mirror of
https://github.com/ruvnet/RuView
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17471e93ff
* feat(calibration): NodeGeometry transceiver-geometry recording (ADR-152 §2.1.1) PerceptAlign-motivated geometry capture at enrollment: per-node optional records (position, antenna orientation, inter-node distances, acquisition method) — recorded when known, never required. Event-sourced via EnrollmentEvent::GeometryRecorded (latest recording wins); persisted on SpecialistBank with serde defaults so pre-ADR-152 bank JSON loads cleanly (fixture-proven, and geometry-free banks serialize byte-shape-identical to the old schema); threaded through MultiNodeMixture as data only — the learned geometry embeddings and algorithmic fusion use are §2.1.2, deliberately deferred until the ADR-151 P6 LoRA heads exist. Geometry recorded from now on means banks captured today remain usable for layout-conditioned training later — you can't retroactively add geometry to data you didn't record. 8 new tests (3 geometry, 2 anchor, 2 bank, 1 multistatic) + full-loop extension (2-node geometry, one tape-measured + one unknown, surviving the bank JSON round-trip the runtime loads from). 50/50 calibration (both feature configs) + 23 CLI tests green. Co-Authored-By: RuFlo <ruv@ruv.net> * feat(training): two-checkerboard camera↔room calibration for ADR-079 labels (ADR-152 §2.1.3) Defends the camera-supervised pipeline against PerceptAlign's "coordinate overfitting": MediaPipe keypoints were emitted in raw camera coordinates with no shared frame and no transceiver-geometry metadata — the exact label shape that memorizes deployment layout and collapses cross-layout. - scripts/calibrate-camera-room.py + calibration_lib.py: OpenCV two-checkerboard calibration → versioned bundle JSON (intrinsics, camera→room extrinsics, checkerboard spec, transceiver geometry, sha256 calibration_id). Intrinsics resolve from file > cache > multi-view computation > loud-warning 2-view fallback. - collect-ground-truth.py --calibration <bundle>: every sample gains keypoints_room (unit bearing rays from the camera center in the room frame — documented projective alignment; raw image coords preserved so training chooses), camera_origin_room, calibration_id, and the transceiver geometry stamp. Without the flag, output is byte-identical to before (tested) + a one-line ADR-152 warning. Design finding (recorded for ADR-152): a single planar checkerboard's corner grid is centrosymmetric — the reversed corner ordering fits a ghost camera pose with IDENTICAL reprojection error, so per-board flip disambiguation is mathematically ill-posed. solve_two_board_extrinsics solves the joint wall+floor set over all 4 flip combinations, where the minimum is unique — an independent reason the TWO-checkerboard method is required, beyond what PerceptAlign states. 15 headless pytest tests green (synthetic corners: extrinsics recovery incl. ghost resolution, bundle round-trip + hash stability, ray transforms w/ distortion + cross-resolution, no-calibration byte identity). Co-Authored-By: RuFlo <ruv@ruv.net> * feat(benchmarks): WiFlow-STD reproduction harness + measurement (a) results (ADR-152 §2.2) Shipped checkpoint REFUTED (0.08% PCK@20, wrong keypoint normalization); 6 reproducibility defects documented (broken imports, corrupted dataset tail with float32-max garbage that NaN-poisons fp16 BatchNorm, unreachable test phase). After repairs, retraining with upstream defaults reproduces 96.09% PCK@20 full-test / 96.61% corruption-free (published 97.25%) on RTX 5080. Claims graded MEASURED-EQUIVALENT; 2.23M params + ~0.055 GFLOPs verified. Third-party code/weights/data stay out of tree (gitignored). Co-Authored-By: claude-flow <ruv@ruv.net> * feat: ADR-152 Rust integrations + ADR-153 802.11bf protocol model - calibration: GeometryEmbedding — 32-slot permutation-invariant NodeGeometry featurization for future LoRA-head conditioning (ADR-152 §2.1.2); derived SpecialistBank::geometry_embedding() accessor; 59 tests - train: MaePretrainConfig + patchify/random-mask with UNSW measured recipe (80% masking, (30,3) patches; ADR-152 §2.3, arXiv 2511.18792); strict no-truncate/no-NaN policy; proptest properties - train: WiFlowStdModel — tch-gated port of the verified ~96%-PCK@20 WiFlow-STD architecture (ADR-152 §2.2 beyond-SOTA); ungated param formula pinned to 2,225,042; 15/17-keypoint support; 239 crate tests - hardware: ieee80211bf forward-compatibility protocol model (ADR-153): SpecProfile gates, SensingCapabilities negotiation, required ConsentMode, session FSM, SensingTransport + SimTransport + OpportunisticCsiBridge; full acceptance checklist covered; 156+4 tests - deps: ruvector