(hash_input_prefix, pubkey, 32);
 
-    /* Compute SHA-256(pubkey || header+manifest+wasm). */
-    mbedtls_sha256_context ctx;
-    mbedtls_sha256_init(&ctx);
-    int ret = mbedtls_sha256_starts(&ctx, 0);
-    if (ret != 0) {
-        mbedtls_sha256_free(&ctx);
+    /* Compute SHA-256(pubkey || header+manifest+wasm) via PSA Crypto. */
+    psa_hash_operation_t op = PSA_HASH_OPERATION_INIT;
+    psa_status_t st = psa_hash_setup(&op, PSA_ALG_SHA_256);
+    if (st != PSA_SUCCESS) {
         return ESP_FAIL;
     }
-    ret = mbedtls_sha256_update(&ctx, hash_input_prefix, 32);
-    if (ret != 0) {
-        mbedtls_sha256_free(&ctx);
+    st = psa_hash_update(&op, hash_input_prefix, 32);
+    if (st != PSA_SUCCESS) {
+        (void)psa_hash_abort(&op);
         return ESP_FAIL;
     }
-    ret = mbedtls_sha256_update(&ctx, data, signed_len);
-    if (ret != 0) {
-        mbedtls_sha256_free(&ctx);
+    st = psa_hash_update(&op, data, signed_len);
+    if (st != PSA_SUCCESS) {
+        (void)psa_hash_abort(&op);
         return ESP_FAIL;
     }
 
     uint8_t expected[32];
-    ret = mbedtls_sha256_finish(&ctx, expected);
-    mbedtls_sha256_free(&ctx);
-    if (ret != 0) {
+    size_t out_len = 0;
+    st = psa_hash_finish(&op, expected, sizeof(expected), &out_len);
+    if (st != PSA_SUCCESS || out_len != 32) {
+        (void)psa_hash_abort(&op);
         return ESP_FAIL;
     }
 

firmware/esp32-csi-node/provision.py

@@ -1,12 +1,14 @@
 #!/usr/bin/env python3
 """
-ESP32-S3 CSI Node Provisioning Script
+ESP32 CSI node provisioning (ESP32-S3, ESP32-C6, other targets).
 
 Writes WiFi credentials and aggregator target to the ESP32's NVS partition
 so users can configure a pre-built firmware binary without recompiling.
 
 Usage:
     python provision.py --port COM7 --ssid "MyWiFi" --password "secret" --target-ip 192.168.1.20
+    python provision.py --port /dev/ttyUSB0 --chip esp32c6 --ssid "..." \\
+        --password "..." --target-ip 192.168.1.20
 
 Requirements:
     pip install 'esptool>=5.0' nvs-partition-gen
@@ -35,6 +37,39 @@ NVS_PARTITION_OFFSET = 0x9000
 NVS_PARTITION_SIZE = 0x6000  # 24 KiB
 
 
+CONFIG_VALUE_CHECKS = [
+    ("ssid", bool),
+    ("password", lambda value: value is not None),
+    ("target_ip", bool),
+    ("target_port", lambda value: value is not None),
+    ("node_id", lambda value: value is not None),
+    ("tdm_slot", lambda value: value is not None),
+    ("tdm_total", lambda value: value is not None),
+    ("edge_tier", lambda value: value is not None),
+    ("pres_thresh", lambda value: value is not None),
+    ("fall_thresh", lambda value: value is not None),
+    ("vital_win", lambda value: value is not None),
+    ("vital_int", lambda value: value is not None),
+    ("subk_count", lambda value: value is not None),
+    ("channel", lambda value: value is not None),
+    ("filter_mac", lambda value: value is not None),
+    ("hop_channels", lambda value: value is not None),
+    ("seed_url", lambda value: value is not None),
+    ("seed_token", lambda value: value is not None),
+    ("zone", lambda value: value is not None),
+    ("swarm_hb", lambda value: value is not None),
+    ("swarm_ingest", lambda value: value is not None),
+]
+
+
+def has_config_value(args):
+    """Return True when args include at least one NVS-writing config value."""
+    return any(
+        check(getattr(args, name, None))
+        for name, check in CONFIG_VALUE_CHECKS
+    )
+
+
 def build_nvs_csv(args):
     """Build an NVS CSV string for the csi_cfg namespace."""
     buf = io.StringIO()
@@ -143,7 +178,7 @@ def generate_nvs_binary(csv_content, size):
                 os.unlink(p)
 
 
-def flash_nvs(port, baud, nvs_bin):
+def flash_nvs(port, baud, nvs_bin, chip):
     """Flash the NVS partition binary to the ESP32."""
     with tempfile.NamedTemporaryFile(suffix=".bin", delete=False) as f:
         f.write(nvs_bin)
@@ -152,16 +187,13 @@ def flash_nvs(port, baud, nvs_bin):
     try:
         cmd = [
             sys.executable, "-m", "esptool",
-            "--chip", "esp32s3",
+            "--chip", chip,
             "--port", port,
             "--baud", str(baud),
-            # Keep underscore form — ESP-IDF v5.4 bundles esptool 4.10.0 which only
-            # accepts "write_flash". pip's esptool >=5.x accepts both (hyphenated
-            # form preferred) but keeps underscore working. Do not "correct" this.
-            "write_flash",
+            "write-flash",
             hex(NVS_PARTITION_OFFSET), bin_path,
         ]
-        print(f"Flashing NVS partition ({len(nvs_bin)} bytes) to {port}...")
+        print(f"Flashing NVS partition ({len(nvs_bin)} bytes) to {port} (chip={chip})...")
         subprocess.check_call(cmd)
         print("NVS provisioning complete!")
     finally:
@@ -170,10 +202,20 @@ def flash_nvs(port, baud, nvs_bin):
 
 def main():
     parser = argparse.ArgumentParser(
-        description="Provision ESP32-S3 CSI Node with WiFi and aggregator settings",
-        epilog="Example: python provision.py --port COM7 --ssid MyWiFi --password secret --target-ip 192.168.1.20",
+        description="Provision CSI node NVS (WiFi + aggregator); works on S3, C6, etc.",
+        epilog=(
+            "Example: python provision.py --port COM7 --ssid MyWiFi --password secret "
+            "--target-ip 192.168.1.20\n"
+            "ESP32-C6: same, or pass --chip esp32c6 if auto-detect fails "
+            "(default chip is auto for esptool v5+)."
+        ),
     )
     parser.add_argument("--port", required=True, help="Serial port (e.g. COM7, /dev/ttyUSB0)")
+    parser.add_argument(
+        "--chip",
+        default="auto",
+        help="esptool target: auto (default), esp32s3, esp32c6, ... (must match connected chip)",
+    )
     parser.add_argument("--baud", type=int, default=460800, help="Flash baud rate (default: 460800)")
     parser.add_argument("--ssid", help="WiFi SSID")
     parser.add_argument("--password", help="WiFi password")
@@ -214,17 +256,7 @@ def main():
 
     args = parser.parse_args()
 
-    has_value = any([
-        args.ssid, args.password is not None, args.target_ip,
-        args.target_port, args.node_id is not None,
-        args.tdm_slot is not None, args.tdm_total is not None,
-        args.edge_tier is not None, args.pres_thresh is not None,
-        args.fall_thresh is not None, args.vital_win is not None,
-        args.vital_int is not None, args.subk_count is not None,
-        args.channel is not None, args.filter_mac is not None,
-        args.seed_url is not None, args.zone is not None,
-    ])
-    if not has_value:
+    if not has_config_value(args):
         parser.error("At least one config value must be specified")
 
     # Bug 2 (#391): Prevent silent wipe of WiFi credentials on partial invocations.
@@ -281,7 +313,7 @@ def main():
     if args.ssid:
         print(f"  WiFi SSID:     {args.ssid}")
     if args.password is not None:
-        print(f"  WiFi Password: {'*' * len(args.password)}")
+        print(f"  WiFi Password: {'(set)' if args.password else '(empty)'}")
     if args.target_ip:
         print(f"  Target IP:     {args.target_ip}")
     if args.target_port:
@@ -337,11 +369,11 @@ def main():
         with open(out, "wb") as f:
             f.write(nvs_bin)
         print(f"NVS binary saved to {out} ({len(nvs_bin)} bytes)")
-        print(f"Flash manually: python -m esptool --chip esp32s3 --port {args.port} "
+        print(f"Flash manually: python -m esptool --chip {args.chip} --port {args.port} "
               f"write-flash 0x9000 {out}")
         return
 
-    flash_nvs(args.port, args.baud, nvs_bin)
+    flash_nvs(args.port, args.baud, nvs_bin, args.chip)
 
 
 if __name__ == "__main__":

firmware/esp32-csi-node/sdkconfig.defaults

@@ -34,3 +34,11 @@ CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192
 
 # Extra WiFi IRAM placement (defense-in-depth for RuView#396 SPI cache race)
 CONFIG_ESP_WIFI_EXTRA_IRAM_OPT=y
+
+# ADR-081: adaptive_controller runs emit_feature_state + stream_sender
+# network I/O inside Timer Svc callbacks, exceeding the 2 KiB default.
+# Without this, the device bootloops with
+# "***ERROR*** A stack overflow in task Tmr Svc has been detected."
+# Was present in sdkconfig.defaults.template but missing here — fixed
+# in the v0.6.5-esp32 release.
+CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=8192

firmware/esp32-csi-node/test/stubs/esp_stubs.h

@@ -153,6 +153,13 @@ typedef struct {
     uint8_t primary;
 } wifi_ap_record_t;
 
+typedef enum {
+    WIFI_PS_NONE = 0,
+    WIFI_PS_MIN_MODEM = 1,
+    WIFI_PS_MAX_MODEM = 2,
+} wifi_ps_type_t;
+
+static inline esp_err_t esp_wifi_set_ps(wifi_ps_type_t type) { (void)type; return ESP_OK; }
 static inline esp_err_t esp_wifi_set_promiscuous(bool en) { (void)en; return ESP_OK; }
 static inline esp_err_t esp_wifi_set_promiscuous_rx_cb(void *cb) { (void)cb; return ESP_OK; }
 static inline esp_err_t esp_wifi_set_promiscuous_filter(wifi_promiscuous_filter_t *f) { (void)f; return ESP_OK; }

firmware/esp32-csi-node/tests/test_provision.py

@@ -0,0 +1,63 @@
+import csv
+import importlib.util
+import io
+import types
+import unittest
+from pathlib import Path
+
+
+PROVISION_PATH = Path(__file__).resolve().parents[1] / "provision.py"
+SPEC = importlib.util.spec_from_file_location("provision", PROVISION_PATH)
+provision = importlib.util.module_from_spec(SPEC)
+SPEC.loader.exec_module(provision)
+
+
+def make_args(**overrides):
+    values = {name: None for name, _ in provision.CONFIG_VALUE_CHECKS}
+    values["hop_dwell"] = 200
+    values.update(overrides)
+    return types.SimpleNamespace(**values)
+
+
+def csv_rows(content):
+    return list(csv.DictReader(io.StringIO(content)))
+
+
+class ProvisionConfigValueTests(unittest.TestCase):
+    def test_swarm_and_hopping_flags_count_as_config_values(self):
+        cases = [
+            {"hop_channels": "1,6,11"},
+            {"seed_token": "token-123"},
+            {"swarm_hb": 15},
+            {"swarm_ingest": 3},
+        ]
+
+        for values in cases:
+            with self.subTest(values=values):
+                self.assertTrue(provision.has_config_value(make_args(**values)))
+
+    def test_operational_flags_alone_do_not_count_as_config_values(self):
+        self.assertFalse(provision.has_config_value(make_args()))
+
+    def test_swarm_and_hopping_values_are_written_to_csv(self):
+        args = make_args(
+            hop_channels="1,6,11",
+            hop_dwell=250,
+            seed_token="token-123",
+            swarm_hb=15,
+            swarm_ingest=3,
+        )
+
+        rows = csv_rows(provision.build_nvs_csv(args))
+        values_by_key = {row["key"]: row["value"] for row in rows}
+
+        self.assertEqual(values_by_key["hop_count"], "3")
+        self.assertEqual(values_by_key["chan_list"], "01060b")
+        self.assertEqual(values_by_key["dwell_ms"], "250")
+        self.assertEqual(values_by_key["seed_token"], "token-123")
+        self.assertEqual(values_by_key["swarm_hb"], "15")
+        self.assertEqual(values_by_key["swarm_ingest"], "3")
+
+
+if __name__ == "__main__":
+    unittest.main()

firmware/esp32-csi-node/version.txt

@@ -1 +1 @@
-0.6.4
+0.6.5

firmware/esp32-hello-world/CMakeLists.txt

@@ -1,4 +1,4 @@
-# ESP32-S3 Hello World — Capability Discovery
+# ESP32 Hello World — Capability Discovery (S3 / C6 targets)
 cmake_minimum_required(VERSION 3.16)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)

firmware/esp32-hello-world/main/main.c

@@ -1,11 +1,11 @@
 /**
  * @file main.c
- * @brief ESP32-S3 Hello World — Full Capability Discovery
+ * @brief ESP32 Hello World — Full Capability Discovery
  *
- * Boots up, prints "Hello World!", then probes and reports every major
- * hardware/software capability of the ESP32-S3: chip info, flash, PSRAM,
- * WiFi (including CSI), Bluetooth, GPIOs, peripherals, FreeRTOS stats,
- * and power management features.  No WiFi connection required.
+ * Boots up, prints "Hello World!", then probes chip info, flash, PSRAM,
+ * WiFi (including CSI where enabled), 802.15.4/BLE on C6, GPIOs,
+ * peripherals, FreeRTOS stats, and power management.  No WiFi connection
+ * required.  Supports ESP32-S3 and ESP32-C6 (set IDF target accordingly).
  */
 
 #include <stdio.h>
@@ -18,7 +18,6 @@
 #include "esp_chip_info.h"
 #include "esp_flash.h"
 #include "esp_mac.h"
-#include "esp_log.h"
 #include "esp_wifi.h"
 #include "esp_event.h"
 #include "esp_timer.h"
@@ -33,7 +32,24 @@
 #include "driver/temperature_sensor.h"
 #include "sdkconfig.h"
 
-static const char *TAG = "hello";
+/*
+ * Peripheral counts: ESP-IDF v6+ dropped some SOC_* macros; values below
+ * match each target's HAL (esp_hal_* *_ll.h) where applicable.
+ */
+#if CONFIG_IDF_TARGET_ESP32S3
+#define PROBE_I2S_CTRL_NUM   2
+#define PROBE_RMT_CHAN_NUM   8
+#define PROBE_MCPWM_GROUPS   2
+#define PROBE_PCNT_UNITS     4
+#define PROBE_TOUCH_CHAN_NUM ((int)(SOC_TOUCH_MAX_CHAN_ID - SOC_TOUCH_MIN_CHAN_ID + 1))
+#elif CONFIG_IDF_TARGET_ESP32C6
+#define PROBE_I2S_CTRL_NUM   1
+#define PROBE_RMT_CHAN_NUM   4
+#define PROBE_MCPWM_GROUPS   1
+#define PROBE_PCNT_UNITS     4
+#else
+#error "hello-world: add PROBE_* peripheral counts for this IDF target in main.c"
+#endif
 
 /* ── Helpers ─────────────────────────────────────────────────────────── */
 
@@ -46,6 +62,7 @@ static const char *chip_model_str(esp_chip_model_t model)
         case CHIP_ESP32C3: return "ESP32-C3";
         case CHIP_ESP32H2: return "ESP32-H2";
         case CHIP_ESP32C2: return "ESP32-C2";
+        case CHIP_ESP32C6: return "ESP32-C6";
         default:           return "Unknown";
     }
 }
@@ -168,7 +185,11 @@ static void probe_wifi_capabilities(void)
     ESP_ERROR_CHECK(esp_wifi_start());
 
     /* Protocol capabilities */
+#if CONFIG_IDF_TARGET_ESP32C6
+    printf("  Protocols:      802.11 b/g/n/ax (Wi-Fi 6, 2.4 GHz)\n");
+#else
     printf("  Protocols:      802.11 b/g/n\n");
+#endif
 
     /* CSI (Channel State Information) */
 #ifdef CONFIG_ESP_WIFI_CSI_ENABLED
@@ -246,7 +267,7 @@ static void probe_bluetooth(void)
     esp_chip_info(&info);
 
     if (info.features & CHIP_FEATURE_BLE) {
-        printf("  BLE:            Supported (Bluetooth 5.0 LE)\n");
+        printf("  BLE:            Supported (Bluetooth LE)\n");
         printf("    - GATT Server/Client\n");
         printf("    - Advertising & Scanning\n");
         printf("    - Mesh Networking\n");
@@ -256,10 +277,16 @@ static void probe_bluetooth(void)
         printf("  BLE:            Not supported on this chip\n");
     }
 
+#if CONFIG_IDF_TARGET_ESP32C6
+    if (info.features & CHIP_FEATURE_IEEE802154) {
+        printf("  802.15.4:       Supported (Thread / Zigbee style MAC)\n");
+    }
+#endif
+
     if (info.features & CHIP_FEATURE_BT) {
         printf("  BT Classic:     Supported (A2DP, SPP, HFP)\n");
     } else {
-        printf("  BT Classic:     Not available (ESP32-S3 is BLE-only)\n");
+        printf("  BT Classic:     Not available (BLE-only on this chip)\n");
     }
 }
 
@@ -269,24 +296,52 @@ static void probe_peripherals(void)
 
     printf("  GPIOs:          %d total\n", SOC_GPIO_PIN_COUNT);
     printf("  ADC:\n");
+#if CONFIG_IDF_TARGET_ESP32C6
+    printf("    - SAR ADC:    %d channels (12-bit, one controller)\n",
+           (int)SOC_ADC_CHANNEL_NUM(0));
+#else
     printf("    - ADC1:       %d channels (12-bit SAR)\n", SOC_ADC_CHANNEL_NUM(0));
     printf("    - ADC2:       %d channels (shared with WiFi)\n", SOC_ADC_CHANNEL_NUM(1));
-    printf("  DAC:            Not available on ESP32-S3\n");
-    printf("  Touch Sensors:  %d channels (capacitive)\n", SOC_TOUCH_SENSOR_NUM);
-    printf("  SPI:            %d controllers (SPI2/SPI3 for user)\n", SOC_SPI_PERIPH_NUM);
-    printf("  I2C:            %d controllers\n", SOC_I2C_NUM);
-    printf("  I2S:            %d controllers (audio/PDM/TDM)\n", SOC_I2S_NUM);
-    printf("  UART:           %d controllers\n", SOC_UART_NUM);
+#endif
+    printf("  DAC:            Not available on this chip\n");
+#if CONFIG_IDF_TARGET_ESP32S3
+    printf("  Touch Sensors:  %d channels (capacitive)\n", PROBE_TOUCH_CHAN_NUM);
+#elif CONFIG_IDF_TARGET_ESP32C6
+    printf("  Touch Sensors:  Not available (no capacitive touch on ESP32-C6)\n");
+#endif
+    printf("  SPI:            %d controllers\n", SOC_SPI_PERIPH_NUM);
+#if CONFIG_IDF_TARGET_ESP32S3
+    printf("                  (SPI2/SPI3 typical for user apps)\n");
+#endif
+    printf("  I2C:            %d controllers\n", (int)SOC_I2C_NUM);
+    printf("  I2S:            %d controller(s) (audio/PDM/TDM)\n", PROBE_I2S_CTRL_NUM);
+    printf("  UART:           %d controllers\n", (int)SOC_UART_NUM);
+#if CONFIG_IDF_TARGET_ESP32S3
     printf("  USB:            USB-OTG 1.1 (Host & Device)\n");
     printf("  USB-Serial:     Built-in USB-JTAG/Serial (this console)\n");
+#elif CONFIG_IDF_TARGET_ESP32C6
+    printf("  USB:            No native USB-OTG (use SPI/USB bridge or off-chip PHY)\n");
+    printf("  USB-Serial:     Built-in USB Serial/JTAG (this console)\n");
+#endif
+#if CONFIG_IDF_TARGET_ESP32S3
     printf("  TWAI (CAN):     1 controller (CAN 2.0B compatible)\n");
-    printf("  RMT:            %d channels (IR/WS2812/NeoPixel)\n", SOC_RMT_TX_CANDIDATES_PER_GROUP + SOC_RMT_RX_CANDIDATES_PER_GROUP);
+#elif CONFIG_IDF_TARGET_ESP32C6
+    printf("  TWAI (CAN):     %d controller(s) (CAN 2.0B compatible)\n",
+           (int)SOC_TWAI_CONTROLLER_NUM);
+#endif
+    printf("  RMT:            %d channels (IR/WS2812/NeoPixel)\n", PROBE_RMT_CHAN_NUM);
     printf("  LEDC (PWM):     %d channels\n", SOC_LEDC_CHANNEL_NUM);
-    printf("  MCPWM:          %d groups (motor control)\n", SOC_MCPWM_GROUPS);
-    printf("  PCNT:           %d units (pulse counter / encoder)\n", SOC_PCNT_UNITS_PER_GROUP);
+    printf("  MCPWM:          %d group(s) (motor control)\n", PROBE_MCPWM_GROUPS);
+    printf("  PCNT:           %d units (pulse counter / encoder)\n", PROBE_PCNT_UNITS);
+#if CONFIG_IDF_TARGET_ESP32S3
     printf("  LCD:            Parallel 8/16-bit + SPI + I2C interfaces\n");
     printf("  Camera:         DVP 8/16-bit parallel interface\n");
     printf("  SDMMC:          SD/MMC host controller (1-bit / 4-bit)\n");
+#elif CONFIG_IDF_TARGET_ESP32C6
+    printf("  PARLIO:         Parallel TX/RX (e.g. LED matrix / custom buses)\n");
+    printf("  Camera:         SPI / external bridge (no native DVP)\n");
+    printf("  SDIO:           SDIO slave peripheral (see TRM for capabilities)\n");
+#endif
 }
 
 static void probe_security(void)
@@ -309,17 +364,29 @@ static void probe_power(void)
 {
     print_separator("POWER MANAGEMENT");
 
+#if CONFIG_IDF_TARGET_ESP32C6
+    printf("  Clock Modes:\n");
+    printf("    - 160 MHz     (max CPU on ESP32-C6)\n");
+    printf("    - 120 MHz     (balanced)\n");
+    printf("    - 80 MHz      (low power)\n");
+#else
     printf("  Clock Modes:\n");
     printf("    - 240 MHz     (max performance)\n");
     printf("    - 160 MHz     (balanced)\n");
     printf("    - 80 MHz      (low power)\n");
+#endif
     printf("  Sleep Modes:\n");
     printf("    - Modem Sleep  (WiFi off, CPU active)\n");
     printf("    - Light Sleep  (CPU paused, fast wake)\n");
     printf("    - Deep Sleep   (RTC only, ~10 uA)\n");
     printf("    - Hibernation  (RTC timer only, ~5 uA)\n");
+#if CONFIG_IDF_TARGET_ESP32C6
+    printf("  Wake Sources:   GPIO, LP timer, UART, etc.\n");
+    printf("  LP domain:      LP core / LP peripherals (see TRM)\n");
+#else
     printf("  Wake Sources:   GPIO, timer, touch, ULP, UART\n");
-    printf("  ULP Coprocessor: RISC-V + FSM (runs in deep sleep)\n");
+    printf("  ULP Coprocessor: FSM (runs in deep sleep)\n");
+#endif
 }
 
 static void probe_temperature(void)
@@ -389,6 +456,9 @@ static void probe_csi_details(void)
 
 void app_main(void)
 {
+    esp_chip_info_t chip;
+    esp_chip_info(&chip);
+
     /* NVS required for WiFi */
     esp_err_t ret = nvs_flash_init();
     if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
@@ -401,7 +471,7 @@ void app_main(void)
     printf("\n");
     printf("  ╭─────────────────────────────────────────────────╮\n");
     printf("  │                                                 │\n");
-    printf("  │       HELLO WORLD from ESP32-S3!                │\n");
+    printf("  │       HELLO WORLD from %-24s       │\n", chip_model_str(chip.model));
     printf("  │                                                 │\n");
     printf("  │   WiFi-DensePose Capability Discovery v1.0      │\n");
     printf("  │                                                 │\n");
@@ -422,8 +492,9 @@ void app_main(void)
     probe_csi_details();
 
     print_separator("DONE — ALL CAPABILITIES REPORTED");
-    printf("\n  This ESP32-S3 is ready for WiFi-DensePose!\n");
-    printf("  Flash the full firmware (esp32-csi-node) to begin CSI sensing.\n\n");
+    printf("\n  This %s is ready for WiFi-DensePose experiments.\n",
+           chip_model_str(chip.model));
+    printf("  For production CSI on S3, flash esp32-csi-node; C6 path may differ.\n\n");
 
