- published as github.com/ruvnet/worldgraph (3-crate workspace, history via git-filter-repo)
- replace the 3 in-tree crates with one submodule at v2/crates/worldgraph
- parent workspace: drop the 3 members, exclude the submodule (it is its own workspace),
repoint workspace.dependencies(worldmodel) + engine/sensing-server path-deps into it
- cargo metadata resolves clean (geo/worldgraph/worldmodel consumed from the submodule)
Co-Authored-By: claude-flow <ruv@ruv.net>
* fix(engine): length-prefix witness fields to close domain-separation collision
The BLAKE3 trust witness concatenated model_version, calibration_version,
and privacy_decision boundary-to-boundary, with the variable-length evidence
list lacking an explicit count. A string straddling a field boundary (e.g. a
per-room adapter id absorbing the leading bytes of the calibration epoch, or a
model_version absorbing a trailing evidence ref) collided with a different
trust decision — silently un-distinguishing two distinct privacy-relevant
inputs and defeating the ADR-137 tamper/drift audit guarantee. model_version
is operator-influenceable via the adapter id (ADR-150 §3.4), so the ambiguity
was reachable.
Fix: domain-tag the hash and length-prefix every field (8-byte LE length),
plus an explicit evidence count. Pinned by two fails-on-old tests:
witness_distinguishes_model_calibration_boundary and
witness_distinguishes_evidence_model_boundary.
Co-Authored-By: claude-flow <ruv@ruv.net>
* test(engine): pin privacy monotonicity, fail-closed boundaries; de-magic constants
Review hardening for the governed-trust cycle (no behavior change):
- forced_contradiction_never_relaxes_class: property test over all 5 privacy
modes proving a forced contradiction only ever raises the emitted class byte
(more restrictive) and a clean cycle emits exactly the base class — the
ADR-141/120 information-only-removed invariant.
- empty_cycle_fails_closed: a zero-frame cycle errors (fusion NoFrames),
emits no SemanticState, and does not advance the cycle counter.
- single_node_cycle_is_well_formed: characterizes the n=1 boundary (no mesh,
no directional, base class, witness still emitted) — documents single-node
sensing as a valid non-demoting mode, not a bypass.
- De-magicked the engine-construction literals (coherence accept gate, ADR-143
SLAM discovery + static-anchor thresholds) into named documented consts,
value-identical, pinned by engine_constants_match_prior_values.
Co-Authored-By: claude-flow <ruv@ruv.net>
* docs(engine-review): record witness domain-separation fix + monotonicity clean bill
CHANGELOG [Unreleased] Security entry and review notes appended to ADR-137
(witness domain-separation fix) and ADR-141 (privacy monotonicity confirmed
clean over all 5 modes, fail-closed boundaries pinned).
Co-Authored-By: claude-flow <ruv@ruv.net>
The streaming-engine privacy-demotion test fed a 2 ms timestamp spread, which
demoted under the old 1 ms soft guard. #1031 raised the default soft guard to
20 ms (to accommodate the real TDM slot offset), so 2 ms now fuses cleanly with
no demotion. Bump the test spread to 25 ms (above the 20 ms soft guard, within
the 60 ms hard guard) so it still proves the ADR-137 -> ADR-141 demotion wiring.
Co-Authored-By: claude-flow <ruv@ruv.net>
* docs(research): add RuView beyond-SOTA system review (00)
First document of the beyond-SOTA research series: capability audit of
the current RuView engine with role-to-crate maturity matrix, ruvsense
module inventory, gap analysis, and risk register.
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* docs(research): add beyond-SOTA architecture design (02, in progress)
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* docs(research): finalize beyond-SOTA architecture (02)
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* docs(research): add benchmark/validation methodology snapshot (03)
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* docs(research): add beyond-SOTA series index with validation results; changelog
README index ties the 5 research docs together with the session's
measured validation evidence: 2,797 workspace tests / 0 failed, Python
proof PASS (bit-exact), and paired pre/post criterion CIR benchmarks.
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* perf(signal): precompute CIR warm-start system; hoist tomography solver allocs
Exact, determinism-safe optimizations (bit-identical float results):
- cir.rs: diag(PhiH Phi)+lambda*I and its CSR matrix depend only on Phi
and lambda (fixed at CirEstimator::new) but were rebuilt every frame
(O(K*G) pass + CSR allocation). Now built once in new() via
build_warm_start_system; summation order unchanged.
- tomography.rs: ISTA gradient buffer hoisted out of the 100-iteration
loop (fill(0.0) reset) and the Frobenius Lipschitz bound moved from
per-reconstruct to construction.
Verified: signal 456 tests green; engine 11/11 green including
cycle_is_deterministic and witness-stability tests. Criterion paired
pre/post: cir_estimate/he40 -3.9% (p<0.01), multiband -1.2/-1.4%.
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* fix(worldgraph): bound SemanticState growth with deterministic retention
StreamingEngine::process_cycle appended one SemanticState belief per cycle
with no eviction — ~1.7M nodes/day at 20 Hz (beyond-SOTA roadmap finding #6).
Add WorldGraph::prune_semantic_states(max): deterministic eviction of the
oldest beliefs by (valid_from_unix_ms, id); structural nodes (rooms, zones,
sensors, anchors, tracks, events) are never eligible. Wire it into the
engine after each belief append (DEFAULT_SEMANTIC_RETENTION = 7,200, ~6 min
at 20 Hz; set_semantic_retention to tune). The WorldGraph holds current
beliefs; durable history is the recorder's job, so no audit data is lost.
