diff --git a/ui/utils/toast.js b/ui/utils/toast.js
index ec1a097e..e004766a 100644
--- a/ui/utils/toast.js
+++ b/ui/utils/toast.js
@@ -19,6 +19,8 @@ export class ToastManager {
   }
 
   show(message, options = {}) {
+    if (!this.container) this.init();
+
     const {
       type = 'info',
       duration = 5000,
diff --git a/ui/viz.html b/ui/viz.html
index 54fa0a5f..4fd8accb 100644
--- a/ui/viz.html
+++ b/ui/viz.html
@@ -84,14 +84,26 @@
     <div id="stats-container"></div>
   </div>
 
-  <!-- Three.js and OrbitControls from CDN -->
-  <script src="https://unpkg.com/three@0.160.0/build/three.min.js"></script>
-  <script src="https://unpkg.com/three@0.160.0/examples/js/controls/OrbitControls.js"></script>
+  <!-- Three.js import map (OrbitControls requires ES modules in r160+) -->
+  <script type="importmap">
+  {
+    "imports": {
+      "three": "https://unpkg.com/three@0.160.0/build/three.module.js",
+      "three/addons/": "https://unpkg.com/three@0.160.0/examples/jsm/"
+    }
+  }
+  </script>
   <!-- Stats.js for performance monitoring -->
   <script src="https://unpkg.com/stats.js@0.17.0/build/stats.min.js"></script>
 
   <!-- Application modules loaded as ES modules via importmap workaround -->
   <script type="module">
+    // Three.js imports (ES modules required for r160+ OrbitControls)
+    import * as THREE from 'three';
+    import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
+    THREE.OrbitControls = OrbitControls;
+    window.THREE = THREE;
+
     // Import all modules
     import { Scene } from './components/scene.js';
     import { BodyModel, BodyModelManager } from './components/body-model.js';
@@ -177,7 +189,7 @@
 
         // 8. WebSocket client
         state.wsClient = new WebSocketClient({
-          url: 'ws://localhost:8000/ws/pose',
+          url: 'ws://localhost:3001/ws/sensing',
           onMessage: (msg) => handleWebSocketMessage(msg),
           onStateChange: (newState, oldState) => handleConnectionStateChange(newState, oldState),
           onError: (err) => console.error('[VIZ] WebSocket error:', err)
diff --git a/v2/crates/wifi-densepose-core/src/error.rs b/v2/crates/wifi-densepose-core/src/error.rs
index e97a656d..e0149289 100644
--- a/v2/crates/wifi-densepose-core/src/error.rs
+++ b/v2/crates/wifi-densepose-core/src/error.rs
@@ -23,6 +23,9 @@
 
 use thiserror::Error;
 
+#[cfg(not(feature = "std"))]
+use alloc::{string::String, vec::Vec};
+
 /// A specialized `Result` type for core operations.
 pub type CoreResult<T> = Result<T, CoreError>;
 
diff --git a/v2/crates/wifi-densepose-core/src/traits.rs b/v2/crates/wifi-densepose-core/src/traits.rs
index d470d94d..def0e5fb 100644
--- a/v2/crates/wifi-densepose-core/src/traits.rs
+++ b/v2/crates/wifi-densepose-core/src/traits.rs
@@ -18,6 +18,8 @@
 //! 3. **Async-Ready**: Async versions available with the `async` feature
 //! 4. **Error Handling**: Consistent use of `Result` types with domain errors
 
+#[cfg(not(feature = "std"))]
+use alloc::{string::String, vec::Vec};
 use crate::error::{CoreResult, InferenceError, SignalError, StorageError};
 use crate::types::{CsiFrame, FrameId, PoseEstimate, ProcessedSignal, Timestamp};
 
diff --git a/v2/crates/wifi-densepose-core/src/types.rs b/v2/crates/wifi-densepose-core/src/types.rs
index c899d392..b9696ca8 100644
--- a/v2/crates/wifi-densepose-core/src/types.rs
+++ b/v2/crates/wifi-densepose-core/src/types.rs
@@ -16,6 +16,13 @@ use ndarray::{Array1, Array2, Array3};
 use num_complex::Complex64;
 use uuid::Uuid;
 
+#[cfg(not(feature = "std"))]
+use alloc::{
+    format,
+    string::String,
+    vec::Vec,
+};
+
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 
@@ -57,8 +64,8 @@ impl Default for FrameId {
     }
 }
 
-impl std::fmt::Display for FrameId {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+impl core::fmt::Display for FrameId {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
         write!(f, "{}", self.0)
     }
 }
@@ -82,8 +89,8 @@ impl DeviceId {
     }
 }
 
-impl std::fmt::Display for DeviceId {
-    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+impl core::fmt::Display for DeviceId {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
         write!(f, "{}", self.0)
     }
 }
@@ -1003,7 +1010,7 @@ impl PoseEstimate {
                 a.confidence
                     .value()
                     .partial_cmp(&b.confidence.value())
-                    .unwrap_or(std::cmp::Ordering::Equal)
+                    .unwrap_or(core::cmp::Ordering::Equal)
             })
     }
 }
diff --git a/v2/crates/wifi-densepose-core/src/utils.rs b/v2/crates/wifi-densepose-core/src/utils.rs
index 5c1d8c9f..1b5ba532 100644
--- a/v2/crates/wifi-densepose-core/src/utils.rs
+++ b/v2/crates/wifi-densepose-core/src/utils.rs
@@ -24,7 +24,7 @@ pub fn complex_phase(data: &Array2<Complex64>) -> Array2<f64> {
 #[must_use]
 pub fn unwrap_phase(phase: &Array1<f64>) -> Array1<f64> {
     let mut unwrapped = phase.clone();
-    let pi = std::f64::consts::PI;
+    let pi = core::f64::consts::PI;
     let two_pi = 2.0 * pi;
 
     for i in 1..unwrapped.len() {
@@ -212,7 +212,7 @@ mod tests {
     fn test_deg_rad_conversion() {
         let degrees = 180.0;
         let radians = deg_to_rad(degrees);
-        assert!((radians - std::f64::consts::PI).abs() < 1e-10);
+        assert!((radians - core::f64::consts::PI).abs() < 1e-10);
 
         let back = rad_to_deg(radians);
         assert!((back - degrees).abs() < 1e-10);
@@ -226,7 +226,7 @@ mod tests {
 
     #[test]
     fn test_unwrap_phase() {
-        let pi = std::f64::consts::PI;
+        let pi = core::f64::consts::PI;
         // Simulate a phase wrap
         let phase = array![0.0, pi / 2.0, pi, -pi + 0.1, -pi / 2.0];
         let unwrapped = unwrap_phase(&phase);