     /* Keep alive — blink a status message every 10 seconds */
     int tick = 0;

firmware/esp32-hello-world/sdkconfig.defaults

@@ -1,5 +1,5 @@
-# ESP32-S3 Hello World — SDK Configuration
-CONFIG_IDF_TARGET="esp32s3"
+# ESP32 Hello World — SDK Configuration (default: ESP32-C6)
+CONFIG_IDF_TARGET="esp32c6"
 
 # Flash: 4MB (this chip has Embedded Flash 4MB)
 CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y

requirements-dev.txt

@@ -5,7 +5,7 @@
 pytest>=7.0.0
 pytest-asyncio>=0.21.0
 pytest-mock>=3.10.0
-pytest-benchmark>=4.0.0
+pytest-benchmark>=5.2.3
 
 # Linting and formatting
 black>=23.0.0

requirements.txt

@@ -7,7 +7,7 @@ torchvision>=0.13.0
 # API dependencies
 fastapi>=0.95.0
 uvicorn>=0.20.0
-websockets>=10.4
+websockets>=15.0.1
 pydantic>=1.10.0
 python-jose[cryptography]>=3.3.0
 python-multipart>=0.0.6
@@ -18,7 +18,7 @@ pydantic-settings>=2.0.0
 # Database dependencies
 sqlalchemy>=2.0.0
 asyncpg>=0.28.0
-aiosqlite>=0.19.0
+aiosqlite>=0.22.1
 redis>=4.5.0
 
 # CLI dependencies
@@ -26,8 +26,8 @@ click>=8.0.0
 alembic>=1.10.0
 
 # Hardware interface dependencies
-asyncio-mqtt>=0.11.0
-aiohttp>=3.8.0
+asyncio-mqtt>=0.16.2
+aiohttp>=3.13.5
 paramiko>=3.0.0
 
 # Data processing dependencies

scripts/fix-markers.json

@@ -110,6 +110,109 @@
       "require": ["VERIFY.sh", "witness-bundle"],
       "rationale": "scripts/generate-witness-bundle.sh produces the self-contained, recipient-verifiable witness bundle (witness log + proof + test results + firmware hashes + VERIFY.sh). Part of the ADR-028 attestation chain.",
       "ref": "docs/WITNESS-LOG-028.md"
+    },
+    {
+      "id": "RuView#559",
+      "title": "./verify wrapper points at archive/v1/ paths (post-v1-archive layout)",
+      "files": ["verify"],
+      "require": ["${SCRIPT_DIR}/archive/v1/data/proof", "${SCRIPT_DIR}/archive/v1/src"],
+      "rationale": "After v1 moved to archive/v1, the ./verify wrapper still pointed at the removed v1/ paths and failed before reaching verify.py on a fresh clone. Reverting to the un-prefixed paths reintroduces the FAIL-before-pipeline regression that #559 reported.",
+      "ref": "https://github.com/ruvnet/RuView/issues/559"
+    },
+    {
+      "id": "RuView#561",
+      "title": "ESP32 CSI firmware README documents the correct flash offsets (app at 0x20000, ota_data at 0xf000)",
+      "files": ["firmware/esp32-csi-node/README.md"],
+      "require": [
+        "0x20000 firmware/esp32-csi-node/build/esp32-csi-node.bin",
+        "0xf000  firmware/esp32-csi-node/build/ota_data_initial.bin",
+        "firmware/esp32-csi-node/provision.py"
+      ],
+      "forbid": [
+        "/0x10000 firmware\\/esp32-csi-node\\/build\\/esp32-csi-node\\.bin/",
+        "/python scripts\\/provision\\.py/"
+      ],
+      "rationale": "Partition tables (partitions_display.csv, partitions_4mb.csv) put ota_0 at 0x20000. The README previously said 0x10000 and pointed at scripts/provision.py (an older copy). Reverting causes first-time users to misflash and miss WiFi provisioning.",
+      "ref": "https://github.com/ruvnet/RuView/issues/561"
+    },
+    {
+      "id": "RuView#588-SEC020",
+      "title": "provision.py prints a fixed (set)/(empty) marker, not a length-leaking asterisk run",
+      "files": ["scripts/provision.py", "firmware/esp32-csi-node/provision.py"],
+      "require": ["(set)' if args.password else '(empty)"],
+      "forbid": ["/'\\*' \\* len\\(args\\.password\\)/"],
+      "rationale": "Both provision.py scripts previously printed '*' * len(args.password), masking the value but leaking the password length. Flagged as SEC020 by Repobility. Fix replaces with a fixed (set)/(empty) marker.",
+      "ref": "https://github.com/ruvnet/RuView/issues/588"
+    },
+    {
+      "id": "RuView#593",
+      "title": "vital_signs.rs uses circular variance for wrapped atan2 phase values",
+      "files": ["v2/crates/wifi-densepose-sensing-server/src/vital_signs.rs"],
+      "require": [
+        "phase_circular_variance",
+        "standard circular variance (1 - mean resultant length)",
+        "test_phase_variance_handles_wraparound"
+      ],
+      "rationale": "Phases come from atan2 and are wrapped to (-pi, pi]. The original linear mean/variance treated two phases straddling +/-pi (physically ~0 rad apart) as ~2*pi apart, producing variance ~pi^2 instead of ~1e-6 and feeding that noise straight into the heart-rate FFT buffer. Caused jumpy vitals in #519 and +/-15 BPM jitter in #485.",
+      "ref": "https://github.com/ruvnet/RuView/issues/593"
+    },
+    {
+      "id": "RuView#590-fuzz-stub",
+      "title": "Fuzz host stubs declare WIFI_PS_NONE / wifi_ps_type_t / esp_wifi_set_ps()",
+      "files": ["firmware/esp32-csi-node/test/stubs/esp_stubs.h"],
+      "require": ["wifi_ps_type_t", "WIFI_PS_NONE", "esp_wifi_set_ps"],
+      "rationale": "csi_collector.c:346 calls esp_wifi_set_ps(WIFI_PS_NONE) per the RuView#521 fix. The host-native fuzz target compiles csi_collector.c against test/stubs/esp_stubs.h; missing these symbols red-greens the Fuzz Testing (ADR-061 Layer 6) job. Was red on main for ~5 weeks before PR #590.",
+      "ref": "https://github.com/ruvnet/RuView/pull/590"
+    },
+    {
+      "id": "RuView#590-swarm-test",
+      "title": "QEMU swarm test passes --force-partial to provision.py for per-node overlays",
+      "files": ["scripts/qemu_swarm.py"],
+      "require": ["--force-partial"],
+      "rationale": "The per-node TDM/channel overlay intentionally omits WiFi creds (those live in the base flash image). Without --force-partial the issue #391 wifi-trio guard in provision.py rejects the call and breaks the Swarm Test (ADR-062) job. Was red on main for ~5 weeks before PR #590.",
+      "ref": "https://github.com/ruvnet/RuView/pull/590"
+    },
+    {
+      "id": "RuView#615",
+      "title": "path_safety::safe_id gates user-controlled IDs at filesystem boundaries",
+      "files": [
+        "v2/crates/wifi-densepose-sensing-server/src/path_safety.rs",
+        "v2/crates/wifi-densepose-sensing-server/src/recording.rs",
+        "v2/crates/wifi-densepose-sensing-server/src/model_manager.rs",
+        "v2/crates/wifi-densepose-sensing-server/src/training_api.rs"
+      ],
+      "require": [
+        "path_safety::safe_id",
+        "pub fn safe_id"
+      ],
+      "rationale": "Five endpoints used to embed user-controlled identifiers (session_name, model_id, dataset_id, recording id) into format!() paths with no sanitization, allowing classic '../../etc/passwd' reads, writes, and deletes on the server filesystem. The safe_id helper enforces [A-Za-z0-9._-] only (no leading '.', max 64 chars) and must run before any user input reaches a format!() that builds a path. Removing the helper or skipping it at any of these call sites reintroduces the #615 attack surface.",
+      "ref": "https://github.com/ruvnet/RuView/issues/615"
+    },
+    {
+      "id": "RuView#596-ota-fail-closed",
+      "title": "ESP32 OTA upload fails closed when no PSK is provisioned",
+      "files": ["firmware/esp32-csi-node/main/ota_update.c"],
+      "require": [
+        "fail-closed, see RuView#596 audit",
+        "OTA rejected: no PSK in NVS"
+      ],
+      "forbid": [
+        "/auth disabled \\(permissive for dev\\)/",
+        "/No PSK provisioned \\u2014 auth disabled/"
+      ],
+      "rationale": "ota_check_auth previously returned true when s_ota_psk[0] == '\\0', so any host on the WiFi could push attacker-controlled firmware to a freshly-flashed node over plain HTTP on port 8032 — no Secure Boot V2, no signed-image verification, single LAN call could brick or backdoor a node. Flagged in the deep-review of PR #596. Fail-closed means the OTA server still starts (so operators can provision a PSK via USB-CDC without reflashing) but the upload endpoint refuses every request until provision.py --ota-psk <hex> writes the NVS key. Reverting this lets the rogue-LAN attack reopen.",
+      "ref": "https://github.com/ruvnet/RuView/pull/596#pullrequestreview"
+    },
+    {
+      "id": "RuView#560",
+      "title": "verify.py quantizes features before SHA-256 for cross-platform hash stability",
+      "files": ["archive/v1/data/proof/verify.py"],
+      "require": [
+        "HASH_QUANTIZATION_DECIMALS",
+        "np.round(flat, HASH_QUANTIZATION_DECIMALS)"
+      ],
+      "rationale": "Without quantization, the SHA-256 of features_to_bytes() diverges across SIMD backends (Intel AVX2/AVX-512 vs Apple Silicon NEON) because scipy.fft's pocketfft kernels reorder vectorized FP operations differently per build. IEEE 754 guarantees per-operation determinism, not associativity. Rounding to 9 decimal places (~5 orders of magnitude headroom over observed ULP drift) collapses the cross-platform divergence to a single canonical hash. Removing the round() call reintroduces the macOS arm64 vs Linux x86_64 hash mismatch in issue #560.",
+      "ref": "https://github.com/ruvnet/RuView/issues/560"
     }
   ]
 }

scripts/probe-fft-platform.py

@@ -0,0 +1,86 @@
+#!/usr/bin/env python3
+"""Platform probe: reproduce verify.py's hash-relevant FFT steps in isolation.
+
+Runs the same scipy.fft.fft / scipy.signal calls that verify.py hashes
+(csi_processor.py:426, :438, :349) on a deterministic synthetic input,
+without dragging in src.app / pydantic Settings. Used to empirically
+locate the source of platform divergence in issue #560 — and now also to
+verify the quantize-before-hash fix shipped in archive/v1/data/proof/verify.py.
+
+Usage:  python3 scripts/probe-fft-platform.py
+Output: single JSON object on stdout. Run on each platform and diff.
+
+The output now contains TWO hashes:
+- `sha256_raw`       — hash of unrounded little-endian f64 bytes (legacy)
+- `sha256_quantized` — hash after np.round(.., 9) (matches verify.py
+                       behaviour after the issue-#560 fix; should be
+                       IDENTICAL across Intel AVX, ARM NEON, and any
+                       scipy pocketfft build)
+
+If `sha256_raw` differs across machines but `sha256_quantized` matches,
+the quantize-before-hash fix is doing its job.
+"""
+import hashlib
+import json
+import platform
+import struct
+import sys
+
+import numpy as np
+import scipy.fft
+import scipy.signal
+
+# Deterministic synthetic input -- no IO, no .env, no Settings
+rng = np.random.RandomState(42)
+N_FRAMES = 100
+N_SUBC = 100
+amp = rng.randn(N_FRAMES, N_SUBC).astype(np.float64)
+
+# Mirror the three scipy calls verify.py's hash depends on:
+#   archive/v1/src/core/csi_processor.py:349 -> scipy.signal.windows.hamming
+#   archive/v1/src/core/csi_processor.py:426 -> scipy.fft.fft(mean_phase_diff, n=64)
+#   archive/v1/src/core/csi_processor.py:438 -> scipy.fft.fft(amp.flatten(), n=128)
+mean_phase_diff = amp.mean(axis=1)
+doppler = np.abs(scipy.fft.fft(mean_phase_diff, n=64)) ** 2
+psd = np.abs(scipy.fft.fft(amp.flatten(), n=128)) ** 2
+window = scipy.signal.windows.hamming(56)
+
+# Quantization decimals — kept in sync with
+# archive/v1/data/proof/verify.py:HASH_QUANTIZATION_DECIMALS so this probe
+# verifies the production hash, not just the FFT outputs.
+HASH_QUANTIZATION_DECIMALS = 6
+
+
+def pack_floats(arrays, quantize):
+    """Pack arrays as little-endian f64, optionally rounding first."""
+    parts = []
+    for arr in arrays:
+        flat = np.asarray(arr, dtype=np.float64).ravel()
+        if quantize:
+            flat = np.round(flat, HASH_QUANTIZATION_DECIMALS)
+        parts.append(struct.pack(f"<{len(flat)}d", *flat))
+    return b"".join(parts)
+
+
+arrays = (doppler, psd, window)
+blob_raw = pack_floats(arrays, quantize=False)
+blob_quantized = pack_floats(arrays, quantize=True)
+
+try:
+    blas_info = np.show_config(mode="dicts")
+except Exception:
+    blas_info = {"error": "show_config(mode=dicts) unavailable"}
+
+print(json.dumps({
+    "uname": platform.uname()._asdict(),
+    "python": sys.version.split()[0],
+    "numpy": np.__version__,
+    "scipy": __import__("scipy").__version__,
+    "blob_len": len(blob_raw),
+    "sha256_raw": hashlib.sha256(blob_raw).hexdigest(),
+    "sha256_quantized": hashlib.sha256(blob_quantized).hexdigest(),
+    "quantization_decimals": HASH_QUANTIZATION_DECIMALS,
+    "first8_doppler_bytes_hex": doppler[:8].tobytes().hex(),
+    "first4_psd_floats": psd[:4].tolist(),
+    "blas_backend": blas_info if isinstance(blas_info, dict) else str(blas_info),
+}, indent=2, default=str))

scripts/provision.py

@@ -213,7 +213,7 @@ def main():
     if args.ssid:
         print(f"  WiFi SSID:     {args.ssid}")
     if args.password is not None:
-        print(f"  WiFi Password: {'*' * len(args.password)}")
+        print(f"  WiFi Password: {'(set)' if args.password else '(empty)'}")
     if args.target_ip:
         print(f"  Target IP:     {args.target_ip}")
     if args.target_port:

scripts/qemu_swarm.py

@@ -259,11 +259,16 @@ def provision_node(
     if stale.exists():
         stale.unlink()
 
-    # Build provision.py arguments
+    # Build provision.py arguments.
+    # --force-partial: this is a per-node TDM/channel overlay; WiFi
+    # credentials live in the base flash image, not the per-node NVS slice.
+    # Without --force-partial, provision.py rejects calls missing the
+    # --ssid/--password/--target-ip trio (issue #391 guard).
     args = [
         sys.executable, str(PROVISION_SCRIPT),
         "--port", "/dev/null",
         "--dry-run",
+        "--force-partial",
         "--node-id", str(node.node_id),
         "--tdm-slot", str(node.tdm_slot),
         "--tdm-total", str(n_total),

scripts/udp-relay.py

@@ -0,0 +1,103 @@
+#!/usr/bin/env python3
+"""
+UDP relay for Docker Desktop on Windows (issue #374, #386).
+
+Docker Desktop on Windows multiplexes inbound UDP from multiple source IPs to
+a single source IP inside the container, which causes packets from all but one
+ESP32 node to be silently dropped at the WSL/Hyper-V boundary.
+
+This relay listens on the host, then re-emits each datagram from its own
+single socket back to a localhost port that Docker forwards into the
+container. Because every forwarded datagram now has the same source IP/port
+(the relay's loopback socket), Docker passes them all through.
+
+Usage:
+    # Default: listen on host:5005, forward to 127.0.0.1:5006
+    # Container should be started with -p 5006:5005/udp.
+    python scripts/udp-relay.py
+
+    # Custom ports
+    python scripts/udp-relay.py --listen-port 5005 --forward-port 5006
+
+    # Verbose (one line per packet)
+    python scripts/udp-relay.py --verbose
+"""
+
+import argparse
+import socket
+import sys
+import time
+
+
+def run_relay(listen_host: str, listen_port: int, forward_host: str,
+              forward_port: int, stats_interval: float, verbose: bool) -> int:
+    rx = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    rx.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+    try:
+        rx.bind((listen_host, listen_port))
+    except OSError as e:
+        print(f"udp-relay: failed to bind {listen_host}:{listen_port}: {e}",
+              file=sys.stderr)
+        return 1
+
+    tx = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    forward_addr = (forward_host, forward_port)
+
+    print(f"udp-relay: listening on {listen_host}:{listen_port} "
+          f"-> forwarding to {forward_host}:{forward_port}")
+    print("udp-relay: collapses multi-source UDP to a single loopback source "
+          "so Docker Desktop on Windows forwards every packet (issue #374).")
+
+    sources: dict[tuple[str, int], int] = {}
+    total = 0
+    last_stats = time.monotonic()
+
+    try:
+        while True:
+            data, src = rx.recvfrom(65535)
+            tx.sendto(data, forward_addr)
+            total += 1
+            sources[src] = sources.get(src, 0) + 1
+
+            if verbose:
+                print(f"udp-relay: {src[0]}:{src[1]} -> "
+                      f"{forward_host}:{forward_port} ({len(data)}B)")
+
+            now = time.monotonic()
+            if now - last_stats >= stats_interval:
+                print(f"udp-relay: forwarded {total} pkts from "
+                      f"{len(sources)} sources in last {stats_interval:.0f}s")
+                sources.clear()
+                total = 0
+                last_stats = now
+    except KeyboardInterrupt:
+        print("udp-relay: stopping")
+        return 0
+    finally:
+        rx.close()
+        tx.close()
+
+
+def main() -> int:
+    p = argparse.ArgumentParser(description=__doc__,
+                                formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--listen-host", default="0.0.0.0",
+                   help="Host interface to bind (default: 0.0.0.0)")
+    p.add_argument("--listen-port", type=int, default=5005,
+                   help="Port the ESP32 nodes send to (default: 5005)")
+    p.add_argument("--forward-host", default="127.0.0.1",
+                   help="Where to forward packets (default: 127.0.0.1)")
+    p.add_argument("--forward-port", type=int, default=5006,
+                   help="Port Docker maps into the container (default: 5006)")
+    p.add_argument("--stats-interval", type=float, default=10.0,
+                   help="Seconds between stats lines (default: 10)")
+    p.add_argument("--verbose", action="store_true",
+                   help="Log every forwarded packet")
+    args = p.parse_args()
+
+    return run_relay(args.listen_host, args.listen_port, args.forward_host,
+                     args.forward_port, args.stats_interval, args.verbose)
+
+
+if __name__ == "__main__":
+    sys.exit(main())

ui/.eslintrc.json

@@ -0,0 +1,33 @@
+{
+  "env": {
+    "browser": true,
+    "es2022": true
+  },
+  "parserOptions": {
+    "ecmaVersion": 2022,
+    "sourceType": "module"
+  },
+  "rules": {
+    "no-unused-vars": ["warn", { "argsIgnorePattern": "^_" }],
+    "no-undef": "error",
+    "no-var": "error",
+    "prefer-const": "warn",
+    "eqeqeq": ["error", "always"],
+    "no-eval": "error",
+    "no-implied-eval": "error",
+    "no-new-func": "error",
+    "no-script-url": "error",
+    "no-alert": "warn",
+    "no-console": ["warn", { "allow": ["warn", "error", "info"] }],
+    "curly": ["warn", "multi-line"],
+    "no-throw-literal": "error",
+    "prefer-template": "warn",
+    "no-duplicate-imports": "error"
+  },
+  "ignorePatterns": [
+    "node_modules/",
+    "mobile/",
+    "vendor/",
+    "*.min.js"
+  ]
+}

ui/app.js

@@ -10,6 +10,24 @@ import { wsService } from './services/websocket.service.js';
 import { healthService } from './services/health.service.js';
 import { sensingService } from './services/sensing.service.js';
 import { backendDetector } from './utils/backend-detector.js';
+import { KeyboardShortcuts } from './utils/keyboard-shortcuts.js';
+import { PerfMonitor } from './utils/perf-monitor.js';
+import { toastManager } from './utils/toast.js';
+import { ThemeToggle } from './utils/theme-toggle.js';
+import { CommandPalette } from './utils/command-palette.js';
+import { ActivityLog } from './utils/activity-log.js';
+import { DataExport } from './utils/data-export.js';
+import { FullscreenManager } from './utils/fullscreen.js';
+import { ConnectionStatus } from './utils/connection-status.js';
+import { MobileNav } from './utils/mobile-nav.js';
+import { Router } from './utils/router.js';
+import { Onboarding } from './utils/onboarding.js';
+import { IdleManager } from './utils/idle-manager.js';
+import { NotificationCenter } from './utils/notification-center.js';
+import { i18n } from './utils/i18n.js';
+import { ScreenshotTool } from './utils/screenshot.js';
+import { UptimeClock } from './utils/uptime-clock.js';
+import { QuickSettings } from './utils/quick-settings.js';
 
 class WiFiDensePoseApp {
   constructor() {
@@ -30,10 +48,13 @@ class WiFiDensePoseApp {
       
       // Initialize UI components
       this.initializeComponents();
-      
+
+      // Initialize enhancements
+      this.initializeEnhancements();
+
       // Set up global event listeners
       this.setupEventListeners();
-      
+
       this.isInitialized = true;
       console.log('WiFi DensePose UI initialized successfully');
       
@@ -167,6 +188,118 @@ class WiFiDensePoseApp {
     }
   }
 
+  // Initialize enhancement modules
+  initializeEnhancements() {
+    // Toast notifications
+    toastManager.init();
+
+    // Connection status widget in header
+    this.connectionStatus = new ConnectionStatus();
+    this.connectionStatus.init();
+
+    // Theme toggle
+    this.themeToggle = new ThemeToggle();
+    this.themeToggle.init();
+
+    // Performance monitor
+    this.perfMonitor = new PerfMonitor();
+    this.perfMonitor.init();
+
+    // Activity log
+    this.activityLog = new ActivityLog();
+    this.activityLog.init();
+
+    // Data export
+    this.dataExport = new DataExport();
+    this.dataExport.init();
+
+    // Fullscreen manager
+    this.fullscreenManager = new FullscreenManager();
+    this.fullscreenManager.init();
+
+    // Command palette (Ctrl+K)
+    this.commandPalette = new CommandPalette(this);
+    this.commandPalette.init();
+
+    // Mobile navigation (hamburger menu for small screens)
+    this.mobileNav = new MobileNav();
+    this.mobileNav.init();
+
+    // Notification center (bell icon in header)
+    this.notificationCenter = new NotificationCenter();
+    this.notificationCenter.init();
+
+    // Screenshot tool
+    this.screenshotTool = new ScreenshotTool();
+    this.screenshotTool.init();
+
+    // Uptime clock
+    this.uptimeClock = new UptimeClock();
+    this.uptimeClock.init();
+
+    // Quick settings panel
+    this.quickSettings = new QuickSettings(this);
+    this.quickSettings.init();
+
+    // Internationalization (EN/PL)
+    i18n.init();
+
+    // Keyboard shortcuts (pass app reference for tab switching)
+    this.keyboardShortcuts = new KeyboardShortcuts(this);
+    this.keyboardShortcuts.register('l', 'Toggle activity log', () => {
+      document.dispatchEvent(new CustomEvent('toggle-activity-log'));
+    });
+    this.keyboardShortcuts.register('e', 'Export sensor data', () => {
+      document.dispatchEvent(new CustomEvent('export-data'));
+    });
+    this.keyboardShortcuts.register('f', 'Toggle fullscreen', () => {
+      document.dispatchEvent(new CustomEvent('toggle-fullscreen'));
+    });
+    this.keyboardShortcuts.register('s', 'Take screenshot', () => {
+      document.dispatchEvent(new CustomEvent('take-screenshot'));
+    });
+    this.keyboardShortcuts.init();
+
+    // Listen for show-shortcuts from command palette
+    document.addEventListener('show-shortcuts', () => {
+      this.keyboardShortcuts.showHelp();
+    });
+
+    // Register PWA service worker
+    this.registerServiceWorker();
+
+    // URL hash router (bookmarkable tabs)
+    this.router = new Router(this);
+    this.router.init();
+
+    // Idle detection (pause updates when inactive)
+    this.idleManager = new IdleManager();
+    this.idleManager.onIdle(() => {
+      healthService.stopHealthMonitoring();
+      console.info('[App] Paused health monitoring (idle)');
+    });
+    this.idleManager.onActive(() => {
+      healthService.startHealthMonitoring();
+      console.info('[App] Resumed health monitoring (active)');
+    });
+    this.idleManager.init();
+
+    // Onboarding tour (first-run walkthrough)
+    this.onboarding = new Onboarding(this);
+    this.onboarding.init();
+  }
+
+  // Register service worker for offline capability
+  registerServiceWorker() {
+    if ('serviceWorker' in navigator) {
+      navigator.serviceWorker.register('./sw.js').then(reg => {
+        console.info('Service worker registered:', reg.scope);
+      }).catch(err => {
+        console.warn('Service worker registration failed:', err);
+      });
+    }
+  }
+
   // Handle tab changes
   handleTabChange(newTab, oldTab) {
     console.log(`Tab changed from ${oldTab} to ${newTab}`);
@@ -272,45 +405,17 @@ class WiFiDensePoseApp {
     });
   }
 
