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Claude
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Second increment of the unified RF spatial world model, applying the architectural correction that the 56-bin canonical tensor must not be the authoritative format, and moving the control plane from passive sensing to programmable perception. - RfFrameV2 (ADR-279): authoritative native RF record — native complex IQ preserved (proven byte-untouched by the derived view), explicit validity masks, declared PhaseState, TX/RX poses + antenna geometry, calibration/quality state, and construction-time provenance rules: Synthetic ⇒ L0Simulation, Measured ⇒ ≥ L1CapturedReplay (the L0–L5 evidence ladder is now a type). Canonical tensor demoted to a mask-aware derived view through the shared adapter normalization. New modalities: WifiCir, WifiBfReport, FmcwRangeAzimuth, FmcwDopplerAzimuth. IEEE P3162 synthetic-aperture import profile. - Active sensing control plane (ADR-280, control.rs): SensingTask admission (raw export always refused; identity requires consent), SensingAction/InformationGoal, age-of-information planner with measured 95% sensing-traffic reduction vs uniform refresh, fail-closed CoherentSensorGroup fusion (time/phase/geometry bounds, five denial paths tested), policy-authorized RIS actuation receipts, purpose-scoped TaskSufficientRepresentation leakage validation. - BLE Channel Sounding (ADR-281): adapter + ble_cs_range with phase-slope and RTT as separate cross-validated evidence — exact recovery on synthetic tones, relay-style divergence flagged instead of averaged. Delay-Doppler-native FieldAxis + delay_doppler_map (unit-peak tone test). - Factorized pose (ADR-281, RePos): relative skeleton on the content representation, root on the geometry-conditioned one, calibrated per-joint uncertainties; room-shortcut leakage experiment: held-out MPJPE 0.0003 m vs 0.2534 m monolithic; 740 params (<2% structured budget). Age gate input now log(1+age_ms); gradient check re-proven. - Gaussian primitives: first_seen_ns, doppler_variance, bounded source_receipts lineage merged on fusion. PartitionKey gains a session dimension; SplitManifest certifies disjointness across all seven leakage dimensions. - ADR-282: ecosystem positioning — RuView as the edge RF perception runtime under RuField/RuVector/MetaHarness; evidence-ladder policy. Validation: ruview-unified 84 unit + 3 acceptance tests, 0 failed, clippy-clean; workspace 3,789 passed 0 failed (--exclude wifi-densepose-desktop, GTK headers unavailable in container); Python proof VERDICT PASS. Docker images unaffected: no shipped binary consumes this crate yet (Dockerfile.rust builds sensing-server / cog-ha-matter / homecore-server only; Dockerfile.python builds untouched archive/v1). Co-Authored-By: claude-flow <ruv@ruv.net> Claude-Session: https://claude.ai/code/session_01Q1R5zhz6sSfXGRXpgBwpFX
50 lines
5.0 KiB
Markdown
50 lines
5.0 KiB
Markdown
# ADR-281: New modality surfaces — BLE Channel Sounding, delay-Doppler-native tensors, P3162 import, and factorized pose
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| Field | Value |
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| **Status** | Accepted — **implemented** (`adapters.rs` BLE CS + ranging evidence, `tensor.rs::delay_doppler_map`, `frame.rs` P3162 import profile, `heads.rs` factorized pose; 8 new test suites) |
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| **Date** | 2026-07-26 |
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| **Parent** | ADR-273; extends ADR-274 |
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| **Relates to** | ADR-279 (`FieldAxis` native axes), ADR-152 (geometry conditioning intake), ADR-021/263 (radar hardware) |
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## 0. PROOF discipline
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Grades per ADR-273 §0. Bluetooth SIG cm-level claims vs the ~20–50 cm practical review, OTFS ISAC field trials, IEEE P3162, PerceptAlign's >60 % cross-domain error reduction, and RePos's 10–21 % MPJPE gains are EXTERNAL-UNVERIFIED design inputs. Our numbers below are MEASURED-CODE / MEASURED-SYNTHETIC.