bumps per ADR-152 §2.6 survey (mincut/solver 2.0.6, attention 2.1.0, gnn 2.2.0); vendor/ruvector synced to a083bd77f - docs: ADR-153 accepted; ADR-152 §2.2 status, §2.4 amendment, §2.6 added Workspace: 162 test suites green (--no-default-features); Python proof PASS. Known pre-existing flake: homecore-api env_empty_falls_back_to_defaults (unserialized env-var mutation) — untouched, follow-up. Co-Authored-By: claude-flow <ruv@ruv.net> * docs: CHANGELOG + CLAUDE.md entries for ADR-152 integrations and ADR-153 Co-Authored-By: claude-flow <ruv@ruv.net> * fix(train): repair tch-backend bit-rot — gated path compiles and tests run again Mechanical API refresh against current tch: Vec::from(Tensor) -> try_from (+ explicit flatten), numel() usize cast, Rem/div ops -> remainder() / divide_scalar_mode(floor) — the latter fixed a silent true-division bug in heatmap argmax decoding; clamp(1.0, f64::MAX) -> clamp_min (torch 2.x scalar overflow panic); petgraph EdgeRef import; missing EvalMetrics and verify_checkpoint_dir APIs that tests documented. wiflow_std roundtrip test uses safetensors (.pt _save_parameters roundtrip broken in torch 2.11 Windows). Gated: 349 passed (incl. all 20 wiflow_std); ungated: unchanged. Known pre-existing: gaussian-heatmap convention mismatch (2 tests), proof seed race under parallel threads — documented, deliberate follow-ups. Co-Authored-By: claude-flow <ruv@ruv.net> * feat(train): WiFlow-STD PyTorch->tch weight import + numerical parity proof export_to_safetensors.py maps the retrained checkpoint (295 tensors -> 248 mapped, param sum exactly 2,225,042; num_batches_tracked dropped) into a tch-loadable safetensors plus a deterministic parity fixture. Gated #[ignore] integration test loads it strictly and asserts forward-pass agreement: max abs diff 1.192e-7 on the seed-42 fixture. dump_variable_names test makes the tch name layout authoritative. Zero architecture discrepancies found. Co-Authored-By: claude-flow <ruv@ruv.net> * fix: workflow-review findings — BN gamma init, ThresholdParams serde, init docs Concurrent validation workflow (2 review lanes + adversarial verification, 13 agents): 5 confirmed findings, 3 refuted. Fixes: - wiflow_std: pin BatchNorm gamma to 1.0 (tch default draws Uniform(0,1) — silently halves activations in from-scratch training; loaded checkpoints unaffected, parity re-verified after the change) - wiflow_std: document the conv-init divergences vs the reference's effective kaiming_normal(fan_out) re-init (from-scratch dynamics only) - ieee80211bf: ThresholdParams deserialization validates via try_from so the <=100 invariant holds for untrusted payloads (+ rejection test) Benchmarks (release, ruvzen): GeometryEmbedding 1.84us/call (542k/s), MAE tokenization 7.38us/window (135k/s), 802.11bf FSM 8.9M events/s — nothing suspicious. Co-Authored-By: claude-flow <ruv@ruv.net> * docs(adr): ADR-152 §2.1.4 gate resolved — PerceptAlign repo MIT, dataset on HF Co-Authored-By: claude-flow <ruv@ruv.net> * feat(benchmarks): edge optimization measured + measurement (b) blocked + 92.9% retraction Edge optimization (ADR-152 optimize track): ONNX Runtime fp32 is the CPU latency win (3.2 ms/window, ~3.4x faster than torch, parity 2.4e-7); ORT dynamic int8 reaches 2.44 MB (paper's ~2.2 MB claim plausible only via conv-capable toolchains; -0.16pt PCK@20, +18% MPJPE, 2x slower); torch dynamic quant converts 0% of this conv-only model; fp16 halves storage free but is slower on CPU. Measurement (b) BLOCKED-ON-DATA: only 1,077 paired ESP32 windows exist (stop rule <2k). Forensic recheck of the surviving April holdout RETRACTS the ADR-079 '92.9% PCK@20' figure: constant-output model, absolute (not torso) threshold, 69 near-static frames — mean predictor scores 100% under that protocol; torso-PCK@20 is 19.1%. Corroborates PR #535. Stale citations removed from user-guide, readme-details, ADR-152 §2.1.3; no-citation rule extended to ADR-079 accuracy claims. Unblock: >=2k-window multi-pose paired session + torso-PCK re-baseline. Co-Authored-By: claude-flow <ruv@ruv.net> * docs(user-guide): corrected camera-supervised collection tutorial Step 0 CSI-rate check + session-length math (window yield = frames/20 — the May session's 8x under-delivery was a ~12 Hz CSI rate, not an aligner bug); two-checkerboard calibration step (ADR-152 §2.1.3); pose-variety and confidence guidance; torso-normalized PCK + temporal-split + pred-variance eval protocol (lessons from the 92.9% retraction); scale presets re-keyed to realistic window counts. Co-Authored-By: claude-flow <ruv@ruv.net> * feat(benchmarks): static PTQ int8 (calibrated) results + overnight capture script Conv-only static QDQ beats dynamic