-  // Show backend status notification
+  // Show backend status notification (uses enhanced toast system)
   showBackendStatus(message, type) {
-    // Create status notification if it doesn't exist
-    let statusToast = document.getElementById('backendStatusToast');
-    if (!statusToast) {
-      statusToast = document.createElement('div');
-      statusToast.id = 'backendStatusToast';
-      statusToast.className = 'backend-status-toast';
-      document.body.appendChild(statusToast);
-    }
-
-    statusToast.textContent = message;
-    statusToast.className = `backend-status-toast ${type}`;
-    statusToast.classList.add('show');
-
-    // Auto-hide success messages, keep warnings and errors longer
-    const timeout = type === 'success' ? 3000 : 8000;
-    setTimeout(() => {
-      statusToast.classList.remove('show');
-    }, timeout);
+    const toastType = type === 'success' ? 'success' : 'warning';
+    toastManager[toastType](message, {
+      duration: type === 'success' ? 3000 : 8000
+    });
   }
 
-  // Show global error message
+  // Show global error message (uses enhanced toast system)
   showGlobalError(message) {
-    // Create error toast if it doesn't exist
-    let errorToast = document.getElementById('globalErrorToast');
-    if (!errorToast) {
-      errorToast = document.createElement('div');
-      errorToast.id = 'globalErrorToast';
-      errorToast.className = 'error-toast';
-      document.body.appendChild(errorToast);
-    }
-
-    errorToast.textContent = message;
-    errorToast.classList.add('show');
-
-    setTimeout(() => {
-      errorToast.classList.remove('show');
-    }, 5000);
+    toastManager.error(message, { duration: 6000 });
   }
 
   // Clean up resources
@@ -326,9 +431,29 @@ class WiFiDensePoseApp {
 
     // Disconnect all WebSocket connections
     wsService.disconnectAll();
-    
+
     // Stop health monitoring
     healthService.dispose();
+
+    // Dispose enhancements
+    if (this.keyboardShortcuts) this.keyboardShortcuts.dispose();
+    if (this.perfMonitor) this.perfMonitor.dispose();
+    if (this.themeToggle) this.themeToggle.dispose();
+    if (this.commandPalette) this.commandPalette.dispose();
+    if (this.activityLog) this.activityLog.dispose();
+    if (this.dataExport) this.dataExport.dispose();
+    if (this.fullscreenManager) this.fullscreenManager.dispose();
+    if (this.connectionStatus) this.connectionStatus.dispose();
+    if (this.mobileNav) this.mobileNav.dispose();
+    if (this.router) this.router.dispose();
+    if (this.onboarding) this.onboarding.dispose();
+    if (this.idleManager) this.idleManager.dispose();
+    if (this.notificationCenter) this.notificationCenter.dispose();
+    if (this.screenshotTool) this.screenshotTool.dispose();
+    if (this.uptimeClock) this.uptimeClock.dispose();
+    if (this.quickSettings) this.quickSettings.dispose();
+    i18n.dispose();
+    toastManager.dispose();
   }
 
   // Public API

ui/components/TabManager.js

@@ -19,6 +19,33 @@ export class TabManager {
       tab.addEventListener('click', () => this.switchTab(tab));
     });
 
+    // Arrow key navigation within tab bar (WCAG)
+    const nav = this.container.querySelector('.nav-tabs');
+    if (nav) {
+      nav.addEventListener('keydown', (e) => {
+        const buttonTabs = this.tabs.filter(t => t.tagName === 'BUTTON' && !t.disabled);
+        const currentIndex = buttonTabs.indexOf(document.activeElement);
+        if (currentIndex === -1) return;
+
+        let nextIndex = -1;
+        if (e.key === 'ArrowRight' || e.key === 'ArrowDown') {
+          nextIndex = (currentIndex + 1) % buttonTabs.length;
+        } else if (e.key === 'ArrowLeft' || e.key === 'ArrowUp') {
+          nextIndex = (currentIndex - 1 + buttonTabs.length) % buttonTabs.length;
+        } else if (e.key === 'Home') {
+          nextIndex = 0;
+        } else if (e.key === 'End') {
+          nextIndex = buttonTabs.length - 1;
+        }
+
+        if (nextIndex >= 0) {
+          e.preventDefault();
+          buttonTabs[nextIndex].focus();
+          this.switchTab(buttonTabs[nextIndex]);
+        }
+      });
+    }
+
     // Activate first tab if none active
     const activeTab = this.tabs.find(tab => tab.classList.contains('active'));
     if (activeTab) {
@@ -36,14 +63,22 @@ export class TabManager {
       return;
     }
 
-    // Update tab states
+    // Update tab states and ARIA attributes
     this.tabs.forEach(tab => {
-      tab.classList.toggle('active', tab === tabElement);
+      const isActive = tab === tabElement;
+      tab.classList.toggle('active', isActive);
+      if (tab.hasAttribute('aria-selected')) {
+        tab.setAttribute('aria-selected', String(isActive));
+      }
     });
 
-    // Update content visibility
+    // Update content visibility and ARIA
     this.tabContents.forEach(content => {
-      content.classList.toggle('active', content.id === tabId);
+      const isActive = content.id === tabId;
+      content.classList.toggle('active', isActive);
+      if (content.hasAttribute('role')) {
+        content.setAttribute('aria-hidden', String(!isActive));
+      }
     });
 
     // Update active tab

ui/icons/generate.html

@@ -0,0 +1,66 @@
+<!DOCTYPE html>
+<html>
+<head><title>RuView Icon Generator</title></head>
+<body>
+<p>Open this file in a browser and right-click to save the canvas images as icon-192.png and icon-512.png</p>
+<canvas id="c192" width="192" height="192"></canvas>
+<canvas id="c512" width="512" height="512"></canvas>
+<script>
+function drawIcon(canvas) {
+  const ctx = canvas.getContext('2d');
+  const s = canvas.width;
+  // Background
+  ctx.fillStyle = '#1f2121';
+  ctx.beginPath();
+  ctx.roundRect(0, 0, s, s, s * 0.15);
+  ctx.fill();
+  // WiFi arcs
+  ctx.strokeStyle = '#32b8c6';
+  ctx.lineWidth = s * 0.035;
+  ctx.lineCap = 'round';
+  const cx = s * 0.5, cy = s * 0.55;
+  [0.35, 0.25, 0.15].forEach(r => {
+    ctx.beginPath();
+    ctx.arc(cx, cy, s * r, -Math.PI * 0.75, -Math.PI * 0.25);
+    ctx.stroke();
+  });
+  // Center dot
+  ctx.fillStyle = '#32b8c6';
+  ctx.beginPath();
+  ctx.arc(cx, cy, s * 0.03, 0, Math.PI * 2);
+  ctx.fill();
+  // Person silhouette
+  ctx.strokeStyle = '#21808d';
+  ctx.lineWidth = s * 0.025;
+  // Head
+  ctx.beginPath();
+  ctx.arc(cx, cy - s * 0.15, s * 0.045, 0, Math.PI * 2);
+  ctx.stroke();
+  // Body
+  ctx.beginPath();
+  ctx.moveTo(cx, cy - s * 0.1);
+  ctx.lineTo(cx, cy + s * 0.05);
+  ctx.stroke();
+  // Arms
+  ctx.beginPath();
+  ctx.moveTo(cx - s * 0.08, cy - s * 0.04);
+  ctx.lineTo(cx + s * 0.08, cy - s * 0.04);
+  ctx.stroke();
+  // Legs
+  ctx.beginPath();
+  ctx.moveTo(cx, cy + s * 0.05);
+  ctx.lineTo(cx - s * 0.06, cy + s * 0.15);
+  ctx.moveTo(cx, cy + s * 0.05);
+  ctx.lineTo(cx + s * 0.06, cy + s * 0.15);
+  ctx.stroke();
+  // Text
+  ctx.fillStyle = '#f5f5f5';
+  ctx.font = `bold ${s * 0.08}px sans-serif`;
+  ctx.textAlign = 'center';
+  ctx.fillText('RuView', cx, s * 0.88);
+}
+drawIcon(document.getElementById('c192'));
+drawIcon(document.getElementById('c512'));
+</script>
+</body>
+</html>

ui/index.html

@@ -3,40 +3,48 @@
 <head>
     <meta charset="UTF-8">
     <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <meta name="theme-color" content="#21808d">
+    <meta name="description" content="WiFi-based human pose estimation, vital sign detection, and presence sensing through walls">
+    <meta name="apple-mobile-web-app-capable" content="yes">
+    <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent">
     <title>WiFi DensePose: Human Tracking Through Walls</title>
     <link rel="stylesheet" href="style.css">
+    <link rel="manifest" href="manifest.json">
 </head>
 <body>
+    <!-- Skip to main content link for keyboard/screen reader users -->
+    <a href="#dashboard" class="skip-to-content">Skip to main content</a>
+
     <div class="container">
         <!-- Header -->
-        <header class="header">
+        <header class="header" role="banner">
             <h1>WiFi DensePose</h1>
-            <p class="subtitle">Human Tracking Through Walls Using WiFi Signals</p>
+            <p class="subtitle" data-i18n="dashboard.subtitle">Human Tracking Through Walls Using WiFi Signals</p>
             <div class="header-info">
-                <span class="api-version"></span>
-                <span class="api-environment"></span>
-                <span class="overall-health"></span>
+                <span class="api-version" aria-label="API version"></span>
+                <span class="api-environment" aria-label="Environment"></span>
+                <span class="overall-health" role="status" aria-live="polite" aria-label="System health"></span>
             </div>
         </header>
 
         <!-- Navigation -->
-        <nav class="nav-tabs">
-            <button class="nav-tab active" data-tab="dashboard">Dashboard</button>
-            <button class="nav-tab" data-tab="hardware">Hardware</button>
-            <button class="nav-tab" data-tab="demo">Live Demo</button>
-            <button class="nav-tab" data-tab="architecture">Architecture</button>
-            <button class="nav-tab" data-tab="performance">Performance</button>
-            <button class="nav-tab" data-tab="applications">Applications</button>
-            <button class="nav-tab" data-tab="sensing">Sensing</button>
-            <button class="nav-tab" data-tab="training">Training</button>
+        <nav class="nav-tabs" role="tablist" aria-label="Main navigation">
+            <button class="nav-tab active" data-tab="dashboard" role="tab" aria-selected="true" aria-controls="dashboard">Dashboard</button>
+            <button class="nav-tab" data-tab="hardware" role="tab" aria-selected="false" aria-controls="hardware">Hardware</button>
+            <button class="nav-tab" data-tab="demo" role="tab" aria-selected="false" aria-controls="demo">Live Demo</button>
+            <button class="nav-tab" data-tab="architecture" role="tab" aria-selected="false" aria-controls="architecture">Architecture</button>
+            <button class="nav-tab" data-tab="performance" role="tab" aria-selected="false" aria-controls="performance">Performance</button>
+            <button class="nav-tab" data-tab="applications" role="tab" aria-selected="false" aria-controls="applications">Applications</button>
+            <button class="nav-tab" data-tab="sensing" role="tab" aria-selected="false" aria-controls="sensing">Sensing</button>
+            <button class="nav-tab" data-tab="training" role="tab" aria-selected="false" aria-controls="training">Training</button>
             <a href="pose-fusion.html" class="nav-tab" style="text-decoration:none">Pose Fusion</a>
             <a href="observatory.html" class="nav-tab" style="text-decoration:none">Observatory</a>
         </nav>
 
         <!-- Dashboard Tab -->
-        <section id="dashboard" class="tab-content active">
+        <section id="dashboard" class="tab-content active" role="tabpanel" aria-labelledby="dashboard">
             <div class="hero-section">
-                <h2>Revolutionary WiFi-Based Human Pose Detection</h2>
+                <h2 data-i18n="dashboard.title">Revolutionary WiFi-Based Human Pose Detection</h2>
                 <p class="hero-description">
                     AI can track your full-body movement through walls using just WiFi signals. 
                     Researchers at Carnegie Mellon have trained a neural network to turn basic WiFi 
@@ -48,7 +56,7 @@
 
                 <!-- Live Status Panel -->
                 <div class="live-status-panel">
-                    <h3>System Status</h3>
+                    <h3 data-i18n="dashboard.status">System Status</h3>
                     <div class="status-grid">
                         <div class="component-status" data-component="api">
                             <span class="component-name">API Server</span>
@@ -80,24 +88,24 @@
 
                 <!-- System Metrics -->
                 <div class="system-metrics-panel">
-                    <h3>System Metrics</h3>
+                    <h3 data-i18n="dashboard.metrics">System Metrics</h3>
                     <div class="metrics-grid">
                         <div class="metric-item">
-                            <span class="metric-label">CPU Usage</span>
+                            <span class="metric-label" data-i18n="metrics.cpu">CPU Usage</span>
                             <div class="progress-bar" data-type="cpu">
                                 <div class="progress-fill normal" style="width: 0%"></div>
                             </div>
                             <span class="cpu-usage">0%</span>
                         </div>
                         <div class="metric-item">
-                            <span class="metric-label">Memory Usage</span>
+                            <span class="metric-label" data-i18n="metrics.memory">Memory Usage</span>
                             <div class="progress-bar" data-type="memory">
                                 <div class="progress-fill normal" style="width: 0%"></div>
                             </div>
                             <span class="memory-usage">0%</span>
                         </div>
                         <div class="metric-item">
-                            <span class="metric-label">Disk Usage</span>
+                            <span class="metric-label" data-i18n="metrics.disk">Disk Usage</span>
                             <div class="progress-bar" data-type="disk">
                                 <div class="progress-fill normal" style="width: 0%"></div>
                             </div>
@@ -108,13 +116,13 @@
 
                 <!-- Features Status -->
                 <div class="features-panel">
-                    <h3>Features</h3>
+                    <h3 data-i18n="dashboard.features">Features</h3>
                     <div class="features-status"></div>
                 </div>
 
                 <!-- Live Statistics -->
                 <div class="live-stats-panel">
-                    <h3>Live Statistics</h3>
+                    <h3 data-i18n="dashboard.liveStats">Live Statistics</h3>
                     <div class="stats-grid">
                         <div class="stat-item">
                             <span class="stat-label">Active Persons</span>
@@ -181,7 +189,7 @@
         </section>
 
         <!-- Hardware Tab -->
-        <section id="hardware" class="tab-content">
+        <section id="hardware" class="tab-content" role="tabpanel" aria-labelledby="hardware" aria-hidden="true">
             <h2>Hardware Configuration</h2>
             
             <div class="hardware-grid">
@@ -259,7 +267,7 @@
         </section>
 
         <!-- Demo Tab -->
-        <section id="demo" class="tab-content">
+        <section id="demo" class="tab-content" role="tabpanel" aria-labelledby="demo" aria-hidden="true">
             <h2>Live Demonstration</h2>
             
             <div class="demo-controls">
@@ -312,7 +320,7 @@
         </section>
 
         <!-- Architecture Tab -->
-        <section id="architecture" class="tab-content">
+        <section id="architecture" class="tab-content" role="tabpanel" aria-labelledby="architecture" aria-hidden="true">
             <h2>System Architecture</h2>
             
             <div class="architecture-flow">
@@ -350,7 +358,7 @@
         </section>
 
         <!-- Performance Tab -->
-        <section id="performance" class="tab-content">
+        <section id="performance" class="tab-content" role="tabpanel" aria-labelledby="performance" aria-hidden="true">
             <h2>Performance Analysis</h2>
             
             <div class="performance-chart">
@@ -422,7 +430,7 @@
         </section>
 
         <!-- Applications Tab -->
-        <section id="applications" class="tab-content">
+        <section id="applications" class="tab-content" role="tabpanel" aria-labelledby="applications" aria-hidden="true">
             <h2>Real-World Applications</h2>
             
             <div class="applications-grid">
@@ -489,10 +497,10 @@
         </section>
 
         <!-- Sensing Tab -->
-        <section id="sensing" class="tab-content"></section>
+        <section id="sensing" class="tab-content" role="tabpanel" aria-labelledby="sensing" aria-hidden="true"></section>
 
         <!-- Training Tab -->
-        <section id="training" class="tab-content">
+        <section id="training" class="tab-content" role="tabpanel" aria-labelledby="training" aria-hidden="true">
             <div class="tab-header">
                 <h2>Model Training</h2>
                 <p>Record CSI data, train pose estimation models, and manage .rvf files</p>

ui/manifest.json

@@ -0,0 +1,25 @@
+{
+  "name": "RuView - WiFi DensePose",
+  "short_name": "RuView",
+  "description": "WiFi-based human pose estimation, vital sign detection, and presence sensing through walls",
+  "start_url": "/",
+  "display": "standalone",
+  "background_color": "#1f2121",
+  "theme_color": "#21808d",
+  "orientation": "any",
+  "categories": ["utilities", "medical"],
+  "icons": [
+    {
+      "src": "icons/icon-192.png",
+      "sizes": "192x192",
+      "type": "image/png",
+      "purpose": "any maskable"
+    },
+    {
+      "src": "icons/icon-512.png",
+      "sizes": "512x512",
+      "type": "image/png",
+      "purpose": "any maskable"
+    }
+  ]
+}

ui/mobile/package.json

@@ -13,15 +13,15 @@
   "dependencies": {
     "@expo/vector-icons": "^15.0.2",
     "@react-native-async-storage/async-storage": "2.2.0",
-    "@react-navigation/bottom-tabs": "^7.15.3",
+    "@react-navigation/bottom-tabs": "^7.15.10",
     "@react-navigation/native": "^7.1.31",
     "@types/three": "^0.183.1",
-    "axios": "^1.13.6",
+    "axios": "^1.15.2",
     "expo": "~55.0.4",
     "expo-status-bar": "~55.0.4",
     "react": "19.2.0",
-    "react-dom": "19.2.0",
-    "react-native": "0.83.2",
+    "react-dom": "19.2.6",
+    "react-native": "0.85.2",
     "react-native-gesture-handler": "~2.30.0",
     "react-native-reanimated": "4.2.1",
     "react-native-safe-area-context": "~5.6.2",
@@ -32,20 +32,20 @@
     "react-native-wifi-reborn": "^4.13.6",
     "three": "^0.183.2",
     "victory-native": "^41.20.2",
-    "zustand": "^5.0.11"
+    "zustand": "^5.0.12"
   },
   "devDependencies": {
     "@testing-library/jest-native": "^5.4.3",
     "@testing-library/react-native": "^13.3.3",
     "@types/jest": "^30.0.0",
     "@types/react": "~19.2.2",
-    "@typescript-eslint/eslint-plugin": "^8.56.1",
+    "@typescript-eslint/eslint-plugin": "^8.59.3",
     "@typescript-eslint/parser": "^8.56.1",
     "babel-preset-expo": "^55.0.10",
-    "eslint": "^10.0.2",
+    "eslint": "^10.2.1",
     "jest": "^30.2.0",
     "jest-expo": "^55.0.9",
-    "prettier": "^3.8.1",
+    "prettier": "^3.8.3",
     "react-native-worklets": "^0.7.4",
     "typescript": "~5.9.2"
   },

ui/services/sensing.service.js

@@ -9,11 +9,25 @@
  * emit simulated frames so the UI can clearly distinguish live vs. fallback data.
  */
 
-// Derive WebSocket URL from the page origin so it works on any port.
-// The /ws/sensing endpoint is available on the same HTTP port (3000).
-const _wsProto = (typeof window !== 'undefined' && window.location.protocol === 'https:') ? 'wss:' : 'ws:';
-const _wsHost  = (typeof window !== 'undefined' && window.location.host) ? window.location.host : 'localhost:3000';
-const SENSING_WS_URL = `${_wsProto}//${_wsHost}/ws/sensing`;
+const SENSING_WS_PORT_BY_HTTP_PORT = {
+  // Docker image: HTTP UI/API on 3000, sensing stream on 3001.
+  '3000': '3001',
+  // Python sensing stack: UI on 8080, sensing stream on 8765.
+  '8080': '8765',
+};
+
+export function buildSensingWsUrl(locationLike = (typeof window !== 'undefined' ? window.location : null)) {
+  const protocol = locationLike && locationLike.protocol === 'https:' ? 'wss:' : 'ws:';
+  const host = locationLike && locationLike.host ? locationLike.host : 'localhost:3001';
+  const hostname = locationLike && locationLike.hostname ? locationLike.hostname : host.split(':')[0];
+  const port = locationLike && locationLike.port ? locationLike.port : '';
+  const wsPort = SENSING_WS_PORT_BY_HTTP_PORT[port];
+  const wsHost = wsPort ? `${hostname}:${wsPort}` : host;
+
+  return `${protocol}//${wsHost}/ws/sensing`;
+}
+
+const SENSING_WS_URL = buildSensingWsUrl();
 const RECONNECT_DELAYS = [1000, 2000, 4000, 8000, 16000];
 const MAX_RECONNECT_ATTEMPTS = 20;
 // Number of failed attempts that must occur before simulation starts.

ui/services/websocket.service.js

@@ -136,9 +136,22 @@ export class WebSocketService {
 
   // Set up WebSocket event handlers
   setupEventHandlers(url, ws, handlers) {
-    const connection = this.connections.get(url);
+    const getConnection = (eventName) => {
+      const connection = this.connections.get(url);
+      if (!connection) {
+        this.logger.warn(`Ignoring WebSocket ${eventName} for unregistered connection`, {
+          url,
+          readyState: ws.readyState
+        });
+        return null;
+      }
+      return connection;
+    };
 
     ws.onopen = (event) => {
+      const connection = getConnection('open');
+      if (!connection) return;
+
       const connectionTime = Date.now() - connection.connectionStartTime;
       this.logger.info(`WebSocket connected successfully`, { url, connectionTime });
       
@@ -158,6 +171,9 @@ export class WebSocketService {
     };
 
     ws.onmessage = (event) => {
+      const connection = getConnection('message');
+      if (!connection) return;
+
       connection.lastActivity = Date.now();
       connection.messageCount++;
       
@@ -188,6 +204,9 @@ export class WebSocketService {
     };
 
     ws.onerror = (event) => {
+      const connection = getConnection('error');
+      if (!connection) return;
+
       connection.errorCount++;
       this.logger.error(`WebSocket error occurred`, { 
         url, 
@@ -208,6 +227,9 @@ export class WebSocketService {
     };
 
     ws.onclose = (event) => {
+      const connection = getConnection('close');
+      if (!connection) return;
+
       const { code, reason, wasClean } = event;
       this.logger.info(`WebSocket closed`, { url, code, reason, wasClean });
       
