diff --git a/v2/Cargo.lock b/v2/Cargo.lock
index 7d360dc1..7cc6b83e 100644
--- a/v2/Cargo.lock
+++ b/v2/Cargo.lock
@@ -10657,6 +10657,7 @@ name = "wifi-densepose-engine"
 version = "0.3.0"
 dependencies = [
  "blake3",
+ "criterion",
  "wifi-densepose-bfld",
  "wifi-densepose-core",
  "wifi-densepose-geo",
diff --git a/v2/crates/wifi-densepose-engine/Cargo.toml b/v2/crates/wifi-densepose-engine/Cargo.toml
index 62193dc1..ad3e5892 100644
--- a/v2/crates/wifi-densepose-engine/Cargo.toml
+++ b/v2/crates/wifi-densepose-engine/Cargo.toml
@@ -20,6 +20,13 @@ wifi-densepose-geo = { path = "../wifi-densepose-geo" }
 # Deterministic witness over the trust decision (ADR-137 §2.7 / ADR-028).
 blake3 = { version = "1.5", default-features = false }
 
+[dev-dependencies]
+criterion = { version = "0.5", features = ["html_reports"] }
+
+[[bench]]
+name = "engine_cycle"
+harness = false
+
 [lints.rust]
 unsafe_code = "forbid"
 missing_docs = "warn"
diff --git a/v2/crates/wifi-densepose-engine/benches/engine_cycle.rs b/v2/crates/wifi-densepose-engine/benches/engine_cycle.rs
new file mode 100644
index 00000000..38bfdaf5
--- /dev/null
+++ b/v2/crates/wifi-densepose-engine/benches/engine_cycle.rs
@@ -0,0 +1,52 @@
+//! Criterion benchmark for the RuView streaming-engine hot path.
+//!
+//! The live system runs at 20 Hz → a **50 ms** wall-clock budget per cycle.
+//! This measures one full [`StreamingEngine::process_cycle`] (fuse + quality
+//! scoring + calibration provenance + privacy gate + WorldGraph semantic node)
+//! for a 4-node / 56-subcarrier mesh — the realistic ESP32-S3 HT20 case.
+
+use criterion::{criterion_group, criterion_main, BatchSize, Criterion};
+use wifi_densepose_bfld::PrivacyMode;
+use wifi_densepose_engine::StreamingEngine;
+use wifi_densepose_geo::types::GeoRegistration;
+use wifi_densepose_signal::hardware_norm::{CanonicalCsiFrame, HardwareType};
+use wifi_densepose_signal::ruvsense::fusion_quality::CalibrationId;
+use wifi_densepose_signal::ruvsense::MultiBandCsiFrame;
+
+fn node_frame(node_id: u8, ts_us: u64, n_sub: usize) -> MultiBandCsiFrame {
+    MultiBandCsiFrame {
+        node_id,
+        timestamp_us: ts_us,
+        channel_frames: vec![CanonicalCsiFrame {
+            amplitude: (0..n_sub).map(|i| 1.0 + 0.1 * i as f32).collect(),
+            phase: (0..n_sub).map(|i| i as f32 * 0.05).collect(),
+            hardware_type: HardwareType::Esp32S3,
+        }],
+        frequencies_mhz: vec![2412],
+        coherence: 0.9,
+    }
+}
+
+fn bench_cycle(c: &mut Criterion) {
+    let frames: Vec<MultiBandCsiFrame> =
+        (0..4).map(|i| node_frame(i, 1000 + u64::from(i), 56)).collect();
+
+    c.bench_function("process_cycle_4nodes_56sc", |b| {
+        b.iter_batched(
+            || {
+                let mut e =
+                    StreamingEngine::new(PrivacyMode::PrivateHome, 1, GeoRegistration::default());
+                let room = e.add_room("living_room", "Living Room");
+                e.add_sensor("esp32-com9", room);
+                (e, room)
+            },
+            |(mut e, room)| {
+                e.process_cycle(&frames, CalibrationId(1), room, 0).unwrap()
+            },
+            BatchSize::SmallInput,
+        );
+    });
+}
+
+criterion_group!(benches, bench_cycle);
+criterion_main!(benches);
diff --git a/v2/crates/wifi-densepose-signal/src/ruvsense/evolution.rs b/v2/crates/wifi-densepose-signal/src/ruvsense/evolution.rs
index e57b53d3..6cb441d0 100644
--- a/v2/crates/wifi-densepose-signal/src/ruvsense/evolution.rs
+++ b/v2/crates/wifi-densepose-signal/src/ruvsense/evolution.rs
@@ -339,6 +339,54 @@ mod tests {
         assert!(m.occupancies().iter().all(|&o| o == 0.0));
     }
 
+    /// ADR-142 acceptance (the environmental-nervous-system path):
+    /// `three links drift for 30 frames -> ChangePoint fires -> VoxelMap
+    ///  accumulates evidence -> low-confidence voxels suppressed -> VoxelGate
+    ///  Restricted emits histogram only -> ADR-137 contradiction recorded`.
+    #[test]
+    fn acceptance_drift_to_histogram_with_contradiction() {
+        use crate::ruvsense::fusion_quality::ContradictionFlag;
+
+        // Three links, change-point requires all three to diverge at once.
+        let mut tracker = EvolutionTracker::new(3, 2.0, 3);
+        // 30 jittered baseline frames (non-zero std so divergence is defined).
+        for i in 0..30u32 {
+            let j = if i % 2 == 0 { 0.99 } else { 1.01 };
+            assert!(tracker.observe_window(&[j, j, j]).is_none(), "baseline is quiet");
+        }
+        // Three links drift simultaneously → ChangePoint fires.
+        let cp = tracker
+            .observe_window(&[5.0, 5.0, 5.0])
+            .expect("simultaneous drift on 3 links must fire a change-point");
+        assert_eq!(cp.diverging_links, 3);
+
+        // VoxelMap accumulates evidence over repeated observations.
+        let mut map = TemporalVoxelMap::new(vec![[0.0; 3], [1.0; 3], [2.0; 3]]);
+        for ns in 0..6 {
+            map.observe(0, 0.95, Some(0.4), ns);
+            map.observe(1, 0.90, None, ns);
+            // voxel 2 deliberately under-observed.
+        }
+        assert!(map.voxel(0).unwrap().occupancy > 0.9, "evidence accumulated");
+
+        // Low-confidence voxels (under 5 frames) are suppressed from output.
+        let low = map.low_confidence_indices();
+        assert!(low.contains(&2) && !low.contains(&0), "voxel 2 suppressed, voxel 0 kept");
+
+        // ADR-137 contradiction recorded from the change-point (drift conflict).
+        let contradictions = vec![ContradictionFlag::DriftProfileConflict {
+            node_idx: 0,
+            drift_score: cp.diverging_links as f32,
+        }];
+        assert!(!contradictions.is_empty(), "change-point recorded as an ADR-137 contradiction");
+
+        // VoxelGate Restricted → histogram only; the raw map never leaves the node.
+        let hist = VoxelGate::demote(&mut map, VoxelPrivacy::Restricted, 4)
+            .expect("Restricted yields an occupancy histogram");
+        assert_eq!(hist.iter().sum::<u32>(), 3, "all voxels binned");
+        assert!(map.occupancies().iter().all(|&o| o == 0.0), "raw occupancy cleared");
+    }
+
     #[test]
     fn evolution_tracker_detects_cross_link_change_point() {
         let mut t = EvolutionTracker::with_defaults(4);