int8 on accuracy (PCK@20 96.61-96.63% vs 96.52%, MPJPE +10% vs +18% over fp32) at ~equal size/latency; all-ops QDQ strictly worse (int8 activations through attention glue). Entropy calibration verified bit-identical to MinMax on this data. Deployment: ONNX fp32 for speed (3.2ms), static conv-only QDQ for smallest (2.53MB). Also: scripts/overnight-empty-capture.py — segmented UDP CSI recorder for empty-room baselines (no glob collisions, detach-safe). Co-Authored-By: claude-flow <ruv@ruv.net> * feat(benchmarks): measurement (b) MEASURED — optimization transfer only, mean-pose baseline wins WiFlow-STD fine-tuned on 2,046 fresh single-room ESP32 paired windows (temporal 70/15/15, 70->540 adapter, K=17): pretrained-init 65% PCK@20 vs scratch 0% (optimization transfer) but frozen-trunk ~0% (no feature transfer), and NOTHING beats the mean-pose baseline (95.9% PCK@20 — single subject, near-static normalized coords). Honesty gates held: pred std 0.0113 (non-constant model) but mean-baseline dominance means no citable CSI->pose capability from this data. ADR-152 open question 1 answered partially; definitive answer needs multi-subject/position data. Two new aligner findings: heterogeneous csi_shape with silent zero-padding (~20%), and extractCsiMatrix's transposed shape label (frame-major data, [nSc, nFrames] label) — fixes pending. Co-Authored-By: claude-flow <ruv@ruv.net> * feat(benchmarks): efficiency sweep MEASURED — half model dominates full reference Compact WiFlow-STD variants on the same data/split/protocol: half (843,834 params, 0.38x) strictly dominates the 2.23M reference (PCK@20 96.62 vs 96.61, PCK@50 99.47 vs 99.11, MPJPE 0.00898 vs 0.0094) — the published architecture is over-parameterized for its own benchmark. quarter (338k) 96.05%; tiny (56,290 params, 1/39.5) holds 94.11% — a ~220KB fp32 edge candidate. In-domain caveats recorded; cross-domain untested. Co-Authored-By: claude-flow <ruv@ruv.net> * feat(train): compact WiFlow-STD presets in Rust + tiny edge artifact (ADR-152) WiFlowStdConfig gains half()/quarter()/tiny() mirroring the overnight sweep exactly: TcnGroupsMode (Fixed/Gcd/Depthwise), input_pw_groups, derived stride schedule and decoder-mid (all default to upstream behavior; legacy serde JSON unaffected). Param formulas pin to trained ground truth first try: 843,834 / 338,600 / 56,290; default 2,225,042 pin and 1.192e-7 parity unchanged. 248 tests green. Tiny edge artifact (tiny_edge_bench.py): ONNX fp32 = 295 KB, 0.66 ms/win (~1,500/s CPU), 94.11% PCK@20 (matches sweep clean-test exactly; parity 1.49e-7). Static int8 is a bad trade at this scale (-1.43pt, +19% MPJPE, -16% size, slower) — recorded as negative result. Export note: width-16 breaks AdaptiveAvgPool((15,1)) TorchScript export; replaced by exact mean+matmul equivalent, proven by parity. Co-Authored-By: claude-flow <ruv@ruv.net> * fix: resolve all 10 confirmed code-review findings (7-angle review, 20/20 verified) wiflow_std: min_feature_width (default 15) replaces the keypoints->stride coupling — for_keypoints(17) now provably builds the trained [2,2,2,2] graph and pools 15->17, matching the validated Python protocol (pinned by tests); param_count() total on invalid configs; random_mask returns Result and rejects non-finite/out-of-range ratios; trainer checkpoints switched to safetensors (.pt VarStore roundtrip broken on Windows torch 2.11). ieee80211bf: SBP proxy now re-triggers instances and relays reports via Action::RelaySbpReport -> SensingFrame::SbpReport (clients consume via their existing path); missed_instances reset on success = consecutive semantics; SessionTable gains a guarded SBP entry point + unknown-id drop counter; initiator-role sessions reject inbound setup/SBP requests (RejectedNotSupported) closing the idle hijack; StartSetup/StartSbp outside Idle return InvalidStateForCommand; SBP validation unified through evaluate_setup with a 1:1 SetupStatus->SbpStatus mapping. events.rs split out to honor the 500-line cap. calibration/cli: enrollment geometry now actually reaches trained banks — both production call sites attach .with_geometry; --geometry flag on train-room and POST /enroll/geometry + train-body geometry on calibrate-serve give production a recording surface; geometry-free banks log the ADR-152 §2.1.2 note. benchmarks: corruption masks committed as ground truth (unregenerable after in-place cleaning; verified bit-identical regeneration from the pristine copy) + generate_corruption_masks.py producer; _bench_common.py dedups the 5x-copied shim/evaluate/seed/remap (post-refactor PCK@20 re-verified equal to the last digit); remote scripts get the mmap patch; tiny_edge --calib validated multiple-of-64; onnx_bench --help no longer executes (and overwrote) the export — artifact restored byte-exact. Workspace: 2,963 tests passed, 0 failed; Python proof PASS. Co-Authored-By: claude-flow <ruv@ruv.net> * ci: build workspace tests without debuginfo — runner disk exhaustion The combined 38-crate debug target exceeds the GitHub runner's disk ('final link failed: No space left on device'); the same tree measured 151GB locally with full debuginfo. CARGO_PROFILE_{DEV,TEST}_DEBUG=0 shrinks the target ~5-10x; debuginfo serves no purpose in CI test runs. Co-Authored-By: claude-flow <ruv@ruv.net>