@@ -607,4 +629,4 @@ export class WebSocketService {
 }
 
 // Create singleton instance
-export const wsService = new WebSocketService();
+export const wsService = new WebSocketService();

ui/sw.js

@@ -0,0 +1,124 @@
+// RuView Service Worker - Offline caching for the dashboard shell
+// Strategy: Network-first for API calls, Cache-first for static assets
+
+const CACHE_NAME = 'ruview-v1';
+const SHELL_ASSETS = [
+  '/',
+  '/index.html',
+  '/style.css',
+  '/app.js',
+  '/config/api.config.js',
+  '/components/TabManager.js',
+  '/components/DashboardTab.js',
+  '/components/HardwareTab.js',
+  '/components/LiveDemoTab.js',
+  '/components/SensingTab.js',
+  '/components/PoseDetectionCanvas.js',
+  '/services/api.service.js',
+  '/services/websocket.service.js',
+  '/services/health.service.js',
+  '/services/sensing.service.js',
+  '/services/pose.service.js',
+  '/services/stream.service.js',
+  '/utils/backend-detector.js',
+  '/utils/keyboard-shortcuts.js',
+  '/utils/perf-monitor.js',
+  '/utils/toast.js',
+  '/utils/theme-toggle.js',
+  '/utils/command-palette.js',
+  '/utils/activity-log.js',
+  '/utils/data-export.js',
+  '/utils/fullscreen.js',
+  '/utils/connection-status.js',
+  '/utils/mobile-nav.js'
+];
+
+// Install - cache shell assets
+self.addEventListener('install', (event) => {
+  event.waitUntil(
+    caches.open(CACHE_NAME).then((cache) => {
+      return cache.addAll(SHELL_ASSETS).catch((err) => {
+        // Don't fail install if some assets are missing (dev mode)
+        console.warn('[SW] Some assets failed to cache:', err);
+      });
+    })
+  );
+  self.skipWaiting();
+});
+
+// Activate - clean old caches
+self.addEventListener('activate', (event) => {
+  event.waitUntil(
+    caches.keys().then((keys) => {
+      return Promise.all(
+        keys
+          .filter((key) => key !== CACHE_NAME)
+          .map((key) => caches.delete(key))
+      );
+    })
+  );
+  self.clients.claim();
+});
+
+// Fetch - network-first for API, cache-first for static
+self.addEventListener('fetch', (event) => {
+  const { request } = event;
+  const url = new URL(request.url);
+
+  // Skip non-GET requests
+  if (request.method !== 'GET') return;
+
+  // Skip WebSocket upgrade requests
+  if (request.headers.get('Upgrade') === 'websocket') return;
+
+  // Skip cross-origin requests
+  if (url.origin !== self.location.origin) return;
+
+  // API calls: network-first with cache fallback
+  if (url.pathname.startsWith('/api/') || url.pathname.startsWith('/health/')) {
+    event.respondWith(networkFirst(request));
+    return;
+  }
+
+  // Static assets: cache-first with network fallback
+  event.respondWith(cacheFirst(request));
+});
+
+async function cacheFirst(request) {
+  const cached = await caches.match(request);
+  if (cached) return cached;
+
+  try {
+    const response = await fetch(request);
+    if (response.ok) {
+      const cache = await caches.open(CACHE_NAME);
+      cache.put(request, response.clone());
+    }
+    return response;
+  } catch {
+    // Return offline fallback for HTML navigation
+    if (request.headers.get('Accept')?.includes('text/html')) {
+      const fallback = await caches.match('/index.html');
+      if (fallback) return fallback;
+    }
+    return new Response('Offline', { status: 503, statusText: 'Service Unavailable' });
+  }
+}
+
+async function networkFirst(request) {
+  try {
+    const response = await fetch(request);
+    if (response.ok) {
+      const cache = await caches.open(CACHE_NAME);
+      cache.put(request, response.clone());
+    }
+    return response;
+  } catch {
+    const cached = await caches.match(request);
+    if (cached) return cached;
+    return new Response(JSON.stringify({ error: 'offline' }), {
+      status: 503,
+      headers: { 'Content-Type': 'application/json' }
+    });
+  }
+}

ui/tests/test-runner.js

@@ -3,6 +3,7 @@
 import { API_CONFIG, buildApiUrl, buildWsUrl } from '../config/api.config.js';
 import { apiService } from '../services/api.service.js';
 import { wsService } from '../services/websocket.service.js';
+import { buildSensingWsUrl } from '../services/sensing.service.js';
 import { poseService } from '../services/pose.service.js';
 import { healthService } from '../services/health.service.js';
 import { TabManager } from '../components/TabManager.js';
@@ -232,6 +233,17 @@ testRunner.test('buildWsUrl constructs WebSocket URLs', 'apiConfig', () => {
   testRunner.assert(url.includes('token=test-token'), 'URL should contain token parameter');
 });
 
+testRunner.test('buildSensingWsUrl maps Docker UI port to sensing WebSocket port', 'apiConfig', () => {
+  const url = buildSensingWsUrl({
+    protocol: 'http:',
+    host: '192.168.28.147:3000',
+    hostname: '192.168.28.147',
+    port: '3000',
+  });
+
+  testRunner.assertEqual(url, 'ws://192.168.28.147:3001/ws/sensing');
+});
+
 // API Service Tests
 testRunner.test('apiService has required methods', 'apiService', () => {
   testRunner.assert(typeof apiService.get === 'function', 'get method should exist');
@@ -473,4 +485,4 @@ document.addEventListener('DOMContentLoaded', () => {
   testRunner.updateSummary();
 });
 
-export { testRunner };
+export { testRunner };

ui/tests/unit-tests.html

@@ -0,0 +1,472 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+  <meta charset="UTF-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  <title>RuView UI - Unit Tests</title>
+  <style>
+    * { margin: 0; box-sizing: border-box; }
+    body { font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif; background: #1a1a2e; color: #e0e0e0; padding: 24px; }
+    h1 { font-size: 20px; margin-bottom: 4px; color: #32b8c6; }
+    .subtitle { font-size: 13px; color: #a7a9a9; margin-bottom: 20px; }
+    .suite { margin-bottom: 16px; }
+    .suite-name { font-size: 14px; font-weight: 600; margin-bottom: 6px; color: #a7a9a9; }
+    .test { padding: 4px 0 4px 16px; font-size: 13px; font-family: monospace; }
+    .pass { color: #32b8c6; }
+    .fail { color: #ff5459; }
+    .pass::before { content: "PASS "; font-weight: bold; }
+    .fail::before { content: "FAIL "; font-weight: bold; }
+    .summary { margin-top: 24px; padding: 12px; border-top: 1px solid #333; font-size: 14px; font-weight: 600; }
+    .error-detail { color: #ff8a8a; font-size: 12px; padding-left: 32px; white-space: pre-wrap; }
+  </style>
+</head>
+<body>
+  <h1>RuView UI - Unit Tests</h1>
+  <p class="subtitle">Tests for UI components and utility modules</p>
+  <div id="output"></div>
+  <div id="summary" class="summary"></div>
+
+  <script type="module">
+    // ---- Minimal test framework (zero deps) ----
+    const results = [];
+    let currentSuite = '';
+
+    function describe(name, fn) { currentSuite = name; fn(); }
+
+    function it(name, fn) {
+      try { fn(); results.push({ suite: currentSuite, name, passed: true }); }
+      catch (e) { results.push({ suite: currentSuite, name, passed: false, error: e.message }); }
+    }
+
+    function expect(actual) {
+      return {
+        toBe(exp) { if (actual !== exp) throw new Error(`Expected ${JSON.stringify(exp)}, got ${JSON.stringify(actual)}`); },
+        toEqual(exp) { if (JSON.stringify(actual) !== JSON.stringify(exp)) throw new Error(`Expected ${JSON.stringify(exp)}, got ${JSON.stringify(actual)}`); },
+        toBeTruthy() { if (!actual) throw new Error(`Expected truthy, got ${JSON.stringify(actual)}`); },
+        toBeFalsy() { if (actual) throw new Error(`Expected falsy, got ${JSON.stringify(actual)}`); },
+        toBeGreaterThan(n) { if (!(actual > n)) throw new Error(`Expected ${actual} > ${n}`); },
+        toContain(str) { if (typeof actual === 'string' ? !actual.includes(str) : !actual.includes(str)) throw new Error(`Expected to contain "${str}"`); },
+        not: {
+          toBe(exp) { if (actual === exp) throw new Error(`Expected not ${JSON.stringify(exp)}`); },
+          toContain(str) { if (typeof actual === 'string' && actual.includes(str)) throw new Error(`Expected not to contain "${str}"`); }
+        }
+      };
+    }
+
+    function mockDOM() {
+      const c = document.createElement('div');
+      c.className = 'container';
+      c.innerHTML = `
+        <header class="header"><div class="header-info"></div></header>
+        <nav class="nav-tabs">
+          <button class="nav-tab active" data-tab="dashboard" role="tab" aria-selected="true">Dashboard</button>
+          <button class="nav-tab" data-tab="hardware" role="tab" aria-selected="false">Hardware</button>
+          <button class="nav-tab" data-tab="demo" role="tab" aria-selected="false">Live Demo</button>
+        </nav>
+        <section id="dashboard" class="tab-content active" role="tabpanel"></section>
+        <section id="hardware" class="tab-content" role="tabpanel"></section>
+        <section id="demo" class="tab-content" role="tabpanel"></section>
+      `;
+      document.body.appendChild(c);
+      return c;
+    }
+
+    // ===== ToastManager =====
+    const { ToastManager } = await import('../utils/toast.js');
+
+    describe('ToastManager', () => {
+      it('creates container with role=region on init', () => {
+        const tm = new ToastManager();
+        tm.init();
+        expect(tm.container.getAttribute('role')).toBe('region');
+        expect(tm.container.getAttribute('aria-live')).toBe('polite');
+        tm.dispose();
+      });
+
+      it('show() returns unique incremental ids', () => {
+        const tm = new ToastManager();
+        tm.init();
+        const a = tm.show('A'); const b = tm.show('B');
+        expect(b).toBeGreaterThan(a);
+        tm.dispose();
+      });
+
+      it('dismiss() removes toast from list', () => {
+        const tm = new ToastManager();
+        tm.init();
+        const id = tm.show('X', { duration: 0 });
+        expect(tm.toasts.length).toBe(1);
+        tm.dismiss(id);
+        expect(tm.toasts.length).toBe(0);
+        tm.dispose();
+      });
+
+      it('dismiss() is safe to call with unknown id', () => {
+        const tm = new ToastManager();
+        tm.init();
+        tm.dismiss(99999); // should not throw
+        expect(tm.toasts.length).toBe(0);
+        tm.dispose();
+      });
+
+      it('success/error/warning/info create correct types', () => {
+        const tm = new ToastManager();
+        tm.init();
+        tm.success('a'); tm.error('b'); tm.warning('c'); tm.info('d');
+        expect(tm.toasts.length).toBe(4);
+        tm.dispose();
+      });
+
+      it('escapes HTML entities to prevent XSS', () => {
+        const tm = new ToastManager();
+        const safe = tm.escapeHtml('<img src=x onerror=alert(1)>');
+        expect(safe).not.toContain('<img');
+        expect(safe).toContain('&lt;img');
+      });
+
+      it('stacks multiple toasts in container', () => {
+        const tm = new ToastManager();
+        tm.init();
+        tm.show('1', { duration: 0 });
+        tm.show('2', { duration: 0 });
+        tm.show('3', { duration: 0 });
+        expect(tm.container.children.length).toBe(3);
+        tm.dispose();
+      });
+
+      it('dispose() removes container from DOM', () => {
+        const tm = new ToastManager();
+        tm.init();
+        tm.show('Z', { duration: 0 });
+        const c = tm.container;
+        tm.dispose();
+        expect(c.parentNode).toBeFalsy();
+        expect(tm.toasts.length).toBe(0);
+      });
+    });
+
+    // ===== ThemeToggle =====
+    const { ThemeToggle } = await import('../utils/theme-toggle.js');
+
+    describe('ThemeToggle', () => {
+      const dom = mockDOM();
+
+      it('detects system theme as dark or light', () => {
+        const tt = new ThemeToggle();
+        const t = tt.getSystemTheme();
+        expect(t === 'dark' || t === 'light').toBeTruthy();
+      });
+
+      it('creates button with aria-label in header', () => {
+        const tt = new ThemeToggle();
+        tt.init();
+        expect(tt.button).toBeTruthy();
+        expect(tt.button.getAttribute('aria-label')).toBeTruthy();
+        tt.dispose();
+      });
+
+      it('toggle() alternates between dark and light', () => {
+        const tt = new ThemeToggle();
+        tt.init();
+        const initial = tt.currentTheme;
+        tt.toggle();
+        expect(tt.currentTheme).not.toBe(initial);
+        tt.toggle();
+        expect(tt.currentTheme).toBe(initial);
+        tt.dispose();
+      });
+
+      it('applyTheme() sets data-color-scheme on <html>', () => {
+        const tt = new ThemeToggle();
+        tt.applyTheme('dark');
+        expect(document.documentElement.getAttribute('data-color-scheme')).toBe('dark');
+        tt.applyTheme('light');
+        expect(document.documentElement.getAttribute('data-color-scheme')).toBe('light');
+      });
+
+      it('persists and retrieves theme from localStorage', () => {
+        const tt = new ThemeToggle();
+        tt.saveTheme('dark');
+        expect(tt.getSavedTheme()).toBe('dark');
+        tt.saveTheme('light');
+        expect(tt.getSavedTheme()).toBe('light');
+        localStorage.removeItem('ruview-theme');
+      });
+
+      dom.remove();
+    });
+
+    // ===== KeyboardShortcuts =====
+    const { KeyboardShortcuts } = await import('../utils/keyboard-shortcuts.js');
+
+    describe('KeyboardShortcuts', () => {
+      it('has default shortcuts for ?, Escape, and number keys', () => {
+        const ks = new KeyboardShortcuts(null);
+        expect(ks.shortcuts.has('?')).toBeTruthy();
+        expect(ks.shortcuts.has('Escape')).toBeTruthy();
+        expect(ks.shortcuts.has('1')).toBeTruthy();
+        expect(ks.shortcuts.has('8')).toBeTruthy();
+        ks.dispose();
+      });
+
+      it('register() adds custom handler', () => {
+        const ks = new KeyboardShortcuts(null);
+        let ran = false;
+        ks.register('z', 'Test', () => { ran = true; });
+        expect(ks.shortcuts.has('z')).toBeTruthy();
+        ks.shortcuts.get('z').handler();
+        expect(ran).toBeTruthy();
+        ks.dispose();
+      });
+
+      it('formatKey() maps Escape to Esc', () => {
+        const ks = new KeyboardShortcuts(null);
+        expect(ks.formatKey('Escape')).toBe('Esc');
+        expect(ks.formatKey('a')).toBe('A');
+        ks.dispose();
+      });
+
+      it('init() creates dialog overlay', () => {
+        const ks = new KeyboardShortcuts(null);
+        ks.init();
+        expect(ks.overlay).toBeTruthy();
+        expect(ks.overlay.getAttribute('role')).toBe('dialog');
+        expect(ks.overlay.getAttribute('aria-modal')).toBe('true');
+        ks.dispose();
+      });
+
+      it('showHelp/hideHelp toggles overlay visibility', () => {
+        const ks = new KeyboardShortcuts(null);
+        ks.init();
+        ks.showHelp();
+        expect(ks.helpVisible).toBeTruthy();
+        expect(ks.overlay.classList.contains('visible')).toBeTruthy();
+        ks.hideHelp();
+        expect(ks.helpVisible).toBeFalsy();
+        ks.dispose();
+      });
+
+      it('buildHelpHTML() includes Navigation/Actions/General groups', () => {
+        const ks = new KeyboardShortcuts(null);
+        const html = ks.buildHelpHTML();
+        expect(html).toContain('Navigation');
+        expect(html).toContain('Actions');
+        expect(html).toContain('General');
+        ks.dispose();
+      });
+
+      it('dispose() removes overlay from DOM', () => {
+        const ks = new KeyboardShortcuts(null);
+        ks.init();
+        const o = ks.overlay;
+        ks.dispose();
+        expect(o.parentNode).toBeFalsy();
+      });
+    });
+
+    // ===== PerfMonitor =====
+    const { PerfMonitor } = await import('../utils/perf-monitor.js');
+
+    describe('PerfMonitor', () => {
+      it('creates panel with role=status and aria-label', () => {
+        const pm = new PerfMonitor();
+        pm.init();
+        expect(pm.panel.getAttribute('role')).toBe('status');
+        expect(pm.panel.getAttribute('aria-label')).toBe('Performance monitor');
+        pm.dispose();
+      });
+
+      it('show/hide updates visible state', () => {
+        const pm = new PerfMonitor();
+        pm.init();
+        pm.show();
+        expect(pm.visible).toBeTruthy();
+        expect(pm.panel.classList.contains('visible')).toBeTruthy();
+        pm.hide();
+        expect(pm.visible).toBeFalsy();
+        pm.dispose();
+      });
+
+      it('toggle() flips visibility', () => {
+        const pm = new PerfMonitor();
+        pm.init();
+        pm.toggle();
+        expect(pm.visible).toBeTruthy();
+        pm.toggle();
+        expect(pm.visible).toBeFalsy();
+        pm.dispose();
+      });
+
+      it('updateMetric() sets text and CSS class', () => {
+        const pm = new PerfMonitor();
+        pm.init();
+        pm.updateMetric('fps', 60, 'ok');
+        const el = pm.panel.querySelector('[data-metric="fps"]');
+        expect(el.textContent).toBe('60');
+        expect(el.className).toContain('perf-ok');
+        pm.updateMetric('fps', 15, 'warning');
+        expect(el.className).toContain('perf-warning');
+        pm.dispose();
+      });
+
+      it('pushSpark() appends data and caps at 60', () => {
+        const pm = new PerfMonitor();
+        pm.init();
+        for (let i = 0; i < 70; i++) pm.pushSpark('fps', i, 0, 120);
+        expect(pm.sparkData.fps.length).toBe(60);
+        pm.dispose();
+      });
+
+      it('dispose() cleans up panel', () => {
+        const pm = new PerfMonitor();
+        pm.init();
+        pm.show();
+        const p = pm.panel;
+        pm.dispose();
+        expect(p.parentNode).toBeFalsy();
+      });
+    });
+
+    // ===== TabManager =====
+    const { TabManager } = await import('../components/TabManager.js');
+
+    describe('TabManager', () => {
+      it('initializes and finds all tabs', () => {
+        const d = mockDOM();
+        const tm = new TabManager(d);
+        tm.init();
+        expect(tm.tabs.length).toBe(3);
+        expect(tm.activeTab).toBe('dashboard');
+        d.remove();
+      });
+
+      it('switchToTab() changes active tab', () => {
+        const d = mockDOM();
+        const tm = new TabManager(d);
+        tm.init();
+        tm.switchToTab('hardware');
+        expect(tm.activeTab).toBe('hardware');
+        expect(d.querySelector('[data-tab="hardware"]').classList.contains('active')).toBeTruthy();
+        expect(d.querySelector('[data-tab="dashboard"]').classList.contains('active')).toBeFalsy();
+        d.remove();
+      });
+
+      it('updates aria-selected on tab switch', () => {
+        const d = mockDOM();
+        const tm = new TabManager(d);
+        tm.init();
+        tm.switchToTab('demo');
+        expect(d.querySelector('[data-tab="dashboard"]').getAttribute('aria-selected')).toBe('false');
+        expect(d.querySelector('[data-tab="demo"]').getAttribute('aria-selected')).toBe('true');
+        d.remove();
+      });
+
+      it('fires onTabChange callbacks with correct args', () => {
+        const d = mockDOM();
+        const tm = new TabManager(d);
+        tm.init();
+        let newId = '', oldId = '';
+        tm.onTabChange((n, o) => { newId = n; oldId = o; });
+        tm.switchToTab('hardware');
+        expect(newId).toBe('hardware');
+        expect(oldId).toBe('dashboard');
+        d.remove();
+      });
+
+      it('does not fire callback when switching to already active tab', () => {
+        const d = mockDOM();
+        const tm = new TabManager(d);
+        tm.init();
+        let count = 0;
+        tm.onTabChange(() => { count++; });
+        tm.switchToTab('dashboard');
+        expect(count).toBe(0);
+        d.remove();
+      });
+
+      it('onTabChange() returns unsubscribe function', () => {
+        const d = mockDOM();
+        const tm = new TabManager(d);
+        tm.init();
+        let count = 0;
+        const unsub = tm.onTabChange(() => { count++; });
+        tm.switchToTab('hardware');
+        expect(count).toBe(1);
+        unsub();
+        tm.switchToTab('demo');
+        expect(count).toBe(1); // not incremented
+        d.remove();
+      });
+
+      it('setTabEnabled(false) disables tab button', () => {
+        const d = mockDOM();
+        const tm = new TabManager(d);
+        tm.init();
+        tm.setTabEnabled('hardware', false);
+        const btn = d.querySelector('[data-tab="hardware"]');
+        expect(btn.disabled).toBeTruthy();
+        expect(btn.classList.contains('disabled')).toBeTruthy();
+        tm.setTabEnabled('hardware', true);
+        expect(btn.disabled).toBeFalsy();
+        d.remove();
+      });
+
+      it('setTabVisible(false) hides tab', () => {
+        const d = mockDOM();
+        const tm = new TabManager(d);
+        tm.init();
+        tm.setTabVisible('demo', false);
+        expect(d.querySelector('[data-tab="demo"]').style.display).toBe('none');
+        tm.setTabVisible('demo', true);
+        expect(d.querySelector('[data-tab="demo"]').style.display).toBe('');
+        d.remove();
+      });
+
+      it('setTabBadge() adds/removes badge', () => {
+        const d = mockDOM();
+        const tm = new TabManager(d);
+        tm.init();
+        tm.setTabBadge('hardware', '3');
+        const badge = d.querySelector('[data-tab="hardware"] .tab-badge');
+        expect(badge).toBeTruthy();
+        expect(badge.textContent).toBe('3');
+        tm.setTabBadge('hardware', null);
+        expect(d.querySelector('[data-tab="hardware"] .tab-badge')).toBeFalsy();
+        d.remove();
+      });
+    });
+
+    // ===== RENDER RESULTS =====
+    const output = document.getElementById('output');
+    let lastSuite = '', passed = 0, failed = 0;
+
+    results.forEach(r => {
+      if (r.suite !== lastSuite) {
+        lastSuite = r.suite;
+        const s = document.createElement('div');
+        s.className = 'suite';
+        s.innerHTML = `<div class="suite-name">${r.suite}</div>`;
+        output.appendChild(s);
+      }
+      const t = document.createElement('div');
+      t.className = `test ${r.passed ? 'pass' : 'fail'}`;
+      t.textContent = r.name;
+      output.lastChild.appendChild(t);
+      if (!r.passed) {
+        const e = document.createElement('div');
+        e.className = 'error-detail';
+        e.textContent = r.error;
+        output.lastChild.appendChild(e);
+      }
+      r.passed ? passed++ : failed++;
+    });
+
+    const summary = document.getElementById('summary');
+    summary.textContent = `${passed + failed} tests: ${passed} passed, ${failed} failed`;
+    summary.style.color = failed === 0 ? '#32b8c6' : '#ff5459';
+
+    console.info(`[UNIT-TESTS] ${passed + failed} tests: ${passed} passed, ${failed} failed`);
+    if (failed > 0) results.filter(r => !r.passed).forEach(r => console.error(`[FAIL] ${r.suite} > ${r.name}: ${r.error}`));
+  </script>
+</body>
+</html>