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## 1. BLE Channel Sounding (§2) — likely the fastest path to consumer-scale spatial anchoring
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`BleCsFrame` carries per-frequency-step round-trip tone phases plus optional RTT. Two rules:
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- **Phase-based ranging and RTT are separate evidence sources.** `ble_cs_range` computes both — `d_phase = |dθ/df|·c/4π` from the unwrapped phase-vs-frequency slope, `d_rtt = rtt·c/2` — and *cross-validates* instead of averaging. Agreement raises confidence; divergence beyond 0.5 m yields `RangingAnomaly::Divergent` (multipath bias, relay attack, timing fault, or calibration problem) with confidence capped ≤ 0.2. Measured: exact recovery at 1.5/5/12 m (< 1 µm error on clean synthetic phases, 40 steps × 1 MHz); a relay-style RTT inflation to ~51 m against a 5 m phase estimate is flagged, not blended (`ble_cs_flags_relay_style_divergence_instead_of_averaging`).
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- The tensor view (`BleCsAdapter`, `nrf54-cs` in the registry) **never detrends phase** — the ranging ramp *is* the measurement; the preserved ramp is asserted in test.
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Single-source evidence (no RTT) is capped at confidence 0.5 — one mechanism alone is never high-trust ranging.
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## 2. Delay-Doppler-native support (§3)
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`FieldAxis` (ADR-279) makes delay/Doppler first-class native axes so OTFS-style captures are stored natively, and `RfTensor::delay_doppler_map` provides the standard transform for frequency-time tensors: IDFT over bins (→ delay) × DFT over snapshots (→ Doppler). Measured: a synthetic scatterer at (delay 7, Doppler 3) produces a unit peak with < 1e-9 leakage everywhere else. Rule: derived features may be small, but delay-Doppler maps are not collapsed into scalar motion energy before provenance and local storage.
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## 3. IEEE P3162 synthetic-aperture import (§5)
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`SyntheticApertureSoundingDataset` (frequency range, aperture poses, directional PDP, coordinate system, processing-manifest hash) is the validated import profile — the calibration bridge between measured environments, Sionna-class simulators, and learned RF scene models. Schema + validation only; parsers arrive with the first real dataset.
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## 4. Factorized pose (RePos) + log-age gating
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`FactorizedPoseHead` separates what generalizes from what conditions:
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- **relative skeleton** branch reads the environment-invariant content representation (cannot learn room-position shortcuts);
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- **root localization** branch reads the geometry-conditioned representation (sensor pose is signal there — the PerceptAlign lesson);
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- `absolute = root + relative` (`PoseOutput::absolute_joints_m`), with **calibrated per-joint and root residual σ** so every pose output carries uncertainty (ADR-273 item 8).
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**The leakage experiment** (`factorized_pose_resists_room_shortcut_leakage`): training rooms where room position *correlates* with body scale (the trap real deployments set), held-out room breaking the correlation — factorized MPJPE **0.0003 m** vs monolithic absolute-head **0.2534 m** (845× worse), on a toy that isolates the mechanism. MEASURED-CODE for the mechanism; not a pose-accuracy claim.
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Budget: the structured pose head is the largest adapter at **740 params vs the 40,856-param backbone (1.8 %)** — documented ceiling for structured heads is **< 2 %** (scalar heads keep the 1 % gate), both asserted in `every_head_fits_the_one_percent_budget_at_deployment_config`.
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Age gating now matches the age-aware-CSI recipe exactly: the freshness gate input is `log(1 + sample_age_ms)` (`encoder::age_feature`), giving millisecond and multi-second staleness comparable input scale; the finite-difference gradient check re-proves the backward pass through the changed input.
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## 5. Consequences
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- Bluetooth/UWB anchors slot in as *geometric* evidence while WiFi carries ambient activity — the complement strategy, in code.
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- The Gaussian primitive gained the lifecycle fields the update-loop spec requires (`first_seen_ns`, `doppler_variance`, bounded `source_receipts` lineage merged on fusion) — static structure is distinguishable from transients by lifetime, and every primitive traces to source frames.
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- Roadmap, explicitly not done: real nRF54 CS capture path, OTFS waveform generation, P3162 file parsing, pose heads on real MM-Fi-style data.
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