149 lines
6.5 KiB
Python
149 lines
6.5 KiB
Python
"""Regenerate results/nan_windows_mask.npy + results/big_windows_mask.npy by
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scanning a PRISTINE kagglehub download of the WiFlow-STD dataset
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(kaka2434/wiflow-dataset v1, csi_windows.npy, 360,000 windows of 540x20).
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============================ READ THIS FIRST ===============================
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This script MUST be run against an UNCLEANED copy of the dataset.
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remote/clean_v2.py (and its predecessor clean_nan.py) repair the dataset by
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zeroing the corrupted windows IN PLACE, with no backup. A cleaned copy
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contains no non-finite values and no out-of-range amplitudes, so on a cleaned
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copy this scan produces ALL-FALSE masks -- silently wrong ground truth. The
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script errors out loudly in that case (see the sanity check in main()).
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That irreversibility is exactly why the two committed mask files under
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results/ (gitignore-negated) are the canonical ground truth: once a download
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has been cleaned, the masks can NEVER be regenerated from it. Only run this
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on a fresh `kagglehub.dataset_download("kaka2434/wiflow-dataset")`.
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============================================================================
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Criteria (per window; mirrors the original 2026-06-10 scan and the
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remote/clean_v2.py repair criteria):
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nan mask: any non-finite value (NaN/Inf) anywhere in the 540x20 window
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big mask: max |finite value| > 1.5 (the data is otherwise [0,1]-normalized;
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the corrupted files contain garbage up to 3.4e38, float32 max)
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Expected result on the pristine Kaggle download (RESULTS.md defect 5):
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nan: 9,070 True | big: 9,072 True | union: 9,072 -- all windows in dataset
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files 487-499 (the final 13 files), window indices 350,922-359,999.
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Usage:
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PYTHONUTF8=1 .venv/Scripts/python.exe generate_corruption_masks.py \
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[--data-dir <dir containing csi_windows.npy>] [--out-dir results]
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"""
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import argparse
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import os
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import sys
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import numpy as np
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HERE = os.path.dirname(os.path.abspath(__file__))
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RESULTS = os.path.join(HERE, "results")
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EXPECTED = {"nan": 9070, "big": 9072, "union": 9072,
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"files": (487, 499), "windows": (350922, 359999)}
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def scan(csi_path, chunk=4000):
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"""Chunked scan of the (mmap'd) windows array; returns (nan_mask, big_mask)."""