ui/utils/activity-log.js

@@ -0,0 +1,181 @@
+// Activity Log - Scrollable panel showing system events in real-time
+// Toggle with 'L' key or command palette
+
+export class ActivityLog {
+  constructor() {
+    this.panel = null;
+    this.visible = false;
+    this.entries = [];
+    this.maxEntries = 200;
+    this.logBody = null;
+    this.filters = { info: true, warning: true, error: true, connection: true };
+  }
+
+  init() {
+    this.createPanel();
+    this.interceptConsole();
+    document.addEventListener('toggle-activity-log', () => this.toggle());
+  }
+
+  createPanel() {
+    this.panel = document.createElement('div');
+    this.panel.className = 'activity-log';
+    this.panel.setAttribute('role', 'log');
+    this.panel.setAttribute('aria-label', 'Activity log');
+    this.panel.innerHTML = `
+      <div class="activity-log-header">
+        <span class="activity-log-title">Activity Log</span>
+        <div class="activity-log-controls">
+          <button class="activity-log-filter active" data-filter="info" aria-label="Toggle info messages" title="Info">I</button>
+          <button class="activity-log-filter active" data-filter="warning" aria-label="Toggle warnings" title="Warnings">W</button>
+          <button class="activity-log-filter active" data-filter="error" aria-label="Toggle errors" title="Errors">E</button>
+          <button class="activity-log-filter active" data-filter="connection" aria-label="Toggle connection events" title="Connection">C</button>
+          <button class="activity-log-clear" aria-label="Clear log" title="Clear">Clear</button>
+          <button class="activity-log-close" aria-label="Close activity log">&times;</button>
+        </div>
+      </div>
+      <div class="activity-log-body"></div>
+    `;
+
+    this.logBody = this.panel.querySelector('.activity-log-body');
+
+    // Filter toggles
+    this.panel.querySelectorAll('.activity-log-filter').forEach(btn => {
+      btn.addEventListener('click', () => {
+        const filter = btn.dataset.filter;
+        this.filters[filter] = !this.filters[filter];
+        btn.classList.toggle('active', this.filters[filter]);
+        this.rerender();
+      });
+    });
+
+    // Clear button
+    this.panel.querySelector('.activity-log-clear').addEventListener('click', () => {
+      this.entries = [];
+      this.rerender();
+    });
+
+    // Close button
+    this.panel.querySelector('.activity-log-close').addEventListener('click', () => this.hide());
+
+    // Make resizable by dragging top edge
+    this.makeResizable();
+
+    document.body.appendChild(this.panel);
+  }
+
+  makeResizable() {
+    let resizing = false;
+    let startY = 0;
+    let startHeight = 0;
+
+    this.panel.addEventListener('mousedown', (e) => {
+      // Only top 5px edge
+      const rect = this.panel.getBoundingClientRect();
+      if (e.clientY - rect.top > 5) return;
+      resizing = true;
+      startY = e.clientY;
+      startHeight = rect.height;
+      e.preventDefault();
+    });
+
+    document.addEventListener('mousemove', (e) => {
+      if (!resizing) return;
+      const delta = startY - e.clientY;
+      const newHeight = Math.max(150, Math.min(window.innerHeight * 0.7, startHeight + delta));
+      this.panel.style.height = `${newHeight}px`;
+    });
+
+    document.addEventListener('mouseup', () => { resizing = false; });
+  }
+
+  interceptConsole() {
+    const origInfo = console.info;
+    const origWarn = console.warn;
+    const origError = console.error;
+
+    console.info = (...args) => {
+      origInfo.apply(console, args);
+      this.addEntry('info', args.map(String).join(' '));
+    };
+
+    console.warn = (...args) => {
+      origWarn.apply(console, args);
+      const msg = args.map(String).join(' ');
+      const type = msg.includes('[WS-') || msg.includes('connect') ? 'connection' : 'warning';
+      this.addEntry(type, msg);
+    };
+
+    console.error = (...args) => {
+      origError.apply(console, args);
+      this.addEntry('error', args.map(String).join(' '));
+    };
+  }
+
+  addEntry(type, message) {
+    const entry = {
+      time: new Date(),
+      type,
+      message: this.truncate(message, 300)
+    };
+
+    this.entries.push(entry);
+    if (this.entries.length > this.maxEntries) {
+      this.entries.shift();
+    }
+
+    if (this.visible && this.filters[type]) {
+      this.appendEntry(entry);
+      // Auto-scroll to bottom
+      this.logBody.scrollTop = this.logBody.scrollHeight;
+    }
+  }
+
+  appendEntry(entry) {
+    const el = document.createElement('div');
+    el.className = `activity-log-entry activity-log-${entry.type}`;
+    const time = entry.time.toLocaleTimeString('en-US', { hour12: false, hour: '2-digit', minute: '2-digit', second: '2-digit' });
+    el.innerHTML = `<span class="activity-log-time">${time}</span><span class="activity-log-type">${entry.type.toUpperCase().charAt(0)}</span><span class="activity-log-msg">${this.escapeHtml(entry.message)}</span>`;
+    this.logBody.appendChild(el);
+  }
+
+  rerender() {
+    this.logBody.innerHTML = '';
+    this.entries
+      .filter(e => this.filters[e.type])
+      .forEach(e => this.appendEntry(e));
+    this.logBody.scrollTop = this.logBody.scrollHeight;
+  }
+
+  toggle() {
+    this.visible ? this.hide() : this.show();
+  }
+
+  show() {
+    this.visible = true;
+    this.panel.classList.add('visible');
+    this.rerender();
+  }
+
+  hide() {
+    this.visible = false;
+    this.panel.classList.remove('visible');
+  }
+
+  truncate(str, max) {
+    return str.length > max ? str.slice(0, max) + '...' : str;
+  }
+
+  escapeHtml(text) {
+    const div = document.createElement('div');
+    div.textContent = text;
+    return div.innerHTML;
+  }
+
+  dispose() {
+    this.hide();
+    if (this.panel?.parentNode) {
+      this.panel.parentNode.removeChild(this.panel);
+    }
+  }
+}

ui/utils/command-palette.js

@@ -0,0 +1,311 @@
+// Command Palette - Ctrl+K / Cmd+K to search and execute commands
+// Fuzzy search across tabs, actions, and settings
+
+export class CommandPalette {
+  constructor(app) {
+    this.app = app;
+    this.overlay = null;
+    this.input = null;
+    this.results = null;
+    this.visible = false;
+    this.commands = [];
+    this.selectedIndex = 0;
+    this.filteredCommands = [];
+  }
+
+  init() {
+    this.registerCommands();
+    this.createDOM();
+    this.bindGlobalShortcut();
+  }
+
+  registerCommands() {
+    // Navigation commands
+    const tabs = [
+      { id: 'dashboard', label: 'Dashboard', icon: 'grid' },
+      { id: 'hardware', label: 'Hardware', icon: 'cpu' },
+      { id: 'demo', label: 'Live Demo', icon: 'play' },
+      { id: 'architecture', label: 'Architecture', icon: 'layers' },
+      { id: 'performance', label: 'Performance', icon: 'zap' },
+      { id: 'applications', label: 'Applications', icon: 'box' },
+      { id: 'sensing', label: 'Sensing', icon: 'wifi' },
+      { id: 'training', label: 'Training', icon: 'database' },
+    ];
+
+    tabs.forEach(tab => {
+      this.commands.push({
+        category: 'Navigation',
+        label: `Go to ${tab.label}`,
+        keywords: [tab.id, tab.label.toLowerCase()],
+        icon: tab.icon,
+        action: () => {
+          const tm = this.app?.getComponent?.('tabManager');
+          if (tm) tm.switchToTab(tab.id);
+        }
+      });
+    });
+
+    // External pages
+    this.commands.push({
+      category: 'Navigation',
+      label: 'Open Pose Fusion',
+      keywords: ['pose', 'fusion', 'camera'],
+      icon: 'external',
+      action: () => { window.location.href = 'pose-fusion.html'; }
+    });
+    this.commands.push({
+      category: 'Navigation',
+      label: 'Open Observatory',
+      keywords: ['observatory', '3d', 'signal'],
+      icon: 'external',
+      action: () => { window.location.href = 'observatory.html'; }
+    });
+
+    // Actions
+    this.commands.push({
+      category: 'Actions',
+      label: 'Toggle Dark/Light Theme',
+      keywords: ['theme', 'dark', 'light', 'mode', 'color'],
+      icon: 'moon',
+      action: () => document.dispatchEvent(new CustomEvent('toggle-theme'))
+    });
+    this.commands.push({
+      category: 'Actions',
+      label: 'Toggle Performance Monitor',
+      keywords: ['perf', 'fps', 'memory', 'performance', 'monitor'],
+      icon: 'activity',
+      action: () => document.dispatchEvent(new CustomEvent('toggle-perf-monitor'))
+    });
+    this.commands.push({
+      category: 'Actions',
+      label: 'Toggle Activity Log',
+      keywords: ['log', 'events', 'activity', 'history'],
+      icon: 'list',
+      action: () => document.dispatchEvent(new CustomEvent('toggle-activity-log'))
+    });
+    this.commands.push({
+      category: 'Actions',
+      label: 'Export Sensor Data',
+      keywords: ['export', 'download', 'csv', 'json', 'data', 'save'],
+      icon: 'download',
+      action: () => document.dispatchEvent(new CustomEvent('export-data'))
+    });
+    this.commands.push({
+      category: 'Actions',
+      label: 'Toggle Fullscreen',
+      keywords: ['fullscreen', 'full', 'screen', 'maximize'],
+      icon: 'maximize',
+      action: () => document.dispatchEvent(new CustomEvent('toggle-fullscreen'))
+    });
+    this.commands.push({
+      category: 'Actions',
+      label: 'Show Keyboard Shortcuts',
+      keywords: ['keyboard', 'shortcuts', 'keys', 'help'],
+      icon: 'keyboard',
+      action: () => document.dispatchEvent(new CustomEvent('show-shortcuts'))
+    });
+  }
+
+  createDOM() {
+    this.overlay = document.createElement('div');
+    this.overlay.className = 'cmd-palette-overlay';
+    this.overlay.setAttribute('role', 'dialog');
+    this.overlay.setAttribute('aria-label', 'Command palette');
+    this.overlay.setAttribute('aria-modal', 'true');
+
+    this.overlay.innerHTML = `
+      <div class="cmd-palette">
+        <div class="cmd-palette-input-wrap">
+          <svg class="cmd-palette-search-icon" width="16" height="16" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><circle cx="11" cy="11" r="8"/><line x1="21" y1="21" x2="16.65" y2="16.65"/></svg>
+          <input type="text" class="cmd-palette-input" placeholder="Type a command..." aria-label="Search commands" autocomplete="off" spellcheck="false">
+          <kbd class="cmd-palette-hint">Esc</kbd>
+        </div>
+        <div class="cmd-palette-results" role="listbox" aria-label="Commands"></div>
+        <div class="cmd-palette-footer">
+          <span><kbd>Up</kbd><kbd>Down</kbd> navigate</span>
+          <span><kbd>Enter</kbd> execute</span>
+          <span><kbd>Esc</kbd> close</span>
+        </div>
+      </div>
+    `;
+
+    this.overlay.addEventListener('click', (e) => {
+      if (e.target === this.overlay) this.hide();
+    });
+
+    this.input = this.overlay.querySelector('.cmd-palette-input');
+    this.results = this.overlay.querySelector('.cmd-palette-results');
+
+    this.input.addEventListener('input', () => this.onInput());
+    this.input.addEventListener('keydown', (e) => this.onKeydown(e));
+
+    document.body.appendChild(this.overlay);
+  }
+
+  bindGlobalShortcut() {
+    document.addEventListener('keydown', (e) => {
+      // Ctrl+K or Cmd+K
+      if ((e.ctrlKey || e.metaKey) && e.key === 'k') {
+        e.preventDefault();
+        this.toggle();
+      }
+    });
+  }
+
+  toggle() {
+    this.visible ? this.hide() : this.show();
+  }
+
+  show() {
+    this.visible = true;
+    this.overlay.classList.add('visible');
+    this.input.value = '';
+    this.selectedIndex = 0;
+    this.filteredCommands = [...this.commands];
+    this.renderResults();
+    this.input.focus();
+  }
+
+  hide() {
+    this.visible = false;
+    this.overlay.classList.remove('visible');
+  }
+
+  onInput() {
+    const query = this.input.value.toLowerCase().trim();
+    if (!query) {
+      this.filteredCommands = [...this.commands];
+    } else {
+      this.filteredCommands = this.commands
+        .map(cmd => {
+          const score = this.fuzzyScore(query, cmd);
+          return { ...cmd, score };
+        })
+        .filter(cmd => cmd.score > 0)
+        .sort((a, b) => b.score - a.score);
+    }
+    this.selectedIndex = 0;
+    this.renderResults();
+  }
+
+  fuzzyScore(query, cmd) {
+    const targets = [cmd.label.toLowerCase(), ...cmd.keywords, cmd.category.toLowerCase()];
+    let best = 0;
+    for (const target of targets) {
+      if (target === query) return 100;
+      if (target.startsWith(query)) best = Math.max(best, 80);
+      if (target.includes(query)) best = Math.max(best, 60);
+      // Check each word
+      const words = query.split(/\s+/);
+      const allMatch = words.every(w => targets.some(t => t.includes(w)));
+      if (allMatch) best = Math.max(best, 40);
+    }
+    return best;
+  }
+
+  renderResults() {
+    if (this.filteredCommands.length === 0) {
+      this.results.innerHTML = '<div class="cmd-palette-empty">No matching commands</div>';
+      return;
+    }
+
+    let lastCategory = '';
+    let html = '';
+
+    this.filteredCommands.forEach((cmd, i) => {
+      if (cmd.category !== lastCategory) {
+        lastCategory = cmd.category;
+        html += `<div class="cmd-palette-category">${cmd.category}</div>`;
+      }
+      const selected = i === this.selectedIndex ? ' cmd-palette-item-selected' : '';
+      html += `
+        <div class="cmd-palette-item${selected}" data-index="${i}" role="option" aria-selected="${i === this.selectedIndex}">
+          <span class="cmd-palette-item-icon">${this.getIcon(cmd.icon)}</span>
+          <span class="cmd-palette-item-label">${cmd.label}</span>
+        </div>`;
+    });
+
+    this.results.innerHTML = html;
+
+    // Click handlers
+    this.results.querySelectorAll('.cmd-palette-item').forEach(el => {
+      el.addEventListener('click', () => {
+        const idx = parseInt(el.dataset.index, 10);
+        this.executeCommand(idx);
+      });
+      el.addEventListener('mouseenter', () => {
+        this.selectedIndex = parseInt(el.dataset.index, 10);
+        this.updateSelection();
+      });
+    });
+
+    // Scroll selected into view
+    const selectedEl = this.results.querySelector('.cmd-palette-item-selected');
+    if (selectedEl) selectedEl.scrollIntoView({ block: 'nearest' });
+  }
+
+  updateSelection() {
+    this.results.querySelectorAll('.cmd-palette-item').forEach((el, i) => {
+      const isSelected = parseInt(el.dataset.index, 10) === this.selectedIndex;
+      el.classList.toggle('cmd-palette-item-selected', isSelected);
+      el.setAttribute('aria-selected', String(isSelected));
+    });
+  }
+
+  onKeydown(e) {
+    if (e.key === 'ArrowDown') {
+      e.preventDefault();
+      this.selectedIndex = Math.min(this.selectedIndex + 1, this.filteredCommands.length - 1);
+      this.updateSelection();
+      const sel = this.results.querySelector('.cmd-palette-item-selected');
+      if (sel) sel.scrollIntoView({ block: 'nearest' });
+    } else if (e.key === 'ArrowUp') {
+      e.preventDefault();
+      this.selectedIndex = Math.max(this.selectedIndex - 1, 0);
+      this.updateSelection();
+      const sel = this.results.querySelector('.cmd-palette-item-selected');
+      if (sel) sel.scrollIntoView({ block: 'nearest' });
+    } else if (e.key === 'Enter') {
+      e.preventDefault();
+      this.executeCommand(this.selectedIndex);
+    } else if (e.key === 'Escape') {
+      e.preventDefault();
+      this.hide();
+    }
+  }
+
+  executeCommand(index) {
+    const cmd = this.filteredCommands[index];
+    if (cmd) {
+      this.hide();
+      cmd.action();
+    }
+  }
+
+  getIcon(name) {
+    const icons = {
+      grid: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><rect x="3" y="3" width="7" height="7"/><rect x="14" y="3" width="7" height="7"/><rect x="3" y="14" width="7" height="7"/><rect x="14" y="14" width="7" height="7"/></svg>',
+      cpu: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><rect x="4" y="4" width="16" height="16" rx="2"/><rect x="9" y="9" width="6" height="6"/><line x1="9" y1="1" x2="9" y2="4"/><line x1="15" y1="1" x2="15" y2="4"/><line x1="9" y1="20" x2="9" y2="23"/><line x1="15" y1="20" x2="15" y2="23"/></svg>',
+      play: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><polygon points="5 3 19 12 5 21 5 3"/></svg>',
+      layers: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><polygon points="12 2 2 7 12 12 22 7 12 2"/><polyline points="2 17 12 22 22 17"/><polyline points="2 12 12 17 22 12"/></svg>',
+      zap: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><polygon points="13 2 3 14 12 14 11 22 21 10 12 10 13 2"/></svg>',
+      box: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><path d="M21 16V8a2 2 0 0 0-1-1.73l-7-4a2 2 0 0 0-2 0l-7 4A2 2 0 0 0 3 8v8a2 2 0 0 0 1 1.73l7 4a2 2 0 0 0 2 0l7-4A2 2 0 0 0 21 16z"/></svg>',
+      wifi: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><path d="M5 12.55a11 11 0 0 1 14.08 0"/><path d="M1.42 9a16 16 0 0 1 21.16 0"/><path d="M8.53 16.11a6 6 0 0 1 6.95 0"/><line x1="12" y1="20" x2="12.01" y2="20"/></svg>',
+      database: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><ellipse cx="12" cy="5" rx="9" ry="3"/><path d="M21 12c0 1.66-4 3-9 3s-9-1.34-9-3"/><path d="M3 5v14c0 1.66 4 3 9 3s9-1.34 9-3V5"/></svg>',
+      external: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><path d="M18 13v6a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2V8a2 2 0 0 1 2-2h6"/><polyline points="15 3 21 3 21 9"/><line x1="10" y1="14" x2="21" y2="3"/></svg>',
+      moon: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><path d="M21 12.79A9 9 0 1 1 11.21 3 7 7 0 0 0 21 12.79z"/></svg>',
+      activity: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><polyline points="22 12 18 12 15 21 9 3 6 12 2 12"/></svg>',
+      list: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><line x1="8" y1="6" x2="21" y2="6"/><line x1="8" y1="12" x2="21" y2="12"/><line x1="8" y1="18" x2="21" y2="18"/><line x1="3" y1="6" x2="3.01" y2="6"/><line x1="3" y1="12" x2="3.01" y2="12"/><line x1="3" y1="18" x2="3.01" y2="18"/></svg>',
+      download: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><path d="M21 15v4a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-4"/><polyline points="7 10 12 15 17 10"/><line x1="12" y1="15" x2="12" y2="3"/></svg>',
+      maximize: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><polyline points="15 3 21 3 21 9"/><polyline points="9 21 3 21 3 15"/><line x1="21" y1="3" x2="14" y2="10"/><line x1="3" y1="21" x2="10" y2="14"/></svg>',
+      keyboard: '<svg width="14" height="14" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><rect x="2" y="4" width="20" height="16" rx="2"/><line x1="6" y1="8" x2="6.01" y2="8"/><line x1="10" y1="8" x2="10.01" y2="8"/><line x1="14" y1="8" x2="14.01" y2="8"/><line x1="18" y1="8" x2="18.01" y2="8"/><line x1="8" y1="12" x2="8.01" y2="12"/><line x1="12" y1="12" x2="12.01" y2="12"/><line x1="16" y1="12" x2="16.01" y2="12"/><line x1="7" y1="16" x2="17" y2="16"/></svg>'
+    };
+    return icons[name] || '';
+  }
+
+  dispose() {
+    if (this.overlay?.parentNode) {
+      this.overlay.parentNode.removeChild(this.overlay);
+    }
+  }
+}

ui/utils/connection-status.js

@@ -0,0 +1,84 @@
+// Connection Status Widget - Persistent indicator in header
+// Shows WebSocket and API connection state with reconnect button
+
+import { sensingService } from '../services/sensing.service.js';
+
+export class ConnectionStatus {
+  constructor() {
+    this.widget = null;
+    this._unsub = null;
+  }
+
+  init() {
+    this.createWidget();
+    this.subscribe();
+  }
+
+  createWidget() {
+    this.widget = document.createElement('div');
+    this.widget.className = 'conn-status';
+    this.widget.setAttribute('role', 'status');
+    this.widget.setAttribute('aria-live', 'polite');
+    this.widget.innerHTML = `
+      <span class="conn-status-dot"></span>
+      <span class="conn-status-label">Connecting</span>
+      <button class="conn-status-reconnect" aria-label="Reconnect" title="Reconnect" style="display:none">
+        <svg width="12" height="12" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2.5"><polyline points="23 4 23 10 17 10"/><path d="M20.49 15a9 9 0 1 1-2.12-9.36L23 10"/></svg>
+      </button>
+    `;
+
+    this.widget.querySelector('.conn-status-reconnect').addEventListener('click', () => {
+      this.setStatus('reconnecting', 'Reconnecting...');
+      sensingService.reconnect?.();
+    });
+
+    // Insert into header-info, after theme toggle if present
+    const headerInfo = document.querySelector('.header-info');
+    if (headerInfo) {
+      headerInfo.prepend(this.widget);
+    }
+  }
+
+  subscribe() {
+    this._unsub = sensingService.onStateChange(() => {
+      this.update();
+    });
+    // Initial
+    this.update();
+  }
+
+  update() {
+    const state = sensingService.state;
+    const source = sensingService.dataSource;
+
+    if (state === 'connected' || state === 'streaming') {
+      const label = source === 'live' ? 'Live' :
+                    source === 'server-simulated' ? 'Simulated' :
+                    'Connected';
+      this.setStatus('connected', label);
+    } else if (state === 'connecting' || state === 'reconnecting') {
+      this.setStatus('reconnecting', 'Connecting...');
+    } else if (state === 'error') {
+      this.setStatus('error', 'Error');
+    } else {
+      this.setStatus('disconnected', 'Offline');
+    }
+  }
+
+  setStatus(status, label) {
+    if (!this.widget) return;
+    this.widget.className = `conn-status conn-status-${status}`;
+    this.widget.querySelector('.conn-status-label').textContent = label;
+
+    const reconnectBtn = this.widget.querySelector('.conn-status-reconnect');
+    reconnectBtn.style.display =
+      (status === 'disconnected' || status === 'error') ? '' : 'none';
+  }
+
+  dispose() {
+    if (this._unsub) this._unsub();
+    if (this.widget?.parentNode) {
+      this.widget.parentNode.removeChild(this.widget);
+    }
+  }
+}

ui/utils/data-export.js

@@ -0,0 +1,148 @@
+// Data Export Utility - Export sensor/pose data as JSON or CSV
+
+import { sensingService } from '../services/sensing.service.js';
+import { toastManager } from './toast.js';
+
+export class DataExport {
+  constructor() {
+    this.buffer = [];
+    this.maxBuffer = 1000;
+    this.recording = false;
+    this._unsub = null;
+  }
+
+  init() {
+    document.addEventListener('export-data', () => this.showExportDialog());
+
+    // Continuously buffer sensing data when available
+    this._unsub = sensingService.onData((data) => {
+      if (this.buffer.length >= this.maxBuffer) {
+        this.buffer.shift();
+      }
+      this.buffer.push({
+        timestamp: new Date().toISOString(),
+        ...this.extractFields(data)
+      });
+    });
+  }
+
+  extractFields(data) {
+    // Extract relevant fields from sensing data
+    return {
+      rssi: data.rssi ?? null,
+      variance: data.variance ?? null,
+      motion_band: data.motion_band ?? null,
+      breathing_band: data.breathing_band ?? null,
+      classification: data.classification ?? null,
+      person_count: data.person_count ?? data.persons ?? null,
+      subcarriers: data.subcarrier_count ?? null,
+      source: data.source ?? null
+    };
+  }
+
+  showExportDialog() {
+    if (this.buffer.length === 0) {
+      toastManager.warning('No sensor data to export. Connect to a data source first.');
+      return;
+    }
+
+    // Create dialog
+    const overlay = document.createElement('div');
+    overlay.className = 'export-dialog-overlay';
+    overlay.innerHTML = `
+      <div class="export-dialog" role="dialog" aria-label="Export data" aria-modal="true">
+        <h3>Export Sensor Data</h3>
+        <p class="export-dialog-info">${this.buffer.length} data points available</p>
+        <div class="export-dialog-options">
+          <label class="export-option">
+            <input type="radio" name="export-format" value="json" checked>
+            <span>JSON</span>
+            <small>Full data with nested fields</small>
+          </label>
+          <label class="export-option">
+            <input type="radio" name="export-format" value="csv">
+            <span>CSV</span>
+            <small>Flat table, spreadsheet-ready</small>
+          </label>
+        </div>
+        <div class="export-dialog-range">
+          <label>
+            Last <input type="number" id="export-count" value="${Math.min(this.buffer.length, 500)}" min="1" max="${this.buffer.length}"> data points
+          </label>
+        </div>
+        <div class="export-dialog-actions">
+          <button class="btn btn--secondary export-cancel">Cancel</button>
+          <button class="btn btn--primary export-confirm">Export</button>
+        </div>
+      </div>
+    `;
+
+    overlay.addEventListener('click', (e) => {
+      if (e.target === overlay) overlay.remove();
+    });
+    overlay.querySelector('.export-cancel').addEventListener('click', () => overlay.remove());
+    overlay.querySelector('.export-confirm').addEventListener('click', () => {
+      const format = overlay.querySelector('input[name="export-format"]:checked').value;
+      const count = parseInt(overlay.querySelector('#export-count').value, 10) || this.buffer.length;
+      this.exportData(format, count);
+      overlay.remove();
+    });
+
+    document.body.appendChild(overlay);
+    overlay.querySelector('.export-confirm').focus();
+  }
+
+  exportData(format, count) {
+    const data = this.buffer.slice(-count);
+
+    let content, filename, mimeType;
+
+    if (format === 'json') {
+      content = JSON.stringify(data, null, 2);
+      filename = `ruview-data-${this.timestamp()}.json`;
+      mimeType = 'application/json';
+    } else {
+      content = this.toCSV(data);
+      filename = `ruview-data-${this.timestamp()}.csv`;
+      mimeType = 'text/csv';
+    }
+
+    this.downloadFile(content, filename, mimeType);
+    toastManager.success(`Exported ${data.length} data points as ${format.toUpperCase()}`);
+  }
+
+  toCSV(data) {
+    if (data.length === 0) return '';
+    const headers = Object.keys(data[0]);
+    const rows = data.map(row => headers.map(h => {
+      const val = row[h];
+      if (val === null || val === undefined) return '';
+      if (typeof val === 'string' && (val.includes(',') || val.includes('"'))) {
+        return `"${val.replace(/"/g, '""')}"`;
+      }
+      return String(val);
+    }).join(','));
+    return [headers.join(','), ...rows].join('\n');
+  }
+
+  downloadFile(content, filename, mimeType) {
+    const blob = new Blob([content], { type: mimeType });
+    const url = URL.createObjectURL(blob);
+    const a = document.createElement('a');
+    a.href = url;
+    a.download = filename;
+    a.style.display = 'none';
+    document.body.appendChild(a);
+    a.click();
+    document.body.removeChild(a);
+    URL.revokeObjectURL(url);
+  }
+
+  timestamp() {
+    return new Date().toISOString().replace(/[:.]/g, '-').slice(0, 19);
+  }
+
+  dispose() {
+    if (this._unsub) this._unsub();
+  }
+}

