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rUv 2e018f4f19 feat(ruview-unified): Unified RF spatial world model — ADR-273..282 (#1437 )

Native frame contract, universal RF encoder, RF-aware Gaussian spatial memory, physics-guided synthetic RF worlds, edge sensing control plane, BLE-CS + factorized pose. All 10 ADRs (273-282) fully implemented and tested (99 tests); ADR-278 (radar inverse rendering) honestly gated with zero code as a future research program.

Deep-reviewed and hardware-tested against a live ESP32-C6 CSI node before merge: fixed a reachable panic, a silent NaN-corruption path, a cross-entity Gaussian conflation bug, and a wrong-center-frequency bug in the WiFi adapter (confirmed live: was misreporting channel 4 as 2437 MHz, now correctly reports 2427 MHz matching the hardware parser exactly). Added a standing hardware-in-the-loop test (examples/esp32_live_hardware_test.rs). Also fixed unrelated pre-existing issues surfaced during validation (wifi-densepose-core clippy warnings, a ruview-auth Windows build break, a sensing-server test flake).

Full review: https://gist.github.com/ruvnet/89795f3c4b8ea166cff5ac35ae4c7651

2026-07-26 14:37:56 -07:00

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ADR-278: Radar inverse rendering + differentiable RF SLAM — a gated research program, not a dependency

Field	Value
Status	Proposed — research program (deliberately no code in P1)
Date	2026-07-26
Parent	ADR-273 (pillar 6, score 3.6 — highest strategic value, highest hardware + reproduction risk)
Relates to	ADR-275 (the Gaussian memory these methods would write into), ADR-263/264 (RTL8720F radar platform + wire protocol), ADR-021 (mmWave vitals hardware), ADR-276 (synthetic worlds as the reproduction sandbox)

0. PROOF discipline

Everything numeric in this ADR is EXTERNAL-UNVERIFIED — reported by fresh papers/preprints that this repo has not reproduced. That is the point of this ADR: to fix the reproduction gates before any of these numbers are allowed to influence the roadmap as if they were ours.

1. Context — what the field reports (July 2026)

System	Claim (theirs)	Availability	Risk read
RISE	Single static mmWave radar + multipath inversion → joint room layout + furniture; 16 cm scene Chamfer (baseline 40 cm), 58 % furniture IoU	code available	most reproducible; static sensor matches our appliance posture
DiffRadar	Radar SLAM + Gaussian fields + differentiable rendering; 0.129 m vs 0.823 m ATE, 94.78 % vs 42.59 % map consistency, 70 fps, 40 MB maps	fresh preprint	treat as reproduction target, not component — numbers are single-team, single-venue
GeRaF	Differentiable RF renderer + SDF + reflectivity, near-range reconstruction; ~32 h on one H100 for 50 k iterations	published setup	offline calibration / digital-twin tool only; unsuitable for continuous adaptation

The strategic pull is real: all three converge on inverse rendering into continuous scene representations — exactly the ADR-275 memory. The risks are equally real: single-source numbers, mmWave hardware variance, and compute profiles (GeRaF) incompatible with edge deployment.

2. Decision

No production dependency on any of these systems or their claims. ADR-275's gain model + inverse update is the only RF-inverse machinery in the deployment path.
Reproduction order: RISE → DiffRadar → GeRaF-lite, each on one controlled test site, each gated (§3) before the next starts. RISE first because a static radar matches the RuView appliance posture and its inversion writes naturally into RfGaussian (occupancy + reflectivity fields already exist for it).
Sandbox-first: before hardware, each method's core inversion is exercised against ADR-276 synthetic worlds extended with a radar-cube output mode (the FmcwRadarCube adapter already normalizes such cubes), so failures separate into "our reimplementation" vs "their claim" cleanly.
Integration contract: any reproduced system emits into GaussianMap via the existing primitive — no parallel scene store. SLAM trajectories, if any, become Provenance-stamped map updates subject to ADR-277 export rules like everything else.

3. Gates (each phase passes all or the program pauses)

Gate	Threshold	Split discipline
G1 RISE-repro (synthetic)	layout Chamfer within 2× of paper's on our synthetic rooms	held-out room geometries
G2 RISE-repro (one real site)	qualitative layout recovery + quantified Chamfer vs measured floor plan; report our number, whatever it is	site never used in tuning
G3 DiffRadar-repro	ATE and map consistency on our trajectory rig; publish the delta vs paper	held-out trajectories
G4 Edge viability	inversion or map-update loop ≤ 50 ms p95 on target hardware, or explicit reclassification as offline-calibration tooling (GeRaF's honest category)	—

A gate failure is a result, recorded in this ADR's log — the program exists to convert EXTERNAL-UNVERIFIED into MEASURED, in either direction.

4. Consequences

The roadmap cannot silently absorb preprint numbers; anything radar-inverse must pass through §3.
ADR-275's primitive already reserves the fields (per-band × angle reflectivity, occupancy, motion) these methods need, so a successful reproduction integrates without schema churn.
Cost of delay is accepted: pillar 6 scored lowest on readiness, and P1–P4 (encoder, memory, synth, control plane, SRS) do not depend on it.

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