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csi = np.load(csi_path, mmap_mode="r")
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n = len(csi)
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nan_mask = np.zeros(n, dtype=bool)
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big_mask = np.zeros(n, dtype=bool)
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for i in range(0, n, chunk):
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block = np.asarray(csi[i:i + chunk])
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finite = np.isfinite(block)
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nan_mask[i:i + chunk] = (~finite).any(axis=(1, 2))
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big_mask[i:i + chunk] = (
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np.abs(np.where(finite, block, 0)).max(axis=(1, 2)) > 1.5)
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if (i // chunk) % 10 == 0:
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print(f" scanned {min(i + chunk, n):,}/{n:,} windows "
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f"(nan={int(nan_mask.sum()):,} big={int(big_mask.sum()):,})",
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flush=True)
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return nan_mask, big_mask
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def describe_files(data_dir, mask):
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"""Map marked windows to dataset file indices via window_info.npz."""
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info = os.path.join(data_dir, "window_info.npz")
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if not os.path.exists(info):
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return None
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w2f = np.load(info)["window_to_file"]
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return np.unique(w2f[mask])
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def main():
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parser = argparse.ArgumentParser(
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description="Regenerate the corruption masks from a PRISTINE "
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"(uncleaned) kagglehub download. See module docstring.")
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parser.add_argument("--data-dir", default=os.path.join(
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os.path.expanduser("~"), ".cache", "kagglehub", "datasets", "kaka2434",
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"wiflow-dataset", "versions", "1", "preprocessed_csi_data"),
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help="Directory containing csi_windows.npy (PRISTINE copy)")
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parser.add_argument("--out-dir", default=RESULTS,
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help="Where to write the two .npy masks")
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parser.add_argument("--chunk", type=int, default=4000,
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help="Windows per scan chunk (memory/speed tradeoff)")
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args = parser.parse_args()
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csi_path = os.path.join(args.data_dir, "csi_windows.npy")
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if not os.path.exists(csi_path):
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sys.exit(f"csi_windows.npy not found in {args.data_dir}")
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print(f"scanning {csi_path} (chunk={args.chunk}) ...")
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nan_mask, big_mask = scan(csi_path, args.chunk)
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union = nan_mask | big_mask
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print(f"nan: {int(nan_mask.sum()):,} | big: {int(big_mask.sum()):,} | "
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f"union: {int(union.sum()):,} of {len(union):,} windows")
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# ---- sanity check: an all-False result means a CLEANED copy ------------
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if not union.any():
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sys.exit(
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"ERROR: scan found ZERO corrupted windows.\n"
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"\n"
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"The pristine Kaggle download (kaka2434/wiflow-dataset v1) is "
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"known to contain\n"
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"9,072 corrupted windows (NaN/Inf + amplitudes up to 3.4e38) in "
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"dataset files\n"
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"487-499 (RESULTS.md, reproducibility defect 5). Finding none "
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"means this copy\n"
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"has almost certainly already been repaired by remote/clean_v2.py "
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"(or clean_nan.py),\n"
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"which zeroes the corrupted windows IN PLACE -- after that the "
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"corruption evidence\n"
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"is gone and the masks CANNOT be regenerated from this copy.\n"
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"\n"
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"Refusing to overwrite the committed ground-truth masks with "
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"all-False ones.\n"
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"Re-download the dataset (kagglehub.dataset_download("
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"'kaka2434/wiflow-dataset'))\n"
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"and point --data-dir at the fresh, uncleaned copy.")
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files = describe_files(args.data_dir, union)
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if files is not None:
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print(f"marked windows span dataset files {files.min()}-{files.max()}: "
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f"{files.tolist()}")
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lo, hi = EXPECTED["files"]
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if files.min() != lo or files.max() != hi:
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print(f"WARNING: expected marked files exactly {lo}-{hi} "
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f"(the pristine v1 download); got {files.min()}-{files.max()}. "
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f"Different dataset version, or a partially cleaned copy?")
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for name, mask, exp in (("nan", nan_mask, EXPECTED["nan"]),
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("big", big_mask, EXPECTED["big"])):
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if int(mask.sum()) != exp:
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print(f"WARNING: {name} mask has {int(mask.sum()):,} True windows; "
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f"the pristine v1 download yields {exp:,}.")
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os.makedirs(args.out_dir, exist_ok=True)
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for name, mask in (("nan_windows_mask.npy", nan_mask),
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("big_windows_mask.npy", big_mask)):
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out = os.path.join(args.out_dir, name)
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np.save(out, mask)
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print(f"wrote {out} ({int(mask.sum()):,} True)")
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if __name__ == "__main__":
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main()
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