ui/utils/fullscreen.js

@@ -0,0 +1,79 @@
+// Fullscreen Mode - Toggle fullscreen on visualization tabs
+// Activated via F11 key, command palette, or button
+
+export class FullscreenManager {
+  constructor() {
+    this.isFullscreen = false;
+    this.targetElement = null;
+  }
+
+  init() {
+    document.addEventListener('toggle-fullscreen', () => this.toggle());
+
+    document.addEventListener('keydown', (e) => {
+      if (e.key === 'F11') {
+        e.preventDefault();
+        this.toggle();
+      }
+    });
+
+    document.addEventListener('fullscreenchange', () => {
+      this.isFullscreen = !!document.fullscreenElement;
+      this.updateUI();
+    });
+  }
+
+  toggle() {
+    if (this.isFullscreen) {
+      this.exit();
+    } else {
+      this.enter();
+    }
+  }
+
+  enter() {
+    // Find the active tab content
+    const activePanel = document.querySelector('.tab-content.active');
+    if (!activePanel) return;
+
+    this.targetElement = activePanel;
+
+    if (activePanel.requestFullscreen) {
+      activePanel.requestFullscreen();
+    } else if (activePanel.webkitRequestFullscreen) {
+      activePanel.webkitRequestFullscreen();
+    }
+  }
+
+  exit() {
+    if (document.exitFullscreen) {
+      document.exitFullscreen();
+    } else if (document.webkitExitFullscreen) {
+      document.webkitExitFullscreen();
+    }
+    this.targetElement = null;
+  }
+
+  updateUI() {
+    document.body.classList.toggle('is-fullscreen', this.isFullscreen);
+
+    // Add/remove exit button when in fullscreen
+    let exitBtn = document.getElementById('fullscreen-exit-btn');
+    if (this.isFullscreen && !exitBtn) {
+      exitBtn = document.createElement('button');
+      exitBtn.id = 'fullscreen-exit-btn';
+      exitBtn.className = 'fullscreen-exit-btn';
+      exitBtn.setAttribute('aria-label', 'Exit fullscreen');
+      exitBtn.innerHTML = '<svg width="16" height="16" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><polyline points="4 14 10 14 10 20"/><polyline points="20 10 14 10 14 4"/><line x1="14" y1="10" x2="21" y2="3"/><line x1="3" y1="21" x2="10" y2="14"/></svg>';
+      exitBtn.title = 'Exit fullscreen (F11)';
+      exitBtn.addEventListener('click', () => this.exit());
+      document.body.appendChild(exitBtn);
+    } else if (!this.isFullscreen && exitBtn) {
+      exitBtn.remove();
+    }
+  }
+
+  dispose() {
+    if (this.isFullscreen) this.exit();
+  }
+}

ui/utils/i18n.js

@@ -0,0 +1,264 @@
+// Internationalization - EN/PL language support
+// Detects browser language, persists choice, translates UI strings
+
+const translations = {
+  en: {
+    // Navigation
+    'nav.dashboard': 'Dashboard',
+    'nav.hardware': 'Hardware',
+    'nav.demo': 'Live Demo',
+    'nav.architecture': 'Architecture',
+    'nav.performance': 'Performance',
+    'nav.applications': 'Applications',
+    'nav.sensing': 'Sensing',
+    'nav.training': 'Training',
+
+    // Dashboard
+    'dashboard.title': 'Revolutionary WiFi-Based Human Pose Detection',
+    'dashboard.subtitle': 'Human Tracking Through Walls Using WiFi Signals',
+    'dashboard.description': 'AI can track your full-body movement through walls using just WiFi signals. Researchers at Carnegie Mellon have trained a neural network to turn basic WiFi signals into detailed wireframe models of human bodies.',
+    'dashboard.status': 'System Status',
+    'dashboard.metrics': 'System Metrics',
+    'dashboard.features': 'Features',
+    'dashboard.liveStats': 'Live Statistics',
+    'dashboard.activePersons': 'Active Persons',
+    'dashboard.avgConfidence': 'Avg Confidence',
+    'dashboard.totalDetections': 'Total Detections',
+    'dashboard.zoneOccupancy': 'Zone Occupancy',
+
+    // Status
+    'status.apiServer': 'API Server',
+    'status.hardware': 'Hardware',
+    'status.inference': 'Inference',
+    'status.streaming': 'Streaming',
+    'status.dataSource': 'Data Source',
+
+    // Metrics
+    'metrics.cpu': 'CPU Usage',
+    'metrics.memory': 'Memory Usage',
+    'metrics.disk': 'Disk Usage',
+
+    // Benefits
+    'benefit.throughWalls': 'Through Walls',
+    'benefit.throughWallsDesc': 'Works through solid barriers with no line of sight required',
+    'benefit.privacy': 'Privacy-Preserving',
+    'benefit.privacyDesc': 'No cameras or visual recording - just WiFi signal analysis',
+    'benefit.realtime': 'Real-Time',
+    'benefit.realtimeDesc': 'Maps 24 body regions in real-time at 100Hz sampling rate',
+    'benefit.lowCost': 'Low Cost',
+    'benefit.lowCostDesc': 'Built using $30 commercial WiFi hardware',
+
+    // Stats
+    'stat.bodyRegions': 'Body Regions',
+    'stat.samplingRate': 'Sampling Rate',
+    'stat.accuracy': 'Accuracy (AP@50)',
+    'stat.hardwareCost': 'Hardware Cost',
+
+    // Actions
+    'action.startDetection': 'Start Detection',
+    'action.stopDetection': 'Stop Detection',
+    'action.toggleTheme': 'Toggle theme',
+    'action.exportData': 'Export data',
+    'action.screenshot': 'Take screenshot',
+
+    // Connection
+    'conn.connected': 'Connected',
+    'conn.connecting': 'Connecting...',
+    'conn.offline': 'Offline',
+    'conn.reconnecting': 'Reconnecting...',
+    'conn.live': 'Live',
+    'conn.simulated': 'Simulated',
+
+    // Misc
+    'misc.loading': 'Loading...',
+    'misc.error': 'An error occurred',
+    'misc.noData': 'No data available',
+    'misc.close': 'Close',
+    'misc.cancel': 'Cancel',
+    'misc.confirm': 'Confirm',
+    'misc.settings': 'Settings',
+    'misc.language': 'Language'
+  },
+
+  pl: {
+    // Navigation
+    'nav.dashboard': 'Panel',
+    'nav.hardware': 'Sprzet',
+    'nav.demo': 'Demo na zywo',
+    'nav.architecture': 'Architektura',
+    'nav.performance': 'Wydajnosc',
+    'nav.applications': 'Aplikacje',
+    'nav.sensing': 'Czujniki',
+    'nav.training': 'Trening',
+
+    // Dashboard
+    'dashboard.title': 'Rewolucyjne wykrywanie pozy czlowieka przez WiFi',
+    'dashboard.subtitle': 'Sledzenie ludzi przez sciany za pomoca sygnalow WiFi',
+    'dashboard.description': 'AI moze sledzic ruchy calego ciala przez sciany uzywajac jedynie sygnalow WiFi. Badacze z Carnegie Mellon wytrenowali siec neuronowa do zamiany sygnalow WiFi w szczegolowe modele szkieletowe.',
+    'dashboard.status': 'Status systemu',
+    'dashboard.metrics': 'Metryki systemu',
+    'dashboard.features': 'Funkcje',
+    'dashboard.liveStats': 'Statystyki na zywo',
+    'dashboard.activePersons': 'Aktywne osoby',
+    'dashboard.avgConfidence': 'Srednia pewnosc',
+    'dashboard.totalDetections': 'Laczne detekcje',
+    'dashboard.zoneOccupancy': 'Zajecie stref',
+
+    // Status
+    'status.apiServer': 'Serwer API',
+    'status.hardware': 'Sprzet',
+    'status.inference': 'Wnioskowanie',
+    'status.streaming': 'Streaming',
+    'status.dataSource': 'Zrodlo danych',
+
+    // Metrics
+    'metrics.cpu': 'Uzycie CPU',
+    'metrics.memory': 'Uzycie pamieci',
+    'metrics.disk': 'Uzycie dysku',
+
+    // Benefits
+    'benefit.throughWalls': 'Przez sciany',
+    'benefit.throughWallsDesc': 'Dziala przez przeszkody stale bez linii wzroku',
+    'benefit.privacy': 'Ochrona prywatnosci',
+    'benefit.privacyDesc': 'Brak kamer i nagrywania - tylko analiza sygnalow WiFi',
+    'benefit.realtime': 'Czas rzeczywisty',
+    'benefit.realtimeDesc': 'Mapuje 24 regiony ciala w czasie rzeczywistym przy 100Hz',
+    'benefit.lowCost': 'Niski koszt',
+    'benefit.lowCostDesc': 'Zbudowany z komercyjnego sprzetu WiFi za $30',
+
+    // Stats
+    'stat.bodyRegions': 'Regiony ciala',
+    'stat.samplingRate': 'Czestotliwosc',
+    'stat.accuracy': 'Dokladnosc (AP@50)',
+    'stat.hardwareCost': 'Koszt sprzetu',
+
+    // Actions
+    'action.startDetection': 'Rozpocznij detekcje',
+    'action.stopDetection': 'Zatrzymaj detekcje',
+    'action.toggleTheme': 'Zmien motyw',
+    'action.exportData': 'Eksportuj dane',
+    'action.screenshot': 'Zrob zrzut ekranu',
+
+    // Connection
+    'conn.connected': 'Polaczono',
+    'conn.connecting': 'Laczenie...',
+    'conn.offline': 'Offline',
+    'conn.reconnecting': 'Ponowne laczenie...',
+    'conn.live': 'Na zywo',
+    'conn.simulated': 'Symulacja',
+
+    // Misc
+    'misc.loading': 'Ladowanie...',
+    'misc.error': 'Wystapil blad',
+    'misc.noData': 'Brak danych',
+    'misc.close': 'Zamknij',
+    'misc.cancel': 'Anuluj',
+    'misc.confirm': 'Potwierdz',
+    'misc.settings': 'Ustawienia',
+    'misc.language': 'Jezyk'
+  }
+};
+
+export class I18n {
+  constructor() {
+    this.locale = this.getSavedLocale() || this.detectLocale();
+    this.listeners = [];
+  }
+
+  init() {
+    this.createSelector();
+    this.applyTranslations();
+  }
+
+  detectLocale() {
+    const lang = navigator.language?.toLowerCase() || 'en';
+    if (lang.startsWith('pl')) return 'pl';
+    return 'en';
+  }
+
+  getSavedLocale() {
+    try { return localStorage.getItem('ruview-locale'); }
+    catch { return null; }
+  }
+
+  saveLocale(locale) {
+    try { localStorage.setItem('ruview-locale', locale); }
+    catch { /* noop */ }
+  }
+
+  t(key) {
+    const dict = translations[this.locale] || translations.en;
+    return dict[key] || translations.en[key] || key;
+  }
+
+  setLocale(locale) {
+    if (!translations[locale]) return;
+    this.locale = locale;
+    this.saveLocale(locale);
+    document.documentElement.setAttribute('lang', locale);
+    this.applyTranslations();
+    this.listeners.forEach(cb => { try { cb(locale); } catch { /* noop */ } });
+  }
+
+  onLocaleChange(callback) {
+    this.listeners.push(callback);
+    return () => {
+      const i = this.listeners.indexOf(callback);
+      if (i > -1) this.listeners.splice(i, 1);
+    };
+  }
+
+  applyTranslations() {
+    // Translate elements with data-i18n attribute
+    document.querySelectorAll('[data-i18n]').forEach(el => {
+      const key = el.getAttribute('data-i18n');
+      el.textContent = this.t(key);
+    });
+
+    // Translate placeholders
+    document.querySelectorAll('[data-i18n-placeholder]').forEach(el => {
+      const key = el.getAttribute('data-i18n-placeholder');
+      el.placeholder = this.t(key);
+    });
+
+    // Translate aria-labels
+    document.querySelectorAll('[data-i18n-aria]').forEach(el => {
+      const key = el.getAttribute('data-i18n-aria');
+      el.setAttribute('aria-label', this.t(key));
+    });
+
+    // Update language selector
+    const selector = document.getElementById('lang-selector');
+    if (selector) selector.value = this.locale;
+  }
+
+  createSelector() {
+    const wrapper = document.createElement('div');
+    wrapper.className = 'lang-selector-wrap';
+    wrapper.innerHTML = `
+      <select id="lang-selector" class="lang-selector" aria-label="Language">
+        <option value="en">EN</option>
+        <option value="pl">PL</option>
+      </select>
+    `;
+
+    const select = wrapper.querySelector('select');
+    select.value = this.locale;
+    select.addEventListener('change', () => this.setLocale(select.value));
+
+    const headerInfo = document.querySelector('.header-info');
+    if (headerInfo) {
+      headerInfo.appendChild(wrapper);
+    }
+  }
+
+  getAvailableLocales() {
+    return Object.keys(translations);
+  }
+
+  dispose() {
+    this.listeners = [];
+  }
+}
+
+export const i18n = new I18n();

ui/utils/idle-manager.js

@@ -0,0 +1,83 @@
+// Idle Manager - Pauses animations, polling, and WebSocket pings when user is inactive
+// Reduces CPU/battery usage on idle dashboards
+
+export class IdleManager {
+  constructor() {
+    this.idleTimeout = 3 * 60 * 1000; // 3 minutes
+    this.isIdle = false;
+    this.timer = null;
+    this.callbacks = { idle: [], active: [] };
+    this.events = ['mousemove', 'mousedown', 'keydown', 'touchstart', 'scroll'];
+  }
+
+  init() {
+    this.resetTimer();
+    this.events.forEach(evt => {
+      document.addEventListener(evt, () => this.onActivity(), { passive: true, capture: true });
+    });
+    // Also use Page Visibility API
+    document.addEventListener('visibilitychange', () => {
+      if (document.hidden) {
+        this.goIdle();
+      } else {
+        this.goActive();
+      }
+    });
+  }
+
+  onActivity() {
+    if (this.isIdle) {
+      this.goActive();
+    }
+    this.resetTimer();
+  }
+
+  resetTimer() {
+    if (this.timer) clearTimeout(this.timer);
+    this.timer = setTimeout(() => this.goIdle(), this.idleTimeout);
+  }
+
+  goIdle() {
+    if (this.isIdle) return;
+    this.isIdle = true;
+    console.info('[Idle] User inactive - pausing background tasks');
+    this.notify('idle');
+    document.body.classList.add('user-idle');
+  }
+
+  goActive() {
+    if (!this.isIdle) return;
+    this.isIdle = false;
+    console.info('[Idle] User active - resuming background tasks');
+    this.notify('active');
+    document.body.classList.remove('user-idle');
+    this.resetTimer();
+  }
+
+  onIdle(callback) {
+    this.callbacks.idle.push(callback);
+    return () => {
+      const i = this.callbacks.idle.indexOf(callback);
+      if (i > -1) this.callbacks.idle.splice(i, 1);
+    };
+  }
+
+  onActive(callback) {
+    this.callbacks.active.push(callback);
+    return () => {
+      const i = this.callbacks.active.indexOf(callback);
+      if (i > -1) this.callbacks.active.splice(i, 1);
+    };
+  }
+
+  notify(type) {
+    this.callbacks[type].forEach(cb => {
+      try { cb(); } catch (e) { console.error('[Idle] Callback error:', e); }
+    });
+  }
+
+  dispose() {
+    if (this.timer) clearTimeout(this.timer);
+    this.callbacks = { idle: [], active: [] };
+  }
+}

ui/utils/keyboard-shortcuts.js

@@ -0,0 +1,168 @@
+// Keyboard Shortcuts System
+// Press '?' to show help overlay, number keys to switch tabs, etc.
+
+export class KeyboardShortcuts {
+  constructor(app) {
+    this.app = app;
+    this.shortcuts = new Map();
+    this.helpVisible = false;
+    this.enabled = true;
+    this.overlay = null;
+    this.registerDefaults();
+  }
+
+  registerDefaults() {
+    this.register('?', 'Show keyboard shortcuts', () => this.toggleHelp());
+    this.register('Escape', 'Close overlay / dialog', () => this.closeAll());
+    this.register('1', 'Switch to Dashboard tab', () => this.switchTab('dashboard'));
+    this.register('2', 'Switch to Hardware tab', () => this.switchTab('hardware'));
+    this.register('3', 'Switch to Live Demo tab', () => this.switchTab('demo'));
+    this.register('4', 'Switch to Architecture tab', () => this.switchTab('architecture'));
+    this.register('5', 'Switch to Performance tab', () => this.switchTab('performance'));
+    this.register('6', 'Switch to Applications tab', () => this.switchTab('applications'));
+    this.register('7', 'Switch to Sensing tab', () => this.switchTab('sensing'));
+    this.register('8', 'Switch to Training tab', () => this.switchTab('training'));
+    this.register('p', 'Toggle performance monitor', () => this.togglePerfMonitor());
+    this.register('t', 'Toggle dark/light theme', () => this.toggleTheme());
+  }
+
+  register(key, description, handler) {
+    this.shortcuts.set(key, { description, handler });
+  }
+
+  init() {
+    document.addEventListener('keydown', (e) => this.handleKeydown(e));
+    this.createOverlay();
+  }
+
+  handleKeydown(e) {
+    if (!this.enabled) return;
+
+    // Ignore when typing in inputs
+    const tag = e.target.tagName.toLowerCase();
+    if (tag === 'input' || tag === 'textarea' || tag === 'select' || e.target.isContentEditable) {
+      if (e.key === 'Escape') {
+        e.target.blur();
+      }
+      return;
+    }
+
+    // Ignore modified keys (except shift for '?')
+    if (e.ctrlKey || e.altKey || e.metaKey) return;
+
+    const shortcut = this.shortcuts.get(e.key);
+    if (shortcut) {
+      e.preventDefault();
+      shortcut.handler();
+    }
+  }
+
+  switchTab(tabId) {
+    const tabManager = this.app?.getComponent?.('tabManager');
+    if (tabManager) {
+      tabManager.switchToTab(tabId);
+    }
+  }
+
+  togglePerfMonitor() {
+    const event = new CustomEvent('toggle-perf-monitor');
+    document.dispatchEvent(event);
+  }
+
+  toggleTheme() {
+    const event = new CustomEvent('toggle-theme');
+    document.dispatchEvent(event);
+  }
+
+  closeAll() {
+    if (this.helpVisible) {
+      this.hideHelp();
+    }
+  }
+
+  createOverlay() {
+    this.overlay = document.createElement('div');
+    this.overlay.className = 'shortcuts-overlay';
+    this.overlay.setAttribute('role', 'dialog');
+    this.overlay.setAttribute('aria-label', 'Keyboard shortcuts');
+    this.overlay.setAttribute('aria-modal', 'true');
+    this.overlay.innerHTML = this.buildHelpHTML();
+    this.overlay.addEventListener('click', (e) => {
+      if (e.target === this.overlay) this.hideHelp();
+    });
+    document.body.appendChild(this.overlay);
+  }
+
+  buildHelpHTML() {
+    const groups = [
+      {
+        title: 'Navigation',
+        items: Array.from(this.shortcuts.entries())
+          .filter(([key]) => /^[1-8]$/.test(key))
+      },
+      {
+        title: 'Actions',
+        items: Array.from(this.shortcuts.entries())
+          .filter(([key]) => /^[a-z]$/.test(key))
+      },
+      {
+        title: 'General',
+        items: Array.from(this.shortcuts.entries())
+          .filter(([key]) => !/^[1-8a-z]$/.test(key))
+      }
+    ];
+
+    return `
+      <div class="shortcuts-panel">
+        <div class="shortcuts-header">
+          <h2>Keyboard Shortcuts</h2>
+          <button class="shortcuts-close" aria-label="Close">&times;</button>
+        </div>
+        <div class="shortcuts-body">
+          ${groups.map(group => `
+            <div class="shortcuts-group">
+              <h3>${group.title}</h3>
+              ${group.items.map(([key, { description }]) => `
+                <div class="shortcut-row">
+                  <kbd>${this.formatKey(key)}</kbd>
+                  <span>${description}</span>
+                </div>
+              `).join('')}
+            </div>
+          `).join('')}
+        </div>
+      </div>
+    `;
+  }
+
+  formatKey(key) {
+    const map = { Escape: 'Esc', '?': '?' };
+    return map[key] || key.toUpperCase();
+  }
+
+  toggleHelp() {
+    this.helpVisible ? this.hideHelp() : this.showHelp();
+  }
+
+  showHelp() {
+    this.overlay.classList.add('visible');
+    this.helpVisible = true;
+    // Focus close button
+    const closeBtn = this.overlay.querySelector('.shortcuts-close');
+    if (closeBtn) {
+      closeBtn.onclick = () => this.hideHelp();
+      closeBtn.focus();
+    }
+  }
+
+  hideHelp() {
+    this.overlay.classList.remove('visible');
+    this.helpVisible = false;
+  }
+
+  dispose() {
+    if (this.overlay?.parentNode) {
+      this.overlay.parentNode.removeChild(this.overlay);
+    }
+  }
+}

ui/utils/mobile-nav.js

@@ -0,0 +1,171 @@
+// Mobile Navigation - Hamburger menu for small screens
+// Replaces wrapped tab bar with a slide-out drawer on mobile
+
+export class MobileNav {
+  constructor() {
+    this.drawer = null;
+    this.backdrop = null;
+    this.hamburger = null;
+    this.isOpen = false;
+    this.mql = window.matchMedia('(max-width: 768px)');
+  }
+
+  init() {
+    this.createHamburger();
+    this.createDrawer();
+    this.bindEvents();
+    this.onMediaChange(this.mql);
+  }
+
+  createHamburger() {
+    this.hamburger = document.createElement('button');
+    this.hamburger.className = 'mobile-hamburger';
+    this.hamburger.setAttribute('aria-label', 'Open navigation menu');
+    this.hamburger.setAttribute('aria-expanded', 'false');
+    this.hamburger.innerHTML = `
+      <span class="hamburger-line"></span>
+      <span class="hamburger-line"></span>
+      <span class="hamburger-line"></span>
+    `;
+    this.hamburger.addEventListener('click', () => this.toggle());
+
+    const header = document.querySelector('.header');
+    if (header) {
+      header.style.position = 'relative';
+      header.appendChild(this.hamburger);
+    }
+  }
+
+  createDrawer() {
+    // Backdrop
+    this.backdrop = document.createElement('div');
+    this.backdrop.className = 'mobile-nav-backdrop';
+    this.backdrop.addEventListener('click', () => this.close());
+    document.body.appendChild(this.backdrop);
+
+    // Drawer
+    this.drawer = document.createElement('nav');
+    this.drawer.className = 'mobile-nav-drawer';
+    this.drawer.setAttribute('role', 'navigation');
+    this.drawer.setAttribute('aria-label', 'Mobile navigation');
+
+    // Clone tabs into drawer
+    const tabs = document.querySelectorAll('.nav-tabs .nav-tab');
+    const list = document.createElement('div');
+    list.className = 'mobile-nav-list';
+
+    tabs.forEach(tab => {
+      const item = document.createElement(tab.tagName === 'A' ? 'a' : 'button');
+      item.className = 'mobile-nav-item';
+      item.textContent = tab.textContent.trim();
+
+      if (tab.tagName === 'A') {
+        item.href = tab.href;
+      } else {
+        const tabId = tab.getAttribute('data-tab');
+        item.dataset.tab = tabId;
+        if (tab.classList.contains('active')) {
+          item.classList.add('active');
+        }
+        item.addEventListener('click', () => {
+          // Activate tab via the original tab manager
+          tab.click();
+          this.close();
+          // Update active states in drawer
+          list.querySelectorAll('.mobile-nav-item').forEach(i => i.classList.remove('active'));
+          item.classList.add('active');
+        });
+      }
+
+      list.appendChild(item);
+    });
+
+    this.drawer.appendChild(list);
+
+    // Keyboard hint at bottom
+    const hint = document.createElement('div');
+    hint.className = 'mobile-nav-hint';
+    hint.textContent = 'Tip: Press Ctrl+K for command palette';
+    this.drawer.appendChild(hint);
+
+    document.body.appendChild(this.drawer);
+
+    // Sync active tab when tabs change externally
+    const observer = new MutationObserver(() => {
+      const activeTab = document.querySelector('.nav-tabs .nav-tab.active');
+      if (activeTab) {
+        const activeId = activeTab.getAttribute('data-tab');
+        list.querySelectorAll('.mobile-nav-item').forEach(item => {
+          item.classList.toggle('active', item.dataset.tab === activeId);
+        });
+      }
+    });
+
+    const navTabs = document.querySelector('.nav-tabs');
+    if (navTabs) {
+      observer.observe(navTabs, { attributes: true, subtree: true, attributeFilter: ['class'] });
+    }
+  }
+
+  bindEvents() {
+    // Listen for media query changes
+    this.mql.addEventListener('change', (e) => this.onMediaChange(e));
+
+    // Close on escape
+    document.addEventListener('keydown', (e) => {
+      if (e.key === 'Escape' && this.isOpen) this.close();
+    });
+
+    // Swipe to close
+    let touchStartX = 0;
+    this.drawer.addEventListener('touchstart', (e) => {
+      touchStartX = e.touches[0].clientX;
+    }, { passive: true });
+    this.drawer.addEventListener('touchend', (e) => {
+      const deltaX = e.changedTouches[0].clientX - touchStartX;
+      if (deltaX < -50) this.close(); // Swipe left to close
+    }, { passive: true });
+  }
+
+  onMediaChange(mql) {
+    const isMobile = mql.matches !== undefined ? mql.matches : mql;
+    document.body.classList.toggle('mobile-nav-active', isMobile);
+
+    if (!isMobile && this.isOpen) {
+      this.close();
+    }
+  }
+
+  toggle() {
+    this.isOpen ? this.close() : this.open();
+  }
+
+  open() {
+    this.isOpen = true;
+    this.drawer.classList.add('open');
+    this.backdrop.classList.add('open');
+    this.hamburger.classList.add('open');
+    this.hamburger.setAttribute('aria-expanded', 'true');
+    document.body.style.overflow = 'hidden';
+
+    // Focus first item
+    const first = this.drawer.querySelector('.mobile-nav-item');
+    if (first) first.focus();
+  }
+
+  close() {
+    this.isOpen = false;
+    this.drawer.classList.remove('open');
+    this.backdrop.classList.remove('open');
+    this.hamburger.classList.remove('open');
+    this.hamburger.setAttribute('aria-expanded', 'false');
+    document.body.style.overflow = '';
+  }
+
+  dispose() {
+    this.close();
+    this.hamburger?.remove();
+    this.drawer?.remove();
+    this.backdrop?.remove();
+  }
+}

ui/utils/notification-center.js

@@ -0,0 +1,233 @@
+// Notification Center - Bell icon with event history
+// Persists notifications across page views (sessionStorage)
+
+export class NotificationCenter {
+  constructor() {
+    this.button = null;
+    this.panel = null;
+    this.notifications = [];
+    this.maxNotifications = 50;
+    this.isOpen = false;
+    this.unreadCount = 0;
+    this.storageKey = 'ruview-notifications';
+  }
+
+  init() {
+    this.loadFromStorage();
+    this.createButton();
+    this.createPanel();
+    this.interceptEvents();
+  }
+
+  createButton() {
+    this.button = document.createElement('button');
+    this.button.className = 'notif-bell';
+    this.button.setAttribute('aria-label', 'Notifications');
+    this.button.setAttribute('title', 'Notifications');
+    this.button.innerHTML = `
+      <svg width="16" height="16" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round">
+        <path d="M18 8A6 6 0 0 0 6 8c0 7-3 9-3 9h18s-3-2-3-9"/>
+        <path d="M13.73 21a2 2 0 0 1-3.46 0"/>
+      </svg>
+      <span class="notif-badge" style="display:none">0</span>
+    `;
+    this.button.addEventListener('click', () => this.toggle());
+
+    const headerInfo = document.querySelector('.header-info');
+    if (headerInfo) {
+      headerInfo.prepend(this.button);
+    }
+
+    this.updateBadge();
+  }
+
+  createPanel() {
+    this.panel = document.createElement('div');
+    this.panel.className = 'notif-panel';
+    this.panel.setAttribute('role', 'region');
+    this.panel.setAttribute('aria-label', 'Notification history');
+    this.panel.innerHTML = `
+      <div class="notif-panel-header">
+        <span>Notifications</span>
+        <div class="notif-panel-actions">
+          <button class="notif-mark-read" title="Mark all read">Mark read</button>
+          <button class="notif-clear" title="Clear all">Clear</button>
+        </div>
+      </div>
+      <div class="notif-panel-body"></div>
+    `;
+
+    this.panel.querySelector('.notif-mark-read').addEventListener('click', () => {
+      this.notifications.forEach(n => n.read = true);
+      this.unreadCount = 0;
+      this.updateBadge();
+      this.renderList();
+      this.saveToStorage();
+    });
+
+    this.panel.querySelector('.notif-clear').addEventListener('click', () => {
+      this.notifications = [];
+      this.unreadCount = 0;
+      this.updateBadge();
+      this.renderList();
+      this.saveToStorage();
+    });
+
+    document.body.appendChild(this.panel);
+
+    // Close on outside click
+    document.addEventListener('click', (e) => {
+      if (this.isOpen && !this.panel.contains(e.target) && !this.button.contains(e.target)) {
+        this.close();
+      }
+    });
+  }
+
+  interceptEvents() {
+    // Listen for toast events to capture as notifications
+    const origInfo = console.info;
+    console.info = (...args) => {
+      origInfo.apply(console, args);
+      const msg = args.map(String).join(' ');
+      // Only capture app-relevant messages
+      if (msg.includes('[WS-') || msg.includes('Backend') || msg.includes('Service worker') ||
+          msg.includes('connected') || msg.includes('initialized') || msg.includes('sensing')) {
+        this.add(msg, 'info');
+      }
+    };
+
+    const origWarn = console.warn;
+    console.warn = (...args) => {
+      origWarn.apply(console, args);
+      const msg = args.map(String).join(' ');
+      if (msg.includes('Backend') || msg.includes('unavailable') || msg.includes('[WS-') ||
+          msg.includes('connection') || msg.includes('timeout')) {
+        this.add(msg, 'warning');
+      }
+    };
+
+    const origError = console.error;
+    console.error = (...args) => {
+      origError.apply(console, args);
+      const msg = args.map(String).join(' ');
+      if (msg.includes('Failed') || msg.includes('Error') || msg.includes('error')) {
+        this.add(msg, 'error');
+      }
+    };
+  }
+
+  add(message, type = 'info') {
+    const notification = {
+      id: Date.now() + Math.random(),
+      message: this.truncate(message, 200),
+      type,
+      time: new Date().toISOString(),
+      read: false
+    };
+
+    this.notifications.unshift(notification);
+    if (this.notifications.length > this.maxNotifications) {
+      this.notifications.pop();
+    }
+
+    this.unreadCount++;
+    this.updateBadge();
+    this.saveToStorage();
+
+    if (this.isOpen) {
+      this.renderList();
+    }
+  }
+
+  toggle() {
+    this.isOpen ? this.close() : this.open();
+  }
+
+  open() {
+    this.isOpen = true;
+    this.panel.classList.add('open');
+    this.renderList();
+  }
+
+  close() {
+    this.isOpen = false;
+    this.panel.classList.remove('open');
+  }
+
+  renderList() {
+    const body = this.panel.querySelector('.notif-panel-body');
+    if (this.notifications.length === 0) {
+      body.innerHTML = '<div class="notif-empty">No notifications</div>';
+      return;
+    }
+
+    body.innerHTML = this.notifications.map(n => {
+      const time = new Date(n.time);
+      const ago = this.timeAgo(time);
+      return `
+        <div class="notif-item notif-${n.type} ${n.read ? 'read' : 'unread'}">
+          <div class="notif-item-dot"></div>
+          <div class="notif-item-content">
+            <span class="notif-item-msg">${this.escapeHtml(n.message)}</span>
+            <span class="notif-item-time">${ago}</span>
+          </div>
+        </div>
+      `;
+    }).join('');
+  }
+
+  updateBadge() {
+    const badge = this.button?.querySelector('.notif-badge');
+    if (!badge) return;
+    if (this.unreadCount > 0) {
+      badge.textContent = this.unreadCount > 99 ? '99+' : this.unreadCount;
+      badge.style.display = '';
+    } else {
+      badge.style.display = 'none';
+    }
+  }
+
+  timeAgo(date) {
+    const seconds = Math.floor((new Date() - date) / 1000);
+    if (seconds < 60) return 'just now';
+    if (seconds < 3600) return `${Math.floor(seconds / 60)}m ago`;
+    if (seconds < 86400) return `${Math.floor(seconds / 3600)}h ago`;
+    return date.toLocaleDateString();
+  }
+
+  truncate(str, max) {
+    return str.length > max ? str.slice(0, max) + '...' : str;
+  }
+
+  escapeHtml(text) {
+    const d = document.createElement('div');
+    d.textContent = text;
+    return d.innerHTML;
+  }
+
+  loadFromStorage() {
+    try {
+      const data = sessionStorage.getItem(this.storageKey);
+      if (data) {
+        const parsed = JSON.parse(data);
+        this.notifications = parsed.notifications || [];
+        this.unreadCount = parsed.unreadCount || 0;
+      }
+    } catch { /* noop */ }
+  }
+
+  saveToStorage() {
+    try {
+      sessionStorage.setItem(this.storageKey, JSON.stringify({
+        notifications: this.notifications.slice(0, 20),
+        unreadCount: this.unreadCount
+      }));
+    } catch { /* noop */ }
+  }
+
+  dispose() {
+    this.close();
+    this.button?.remove();
+    this.panel?.remove();
+  }
+}

ui/utils/onboarding.js

@@ -0,0 +1,192 @@
+// Onboarding Tour - Interactive first-run walkthrough
+// Shows on first visit, can be re-triggered from command palette or help
+
+const STORAGE_KEY = 'ruview-onboarding-done';
+
+export class Onboarding {
+  constructor(app) {
+    this.app = app;
+    this.overlay = null;
+    this.currentStep = 0;
+    this.steps = [];
+    this.active = false;
+  }
+
+  init() {
+    this.defineSteps();
+    document.addEventListener('start-onboarding', () => this.start());
+
+    // Auto-start on first visit
+    if (!this.isDone()) {
+      // Delay to let the app render first
+      setTimeout(() => this.start(), 800);
+    }
+  }
+
+  defineSteps() {
+    this.steps = [
+      {
+        title: 'Welcome to RuView',
+        text: 'WiFi-based human pose estimation that works through walls. Let\'s take a quick tour of the dashboard.',
+        target: null, // No highlight, centered
+        position: 'center'
+      },
+      {
+        title: 'System Status',
+        text: 'Monitor your WiFi sensing hardware and API server status in real time. Green means everything is connected.',
+        target: '.live-status-panel',
+        position: 'bottom'
+      },
+      {
+        title: 'Live Demo',
+        text: 'Switch to the Live Demo tab to see real-time pose detection. Connect an ESP32 sensor or use the built-in simulation.',
+        target: '[data-tab="demo"]',
+        position: 'bottom'
+      },
+      {
+        title: 'Sensing Visualization',
+        text: 'The Sensing tab shows a 3D Gaussian splat visualization of WiFi signal fields, with real-time metrics.',
+        target: '[data-tab="sensing"]',
+        position: 'bottom'
+      },
+      {
+        title: 'Keyboard Shortcuts',
+        text: 'Press ? for shortcuts, Ctrl+K for the command palette, or use number keys 1-8 to switch tabs quickly.',
+        target: null,
+        position: 'center'
+      },
+      {
+        title: 'You\'re all set!',
+        text: 'Explore the dashboard, connect hardware, or start the demo. You can replay this tour anytime from the command palette.',
+        target: null,
+        position: 'center'
+      }
+    ];
+  }
+
+  isDone() {
+    try { return localStorage.getItem(STORAGE_KEY) === 'true'; }
+    catch { return false; }
+  }
+
+  markDone() {
+    try { localStorage.setItem(STORAGE_KEY, 'true'); }
+    catch { /* noop */ }
+  }
+
+  start() {
+    this.currentStep = 0;
+    this.active = true;
+    this.createOverlay();
+    this.showStep();
+  }
+
+  createOverlay() {
+    // Remove existing if any
+    this.removeOverlay();
+
+    this.overlay = document.createElement('div');
+    this.overlay.className = 'onboarding-overlay';
+    this.overlay.setAttribute('role', 'dialog');
+    this.overlay.setAttribute('aria-label', 'Onboarding tour');
+    this.overlay.setAttribute('aria-modal', 'true');
+    document.body.appendChild(this.overlay);
+  }
+
+  showStep() {
+    if (this.currentStep >= this.steps.length) {
+      this.finish();
+      return;
+    }
+
+    const step = this.steps[this.currentStep];
+    const total = this.steps.length;
+    const isFirst = this.currentStep === 0;
+    const isLast = this.currentStep === total - 1;
+
+    // Clear highlight
+    document.querySelectorAll('.onboarding-highlight').forEach(el => el.classList.remove('onboarding-highlight'));
+
+    // Highlight target
+    let targetRect = null;
+    if (step.target) {
+      const targetEl = document.querySelector(step.target);
+      if (targetEl) {
+        targetEl.classList.add('onboarding-highlight');
+        targetRect = targetEl.getBoundingClientRect();
+      }
+    }
+
+    this.overlay.innerHTML = `
+      <div class="onboarding-backdrop"></div>
+      <div class="onboarding-tooltip ${step.position}" ${targetRect ? `style="${this.positionTooltip(targetRect, step.position)}"` : ''}>
+        <div class="onboarding-progress">
+          ${Array.from({ length: total }, (_, i) =>
+            `<span class="onboarding-dot ${i === this.currentStep ? 'active' : i < this.currentStep ? 'done' : ''}"></span>`
+          ).join('')}
+        </div>
+        <h3 class="onboarding-title">${step.title}</h3>
+        <p class="onboarding-text">${step.text}</p>
+        <div class="onboarding-actions">
+          <button class="onboarding-skip">Skip tour</button>
+          <div class="onboarding-nav">
+            ${!isFirst ? '<button class="onboarding-prev">Back</button>' : ''}
+            <button class="onboarding-next">${isLast ? 'Get started' : 'Next'}</button>
+          </div>
+        </div>
+      </div>
+    `;
+
+    // Bind events
+    this.overlay.querySelector('.onboarding-skip').addEventListener('click', () => this.finish());
+    this.overlay.querySelector('.onboarding-next').addEventListener('click', () => {
+      this.currentStep++;
+      this.showStep();
+    });
+    const prevBtn = this.overlay.querySelector('.onboarding-prev');
+    if (prevBtn) {
+      prevBtn.addEventListener('click', () => {
+        this.currentStep--;
+        this.showStep();
+      });
+    }
+    this.overlay.querySelector('.onboarding-backdrop').addEventListener('click', () => this.finish());
+
+    // Focus next button
+    this.overlay.querySelector('.onboarding-next').focus();
+
+    // Escape to close
+    this._escHandler = (e) => { if (e.key === 'Escape') this.finish(); };
+    document.addEventListener('keydown', this._escHandler);
+  }
+
+  positionTooltip(rect, position) {
+    const margin = 12;
+    if (position === 'bottom') {
+      return `left: ${Math.max(16, rect.left + rect.width / 2 - 180)}px; top: ${rect.bottom + margin}px;`;
+    }
+    if (position === 'top') {
+      return `left: ${Math.max(16, rect.left + rect.width / 2 - 180)}px; bottom: ${window.innerHeight - rect.top + margin}px;`;
+    }
+    return '';
+  }
+
+  finish() {
+    this.active = false;
+    this.markDone();
+    this.removeOverlay();
+    document.querySelectorAll('.onboarding-highlight').forEach(el => el.classList.remove('onboarding-highlight'));
+    if (this._escHandler) document.removeEventListener('keydown', this._escHandler);
+  }
+
+  removeOverlay() {
+    if (this.overlay?.parentNode) {
+      this.overlay.parentNode.removeChild(this.overlay);
+      this.overlay = null;
+    }
+  }
+
+  dispose() {
+    this.finish();
+  }
+}

ui/utils/perf-monitor.js

@@ -0,0 +1,216 @@
+// Performance Monitor Overlay
+// Shows FPS, memory usage, and network latency in real-time
+
+export class PerfMonitor {
+  constructor() {
+    this.visible = false;
+    this.panel = null;
+    this.frames = [];
+    this.lastFrameTime = 0;
+    this.rafId = null;
+    this.latencyHistory = [];
+    this.maxHistory = 60;
+  }
+
+  init() {
+    this.createPanel();
+    document.addEventListener('toggle-perf-monitor', () => this.toggle());
+  }
+
+  createPanel() {
+    this.panel = document.createElement('div');
+    this.panel.className = 'perf-monitor';
+    this.panel.setAttribute('role', 'status');
+    this.panel.setAttribute('aria-label', 'Performance monitor');
+    this.panel.innerHTML = `
+      <div class="perf-header">
+        <span>PERF</span>
+        <button class="perf-close" aria-label="Close performance monitor">&times;</button>
+      </div>
+      <div class="perf-metrics">
+        <div class="perf-row">
+          <span class="perf-label">FPS</span>
+          <span class="perf-value" data-metric="fps">--</span>
+          <canvas class="perf-spark" data-spark="fps" width="60" height="20"></canvas>
+        </div>
+        <div class="perf-row">
+          <span class="perf-label">MEM</span>
+          <span class="perf-value" data-metric="memory">--</span>
+          <canvas class="perf-spark" data-spark="memory" width="60" height="20"></canvas>
+        </div>
+        <div class="perf-row">
+          <span class="perf-label">LAT</span>
+          <span class="perf-value" data-metric="latency">--</span>
+          <canvas class="perf-spark" data-spark="latency" width="60" height="20"></canvas>
+        </div>
+        <div class="perf-row">
+          <span class="perf-label">DOM</span>
+          <span class="perf-value" data-metric="dom">--</span>
+        </div>
+      </div>
+    `;
+
+    this.panel.querySelector('.perf-close').addEventListener('click', () => this.hide());
+
+    // Make it draggable
+    this.makeDraggable();
+
+    document.body.appendChild(this.panel);
+
+    this.sparkData = {
+      fps: [],
+      memory: [],
+      latency: []
+    };
+  }
+
+  makeDraggable() {
+    const header = this.panel.querySelector('.perf-header');
+    let dragging = false;
+    let offsetX = 0;
+    let offsetY = 0;
+
+    header.addEventListener('mousedown', (e) => {
+      if (e.target.tagName === 'BUTTON') return;
+      dragging = true;
+      offsetX = e.clientX - this.panel.offsetLeft;
+      offsetY = e.clientY - this.panel.offsetTop;
+      header.style.cursor = 'grabbing';
+    });
+
+    document.addEventListener('mousemove', (e) => {
+      if (!dragging) return;
+      this.panel.style.left = `${e.clientX - offsetX}px`;
+      this.panel.style.top = `${e.clientY - offsetY}px`;
+      this.panel.style.right = 'auto';
+      this.panel.style.bottom = 'auto';
+    });
+
+    document.addEventListener('mouseup', () => {
+      dragging = false;
+      header.style.cursor = 'grab';
+    });
+  }
+
+  toggle() {
+    this.visible ? this.hide() : this.show();
+  }
+
+  show() {
+    this.panel.classList.add('visible');
+    this.visible = true;
+    this.lastFrameTime = performance.now();
+    this.tick();
+  }
+
+  hide() {
+    this.panel.classList.remove('visible');
+    this.visible = false;
+    if (this.rafId) {
+      cancelAnimationFrame(this.rafId);
+      this.rafId = null;
+    }
+  }
+
+  tick() {
+    if (!this.visible) return;
+
+    const now = performance.now();
+    this.frames.push(now);
+
+    // Keep only last second of frames
+    while (this.frames.length > 0 && this.frames[0] < now - 1000) {
+      this.frames.shift();
+    }
+
+    const fps = this.frames.length;
+    this.updateMetric('fps', fps, 'fps');
+    this.pushSpark('fps', fps, 0, 120);
+
+    // Memory (if available)
+    if (performance.memory) {
+      const mb = Math.round(performance.memory.usedJSHeapSize / (1024 * 1024));
+      const total = Math.round(performance.memory.jsHeapSizeLimit / (1024 * 1024));
+      this.updateMetric('memory', `${mb}MB`, mb > total * 0.8 ? 'warning' : 'ok');
+      this.pushSpark('memory', mb, 0, total);
+    } else {
+      this.updateMetric('memory', 'N/A', 'na');
+    }
+
+    // DOM node count
+    const domNodes = document.querySelectorAll('*').length;
+    this.updateMetric('dom', domNodes, domNodes > 3000 ? 'warning' : 'ok');
+
+    // Estimate latency from last navigation or resource timing
+    this.measureLatency();
+
+    this.rafId = requestAnimationFrame(() => this.tick());
+  }
+
+  measureLatency() {
+    const entries = performance.getEntriesByType('resource');
+    if (entries.length > 0) {
+      const last = entries[entries.length - 1];
+      const latency = Math.round(last.responseEnd - last.requestStart);
+      if (latency > 0 && latency < 30000) {
+        this.latencyHistory.push(latency);
+        if (this.latencyHistory.length > this.maxHistory) {
+          this.latencyHistory.shift();
+        }
+        const avg = Math.round(
+          this.latencyHistory.reduce((a, b) => a + b, 0) / this.latencyHistory.length
+        );
+        this.updateMetric('latency', `${avg}ms`, avg > 500 ? 'warning' : 'ok');
+        this.pushSpark('latency', avg, 0, 1000);
+      }
+    }
+  }
+
+  updateMetric(metric, value, status) {
+    const el = this.panel.querySelector(`[data-metric="${metric}"]`);
+    if (!el) return;
+    el.textContent = value;
+    el.className = `perf-value perf-${status}`;
+  }
+
+  pushSpark(name, value, min, max) {
+    const data = this.sparkData[name];
+    if (!data) return;
+    data.push(value);
+    if (data.length > 60) data.shift();
+    this.drawSpark(name, data, min, max);
+  }
+
+  drawSpark(name, data, min, max) {
+    const canvas = this.panel.querySelector(`[data-spark="${name}"]`);
+    if (!canvas) return;
+    const ctx = canvas.getContext('2d');
+    const w = canvas.width;
+    const h = canvas.height;
+
+    ctx.clearRect(0, 0, w, h);
+
+    if (data.length < 2) return;
+
+    const range = max - min || 1;
+    ctx.beginPath();
+    ctx.strokeStyle = 'rgba(50, 184, 198, 0.8)';
+    ctx.lineWidth = 1.5;
+
+    data.forEach((val, i) => {
+      const x = (i / (data.length - 1)) * w;
+      const y = h - ((val - min) / range) * h;
+      if (i === 0) ctx.moveTo(x, y);
+      else ctx.lineTo(x, y);
+    });
+
+    ctx.stroke();
+  }
+
+  dispose() {
+    this.hide();
+    if (this.panel?.parentNode) {
+      this.panel.parentNode.removeChild(this.panel);
+    }
+  }
+}

ui/utils/pose-renderer.js

@@ -651,14 +651,18 @@ export class PoseRenderer {
     this.performanceMetrics.frameCount++;
 
     if (this.performanceMetrics.lastFrameTime > 0) {
-      const deltaTime = currentTime - this.performanceMetrics.lastFrameTime;
+      // Clamp to a minimum dt so consecutive frames within the same
+      // performance.now() tick don't yield Infinity (issue #519 Bug 2).
+      // 1 ms floor caps the displayed FPS at 1000 — far above any real
+      // render rate, but finite so the EMA stays well-defined.
+      const deltaTime = Math.max(currentTime - this.performanceMetrics.lastFrameTime, 1);
       const fps = 1000 / deltaTime;
-      
+
       // Update average FPS using exponential moving average
       if (this.performanceMetrics.averageFps === 0) {
         this.performanceMetrics.averageFps = fps;
       } else {
-        this.performanceMetrics.averageFps = 
+        this.performanceMetrics.averageFps =
           (this.performanceMetrics.averageFps * 0.9) + (fps * 0.1);
       }
     }

ui/utils/quick-settings.js

@@ -0,0 +1,191 @@
+// Quick Settings Panel - Centralized configuration for all UI features
+// Accessible via gear icon in header
+
+export class QuickSettings {
+  constructor(app) {
+    this.app = app;
+    this.button = null;
+    this.panel = null;
+    this.isOpen = false;
+  }
+
+  init() {
+    this.createButton();
+    this.createPanel();
+  }
+
+  createButton() {
+    this.button = document.createElement('button');
+    this.button.className = 'settings-gear';
+    this.button.setAttribute('aria-label', 'Settings');
+    this.button.setAttribute('title', 'Quick settings');
+    this.button.innerHTML = `<svg width="16" height="16" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round"><circle cx="12" cy="12" r="3"/><path d="M19.4 15a1.65 1.65 0 0 0 .33 1.82l.06.06a2 2 0 0 1 0 2.83 2 2 0 0 1-2.83 0l-.06-.06a1.65 1.65 0 0 0-1.82-.33 1.65 1.65 0 0 0-1 1.51V21a2 2 0 0 1-2 2 2 2 0 0 1-2-2v-.09A1.65 1.65 0 0 0 9 19.4a1.65 1.65 0 0 0-1.82.33l-.06.06a2 2 0 0 1-2.83 0 2 2 0 0 1 0-2.83l.06-.06A1.65 1.65 0 0 0 4.68 15a1.65 1.65 0 0 0-1.51-1H3a2 2 0 0 1-2-2 2 2 0 0 1 2-2h.09A1.65 1.65 0 0 0 4.6 9a1.65 1.65 0 0 0-.33-1.82l-.06-.06a2 2 0 0 1 0-2.83 2 2 0 0 1 2.83 0l.06.06A1.65 1.65 0 0 0 9 4.68a1.65 1.65 0 0 0 1-1.51V3a2 2 0 0 1 2-2 2 2 0 0 1 2 2v.09a1.65 1.65 0 0 0 1 1.51 1.65 1.65 0 0 0 1.82-.33l.06-.06a2 2 0 0 1 2.83 0 2 2 0 0 1 0 2.83l-.06.06A1.65 1.65 0 0 0 19.4 9a1.65 1.65 0 0 0 1.51 1H21a2 2 0 0 1 2 2 2 2 0 0 1-2 2h-.09a1.65 1.65 0 0 0-1.51 1z"/></svg>`;
+
+    this.button.addEventListener('click', () => this.toggle());
+
+    const headerInfo = document.querySelector('.header-info');
+    if (headerInfo) headerInfo.appendChild(this.button);
+  }
+
+  createPanel() {
+    this.panel = document.createElement('div');
+    this.panel.className = 'quick-settings-panel';
+    this.panel.setAttribute('role', 'dialog');
+    this.panel.setAttribute('aria-label', 'Quick settings');
+
+    this.panel.innerHTML = `
+      <div class="qs-header">
+        <h3>Settings</h3>
+        <button class="qs-close" aria-label="Close">&times;</button>
+      </div>
+      <div class="qs-body">
+        <div class="qs-section">
+          <div class="qs-section-title">Display</div>
+          <label class="qs-toggle">
+            <span>Reduced motion</span>
+            <input type="checkbox" id="qs-reduced-motion" ${this.prefersReducedMotion() ? 'checked' : ''}>
+            <span class="qs-switch"></span>
+          </label>
+          <label class="qs-toggle">
+            <span>High contrast</span>
+            <input type="checkbox" id="qs-high-contrast">
+            <span class="qs-switch"></span>
+          </label>
+          <label class="qs-toggle">
+            <span>Compact mode</span>
+            <input type="checkbox" id="qs-compact" ${this.getSetting('compact') ? 'checked' : ''}>
+            <span class="qs-switch"></span>
+          </label>
+        </div>
+        <div class="qs-section">
+          <div class="qs-section-title">Monitoring</div>
+          <label class="qs-toggle">
+            <span>Health polling</span>
+            <input type="checkbox" id="qs-health-polling" checked>
+            <span class="qs-switch"></span>
+          </label>
+          <label class="qs-toggle">
+            <span>Auto-reconnect</span>
+            <input type="checkbox" id="qs-auto-reconnect" checked>
+            <span class="qs-switch"></span>
+          </label>
+        </div>
+        <div class="qs-section">
+          <div class="qs-section-title">Data</div>
+          <div class="qs-row">
+            <span>Clear local data</span>
+            <button class="qs-btn-danger" id="qs-clear-data">Clear</button>
+          </div>
+          <div class="qs-row">
+            <span>Reset onboarding</span>
+            <button class="qs-btn" id="qs-reset-tour">Reset</button>
+          </div>
+        </div>
+      </div>
+    `;
+
+    // Bind events
+    this.panel.querySelector('.qs-close').addEventListener('click', () => this.close());
+
+    this.panel.querySelector('#qs-reduced-motion').addEventListener('change', (e) => {
+      document.body.classList.toggle('reduced-motion', e.target.checked);
+      this.saveSetting('reduced-motion', e.target.checked);
+    });
+
+    this.panel.querySelector('#qs-high-contrast').addEventListener('change', (e) => {
+      document.body.classList.toggle('high-contrast', e.target.checked);
+      this.saveSetting('high-contrast', e.target.checked);
+    });
+
+    this.panel.querySelector('#qs-compact').addEventListener('change', (e) => {
+      document.body.classList.toggle('compact-mode', e.target.checked);
+      this.saveSetting('compact', e.target.checked);
+    });
+
+    this.panel.querySelector('#qs-health-polling').addEventListener('change', (e) => {
+      const healthService = this.app?.components?.dashboard?.healthSubscription;
+      if (e.target.checked) {
+        // Resume would need import - just dispatch event
+        document.dispatchEvent(new CustomEvent('health-polling-toggle', { detail: true }));
+      } else {
+        document.dispatchEvent(new CustomEvent('health-polling-toggle', { detail: false }));
+      }
+    });
+
+    this.panel.querySelector('#qs-clear-data').addEventListener('click', () => {
+      try {
+        localStorage.clear();
+        sessionStorage.clear();
+      } catch { /* noop */ }
+      this.close();
+      window.location.reload();
+    });
+
+    this.panel.querySelector('#qs-reset-tour').addEventListener('click', () => {
+      try { localStorage.removeItem('ruview-onboarding-done'); } catch { /* noop */ }
+      this.close();
+      document.dispatchEvent(new CustomEvent('start-onboarding'));
+    });
+
+    document.body.appendChild(this.panel);
+
+    // Close on outside click
+    document.addEventListener('click', (e) => {
+      if (this.isOpen && !this.panel.contains(e.target) && !this.button.contains(e.target)) {
+        this.close();
+      }
+    });
+
+    // Apply saved settings on init
+    this.applySavedSettings();
+  }
+
+  applySavedSettings() {
+    if (this.getSetting('reduced-motion') || this.prefersReducedMotion()) {
+      document.body.classList.add('reduced-motion');
+      const cb = this.panel.querySelector('#qs-reduced-motion');
+      if (cb) cb.checked = true;
+    }
+    if (this.getSetting('high-contrast')) {
+      document.body.classList.add('high-contrast');
+      const cb = this.panel.querySelector('#qs-high-contrast');
+      if (cb) cb.checked = true;
+    }
+    if (this.getSetting('compact')) {
+      document.body.classList.add('compact-mode');
+    }
+  }
+
+  prefersReducedMotion() {
+    return window.matchMedia('(prefers-reduced-motion: reduce)').matches;
+  }
+
+  toggle() {
+    this.isOpen ? this.close() : this.open();
+  }
+
+  open() {
+    this.isOpen = true;
+    this.panel.classList.add('open');
+  }
+
+  close() {
+    this.isOpen = false;
+    this.panel.classList.remove('open');
+  }
+
+  getSetting(key) {
+    try { return JSON.parse(localStorage.getItem(`ruview-setting-${key}`)); }
+    catch { return null; }
+  }
+
+  saveSetting(key, value) {
+    try { localStorage.setItem(`ruview-setting-${key}`, JSON.stringify(value)); }
+    catch { /* noop */ }
+  }
+
+  dispose() {
+    this.button?.remove();
+    this.panel?.remove();
+  }
+}

ui/utils/router.js

@@ -0,0 +1,47 @@
+// Hash Router - Makes tabs bookmarkable and shareable
+// URL format: #dashboard, #demo, #sensing, etc.
+
+export class Router {
+  constructor(app) {
+    this.app = app;
+    this.validTabs = ['dashboard', 'hardware', 'demo', 'architecture', 'performance', 'applications', 'sensing', 'training'];
+  }
+
+  init() {
+    // Navigate to hash on load
+    this.onHashChange();
+
+    // Listen for hash changes (back/forward navigation)
+    window.addEventListener('hashchange', () => this.onHashChange());
+
+    // Update hash when tab changes
+    const tabManager = this.app?.getComponent?.('tabManager');
+    if (tabManager) {
+      tabManager.onTabChange((tabId) => {
+        this.setHash(tabId);
+      });
+    }
+  }
+
+  onHashChange() {
+    const hash = window.location.hash.replace('#', '').toLowerCase();
+    if (hash && this.validTabs.includes(hash)) {
+      const tabManager = this.app?.getComponent?.('tabManager');
+      if (tabManager && tabManager.getActiveTab() !== hash) {
+        tabManager.switchToTab(hash);
+      }
+    }
+  }
+
+  setHash(tabId) {
+    // Only update if different to avoid infinite loop
+    const current = window.location.hash.replace('#', '');
+    if (current !== tabId) {
+      history.replaceState(null, '', `#${tabId}`);
+    }
+  }
+
+  dispose() {
+    // No explicit cleanup needed - event listeners are on window
+  }
+}

ui/utils/screenshot.js

@@ -0,0 +1,160 @@
+// Screenshot Tool - Capture current tab view as PNG
+// Uses html2canvas-like approach with native Canvas API
+
+import { toastManager } from './toast.js';
+
+export class ScreenshotTool {
+  constructor() {
+    this.capturing = false;
+  }
+
+  init() {
+    document.addEventListener('take-screenshot', () => this.capture());
+  }
+
+  async capture() {
+    if (this.capturing) return;
+    this.capturing = true;
+
+    const activeTab = document.querySelector('.tab-content.active');
+    if (!activeTab) {
+      toastManager.warning('No active tab to capture');
+      this.capturing = false;
+      return;
+    }
+
+    try {
+      // Flash effect
+      this.flashEffect();
+
+      // Try native ClipboardItem API first (modern browsers)
+      if (typeof ClipboardItem !== 'undefined') {
+        await this.captureToClipboard(activeTab);
+        toastManager.success('Screenshot copied to clipboard', { duration: 3000 });
+      } else {
+        // Fallback: download as file
+        await this.captureToFile(activeTab);
+        toastManager.success('Screenshot saved as file', { duration: 3000 });
+      }
+    } catch (err) {
+      console.error('Screenshot failed:', err);
+      // Fallback: capture visible canvases + basic layout
+      try {
+        await this.captureCanvasFallback(activeTab);
+        toastManager.success('Screenshot saved (canvas only)', { duration: 3000 });
+      } catch {
+        toastManager.error('Screenshot failed. Try using browser\'s built-in screenshot tool.');
+      }
+    }
+
+    this.capturing = false;
+  }
+
+  async captureToClipboard(element) {
+    const canvas = await this.renderToCanvas(element);
+    const blob = await new Promise(resolve => canvas.toBlob(resolve, 'image/png'));
+    await navigator.clipboard.write([
+      new ClipboardItem({ 'image/png': blob })
+    ]);
+  }
+
+  async captureToFile(element) {
+    const canvas = await this.renderToCanvas(element);
+    const dataUrl = canvas.toDataURL('image/png');
+    const link = document.createElement('a');
+    link.href = dataUrl;
+    link.download = `ruview-screenshot-${this.timestamp()}.png`;
+    link.click();
+  }
+
+  async captureCanvasFallback(element) {
+    // Find any canvas elements and merge them
+    const canvases = element.querySelectorAll('canvas');
+    if (canvases.length === 0) throw new Error('No canvas elements found');
+
+    const firstCanvas = canvases[0];
+    const mergedCanvas = document.createElement('canvas');
+    mergedCanvas.width = firstCanvas.width || 800;
+    mergedCanvas.height = firstCanvas.height || 600;
+    const ctx = mergedCanvas.getContext('2d');
+
+    // Dark background
+    ctx.fillStyle = '#1f2121';
+    ctx.fillRect(0, 0, mergedCanvas.width, mergedCanvas.height);
+
+    canvases.forEach(c => {
+      try { ctx.drawImage(c, 0, 0); } catch { /* tainted canvas */ }
+    });
+
+    // Add timestamp watermark
+    ctx.fillStyle = 'rgba(255,255,255,0.3)';
+    ctx.font = '12px monospace';
+    ctx.fillText(`RuView - ${new Date().toLocaleString()}`, 10, mergedCanvas.height - 10);
+
+    const dataUrl = mergedCanvas.toDataURL('image/png');
+    const link = document.createElement('a');
+    link.href = dataUrl;
+    link.download = `ruview-screenshot-${this.timestamp()}.png`;
+    link.click();
+  }
+
+  async renderToCanvas(element) {
+    // Simple DOM-to-canvas renderer for basic content
+    const rect = element.getBoundingClientRect();
+    const canvas = document.createElement('canvas');
+    const scale = window.devicePixelRatio || 1;
+    canvas.width = rect.width * scale;
+    canvas.height = rect.height * scale;
+    const ctx = canvas.getContext('2d');
+    ctx.scale(scale, scale);
+
+    // Render background
+    const styles = getComputedStyle(element);
+    ctx.fillStyle = styles.backgroundColor || '#1f2121';
+    ctx.fillRect(0, 0, rect.width, rect.height);
+
+    // Render existing canvases
+    const canvases = element.querySelectorAll('canvas');
+    canvases.forEach(c => {
+      const cRect = c.getBoundingClientRect();
+      const x = cRect.left - rect.left;
+      const y = cRect.top - rect.top;
+      try { ctx.drawImage(c, x, y, cRect.width, cRect.height); } catch { /* tainted */ }
+    });
+
+    // Render text content
+    ctx.fillStyle = styles.color || '#e0e0e0';
+    ctx.font = `14px ${styles.fontFamily || 'sans-serif'}`;
+    let textY = 30;
+    element.querySelectorAll('h2, h3, .stat-value, .metric-label').forEach(el => {
+      const text = el.textContent.trim();
+      if (text && textY < rect.height - 20) {
+        const elStyles = getComputedStyle(el);
+        ctx.font = `${elStyles.fontWeight} ${elStyles.fontSize} ${styles.fontFamily || 'sans-serif'}`;
+        ctx.fillStyle = elStyles.color;
+        ctx.fillText(text, 20, textY);
+        textY += parseInt(elStyles.fontSize) + 8;
+      }
+    });
+
+    // Watermark
+    ctx.fillStyle = 'rgba(255,255,255,0.15)';
+    ctx.font = '11px monospace';
+    ctx.fillText(`RuView - ${new Date().toLocaleString()}`, 10, rect.height - 10);
+
+    return canvas;
+  }
+
+  flashEffect() {
+    const flash = document.createElement('div');
+    flash.className = 'screenshot-flash';
+    document.body.appendChild(flash);
+    flash.addEventListener('animationend', () => flash.remove());
+  }
+
+  timestamp() {
+    return new Date().toISOString().replace(/[:.]/g, '-').slice(0, 19);
+  }
+
+  dispose() {}
+}

ui/utils/theme-toggle.js

@@ -0,0 +1,86 @@
+// Theme Toggle - Manual dark/light mode switch with persistence
+
+export class ThemeToggle {
+  constructor() {
+    this.button = null;
+    this.currentTheme = this.getSavedTheme() || this.getSystemTheme();
+  }
+
+  init() {
+    this.createButton();
+    this.applyTheme(this.currentTheme);
+    document.addEventListener('toggle-theme', () => this.toggle());
+
+    // Listen for system theme changes
+    window.matchMedia('(prefers-color-scheme: dark)').addEventListener('change', (e) => {
+      if (!this.getSavedTheme()) {
+        this.applyTheme(e.matches ? 'dark' : 'light');
+      }
+    });
+  }
+
+  createButton() {
+    this.button = document.createElement('button');
+    this.button.className = 'theme-toggle';
+    this.button.setAttribute('aria-label', 'Toggle dark/light theme');
+    this.button.setAttribute('title', 'Toggle theme (T)');
+    this.updateIcon();
+    this.button.addEventListener('click', () => this.toggle());
+
+    // Insert into header
+    const headerInfo = document.querySelector('.header-info');
+    if (headerInfo) {
+      headerInfo.prepend(this.button);
+    } else {
+      const header = document.querySelector('.header');
+      if (header) header.appendChild(this.button);
+    }
+  }
+
+  toggle() {
+    this.currentTheme = this.currentTheme === 'dark' ? 'light' : 'dark';
+    this.applyTheme(this.currentTheme);
+    this.saveTheme(this.currentTheme);
+  }
+
+  applyTheme(theme) {
+    this.currentTheme = theme;
+    document.documentElement.setAttribute('data-color-scheme', theme);
+    this.updateIcon();
+  }
+
+  updateIcon() {
+    if (!this.button) return;
+    const isDark = this.currentTheme === 'dark';
+    this.button.innerHTML = isDark
+      ? '<svg width="18" height="18" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round"><circle cx="12" cy="12" r="5"/><line x1="12" y1="1" x2="12" y2="3"/><line x1="12" y1="21" x2="12" y2="23"/><line x1="4.22" y1="4.22" x2="5.64" y2="5.64"/><line x1="18.36" y1="18.36" x2="19.78" y2="19.78"/><line x1="1" y1="12" x2="3" y2="12"/><line x1="21" y1="12" x2="23" y2="12"/><line x1="4.22" y1="19.78" x2="5.64" y2="18.36"/><line x1="18.36" y1="5.64" x2="19.78" y2="4.22"/></svg>'
+      : '<svg width="18" height="18" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round"><path d="M21 12.79A9 9 0 1 1 11.21 3 7 7 0 0 0 21 12.79z"/></svg>';
+    this.button.setAttribute('aria-label', isDark ? 'Switch to light theme' : 'Switch to dark theme');
+  }
+
+  getSystemTheme() {
+    return window.matchMedia('(prefers-color-scheme: dark)').matches ? 'dark' : 'light';
+  }
+
+  getSavedTheme() {
+    try {
+      return localStorage.getItem('ruview-theme');
+    } catch {
+      return null;
+    }
+  }
+
+  saveTheme(theme) {
+    try {
+      localStorage.setItem('ruview-theme', theme);
+    } catch {
+      // localStorage not available
+    }
+  }
+
+  dispose() {
+    if (this.button?.parentNode) {
+      this.button.parentNode.removeChild(this.button);
+    }
+  }
+}

ui/utils/toast.js

@@ -0,0 +1,150 @@
+// Enhanced Toast Notification System
+// Supports multiple types: success, error, warning, info
+// Stacking, auto-dismiss, manual close, progress bar
+
+export class ToastManager {
+  constructor() {
+    this.container = null;
+    this.toasts = [];
+    this.idCounter = 0;
+  }
+
+  init() {
+    this.container = document.createElement('div');
+    this.container.className = 'toast-container';
+    this.container.setAttribute('role', 'region');
+    this.container.setAttribute('aria-label', 'Notifications');
+    this.container.setAttribute('aria-live', 'polite');
+    document.body.appendChild(this.container);
+  }
+
+  show(message, options = {}) {
+    const {
+      type = 'info',
+      duration = 5000,
+      closable = true,
+      icon = null,
+      action = null
+    } = options;
+
+    const id = ++this.idCounter;
+    const toast = document.createElement('div');
+    toast.className = `toast toast-${type}`;
+    toast.setAttribute('role', 'alert');
+    toast.dataset.toastId = id;
+
+    const iconMap = {
+      success: '<svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M13.5 4.5L6 12L2.5 8.5" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round"/></svg>',
+      error: '<svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M12 4L4 12M4 4l8 8" stroke="currentColor" stroke-width="2" stroke-linecap="round"/></svg>',
+      warning: '<svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M8 5v4M8 11h.01" stroke="currentColor" stroke-width="2" stroke-linecap="round"/><path d="M7.13 2.22L1.09 12.5a1 1 0 00.87 1.5h12.08a1 1 0 00.87-1.5L8.87 2.22a1 1 0 00-1.74 0z" stroke="currentColor" stroke-width="1.5"/></svg>',
+      info: '<svg width="16" height="16" viewBox="0 0 16 16" fill="none"><circle cx="8" cy="8" r="6.5" stroke="currentColor" stroke-width="1.5"/><path d="M8 7v4M8 5h.01" stroke="currentColor" stroke-width="2" stroke-linecap="round"/></svg>'
+    };
+
+    const displayIcon = icon || iconMap[type] || iconMap.info;
+
+    toast.innerHTML = `
+      <div class="toast-icon">${displayIcon}</div>
+      <div class="toast-content">
+        <span class="toast-message">${this.escapeHtml(message)}</span>
+        ${action ? `<button class="toast-action">${this.escapeHtml(action.label)}</button>` : ''}
+      </div>
+      ${closable ? '<button class="toast-dismiss" aria-label="Dismiss">&times;</button>' : ''}
+      ${duration > 0 ? '<div class="toast-progress"><div class="toast-progress-bar"></div></div>' : ''}
+    `;
+
+    // Bind events
+    if (closable) {
+      toast.querySelector('.toast-dismiss').addEventListener('click', () => this.dismiss(id));
+    }
+    if (action?.onClick) {
+      toast.querySelector('.toast-action')?.addEventListener('click', () => {
+        action.onClick();
+        this.dismiss(id);
+      });
+    }
+
+    this.container.appendChild(toast);
+
+    // Trigger enter animation
+    requestAnimationFrame(() => toast.classList.add('toast-enter'));
+
+    // Auto-dismiss
+    let timeoutId = null;
+    if (duration > 0) {
+      const progressBar = toast.querySelector('.toast-progress-bar');
+      if (progressBar) {
+        progressBar.style.animationDuration = `${duration}ms`;
+        progressBar.classList.add('toast-progress-animate');
+      }
+      timeoutId = setTimeout(() => this.dismiss(id), duration);
+    }
+
+    // Pause on hover
+    toast.addEventListener('mouseenter', () => {
+      if (timeoutId) {
+        clearTimeout(timeoutId);
+        const bar = toast.querySelector('.toast-progress-bar');
+        if (bar) bar.style.animationPlayState = 'paused';
+      }
+    });
+    toast.addEventListener('mouseleave', () => {
+      if (duration > 0) {
+        const bar = toast.querySelector('.toast-progress-bar');
+        if (bar) bar.style.animationPlayState = 'running';
+        timeoutId = setTimeout(() => this.dismiss(id), duration / 2);
+      }
+    });
+
+    this.toasts.push({ id, toast, timeoutId });
+    return id;
+  }
+
+  dismiss(id) {
+    const index = this.toasts.findIndex(t => t.id === id);
+    if (index === -1) return;
+
+    const { toast, timeoutId } = this.toasts[index];
+    if (timeoutId) clearTimeout(timeoutId);
+
+    toast.classList.add('toast-exit');
+    toast.addEventListener('animationend', () => {
+      toast.remove();
+    }, { once: true });
+
+    this.toasts.splice(index, 1);
+  }
+
+  success(message, options = {}) {
+    return this.show(message, { ...options, type: 'success' });
+  }
+
+  error(message, options = {}) {
+    return this.show(message, { ...options, type: 'error', duration: options.duration || 8000 });
+  }
+
+  warning(message, options = {}) {
+    return this.show(message, { ...options, type: 'warning', duration: options.duration || 6000 });
+  }
+
+  info(message, options = {}) {
+    return this.show(message, { ...options, type: 'info' });
+  }
+
+  escapeHtml(text) {
+    const div = document.createElement('div');
+    div.textContent = text;
+    return div.innerHTML;
+  }
+
+  dispose() {
+    this.toasts.forEach(({ timeoutId }) => {
+      if (timeoutId) clearTimeout(timeoutId);
+    });
+    this.toasts = [];
+    if (this.container?.parentNode) {
+      this.container.parentNode.removeChild(this.container);
+    }
+  }
+}
+
+export const toastManager = new ToastManager();