3 new tests: end-to-end bounded growth, oldest-only eviction, deterministic
equal-timestamp tie-break. Workspace gate: 2,865 passed, 0 failed.
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* feat(sensing-server): route live frames through the governed StreamingEngine
Closes the live-trust-path gap (ADR-136 section 8, beyond-SOTA system review):
the running server fused live CSI with the bare MultistaticFuser, while the
privacy/provenance/witness control plane (ADR-135..146) only ever ran on
synthetic in-test frames. The privacy control plane was therefore bypassable
on the real path.
New engine_bridge module drives StreamingEngine::process_cycle from the
server's live NodeState map, reusing the existing NodeState -> MultiBandCsiFrame
conversion. It lazily wires each contributing node as a WorldGraph sensor
(idempotent), bounds belief growth via the retention cap, and forwards explicit
timestamps/calibration ids so the path stays deterministic and replayable.
Wired additively into both live ESP32/WiFi fusion sites in main.rs via a
split-borrow off the write guard, so person-count behavior is unchanged; the
latest BLAKE3 witness is stored on AppState. Every published belief now carries
evidence + model + calibration + privacy decision and a deterministic witness.
Adds wifi-densepose-engine/-worldgraph/-bfld/-geo deps. 6 new bridge tests
(witnessed belief with full provenance, cross-run determinism, idempotent node
registration, retention bound, privacy-mode propagation). sensing-server suite
430+128 green; workspace gate 2,904 passed / 0 failed.
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* feat(train): falsifiable occupancy benchmark with anti-overfitting gate
Makes the presence/person-count "beyond SOTA" claim falsifiable in code
instead of aspirational (the unfalsifiability gap from the beyond-SOTA system
review). occupancy_bench grades predictions vs ground truth and gates a SOTA
claim behind one claim_allowed invariant requiring ALL of:
- DataProvenance::Measured — synthetic/mock data is scorable for regression
but never claimable (anti-mock-contamination; the CLAUDE.md Kconfig-bug
lesson made structural).
- A leak-free EvalSplit — validate() refuses any split where a subject OR
environment id appears in both train and test (subject leakage /
per-environment overfitting).
- n_test >= min_test_samples (small-N guard).
- Presence F1 whose bootstrap-CI lower bound (deterministic seeded splitmix64)
clears the threshold — not the point estimate.
- Count MAE within threshold.
The claim string is unreadable except through the gate (NO_CLAIM otherwise),
same discipline as the ruview-gamma acceptance gate. What remains is data, not
method: a frozen, SHA-pinned, subject/environment-disjoint measured replay set
turns the claim into a passing/failing test.
Lives in wifi-densepose-train (the eval bounded context, alongside ablation/
eval/metrics). 10 tests cover each refusal path; warning-clean under the
crate's missing_docs lint. Workspace gate 2,914 passed / 0 failed. Doc 03
updated.
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* feat(engine): per-room adapter provenance + drift-to-recalibration advisor
Closes the trust-chain gap where an ~11 KB per-room LoRA adapter (ADR-150
section 3.4) could silently change inference without the witness noticing:
provenance carried only "rfenc-v<N>" with no notion of adapter identity.
- StreamingEngine::set_room_adapter(AdapterInfo): pins the adapter's
content-derived id into provenance model_version
("rfenc-v1+adapter:<id>") — and therefore into the BLAKE3 witness — so
swapping or clearing adapter weights always shifts the witness. Engine test
proves base -> adapter -> other-adapter -> cleared all witness differently
and cleared == base.
- RecalibrationAdvisor: recommends re-running the ADR-135 empty-room baseline
/ refitting the room adapter on sustained low fusion coherence (streak
threshold, default 60 cycles ~ 3 s at 20 Hz) or an ADR-142 change-point.
Surfaced as TrustedOutput::recalibration_recommended, stored on the
sensing-server AppState alongside the witness at both live fusion sites.
- Bridge plumbing: EngineBridge::{set_room_adapter, clear_room_adapter} +
live-path test that the adapter id flows into the live witness.
Scope note (honest): this is the deployable provenance/trigger half of the
"retrained model" roadmap item. Fitting the adapter itself runs in the
existing external calibration service (aether-arena/calibration/); a trained
RF-encoder checkpoint still does not exist in-tree.
Engine 15 tests, bridge 7 tests. Workspace gate: 2,918 passed / 0 failed.
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* fix(mat): gate api module behind its feature — standalone no-default-features builds
pub mod api was unconditional while its only dependency, serde, is optional
behind the 'api' feature, so any build without default features failed with
101 unresolved-serde errors (masked in --workspace runs by feature
unification). The api module and its create_router/AppState re-export are now
cfg(feature = "api")-gated with docsrs annotations.
All combos compile: bare --no-default-features (was 101 errors, now 0),
--no-default-features --features api, and full default (177 tests pass).
Workspace gate: 2,918 passed / 0 failed.
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* perf(signal): opt-in FFT operator for the CIR ISTA solver (8-14x measured)
Phi is a sub-DFT, so each ISTA mat-vec can run as one length-G FFT
(O(G log G)) instead of a dense O(K*G) product — the dominant-latency-hazard
finding from the beyond-SOTA optimization roadmap.
New CirConfig::fft_operator, default FALSE: the dense path stays the
bit-exact witness default. The FFT evaluates the same sums in a different
order, so enabling it shifts float results in the last bits and requires
regenerating any pinned witness — strictly opt-in per deployment.
FftOperator (rustfft, planned once at CirEstimator::new, scratch buffers
reused across the ISTA loop) dispatches inside ista_solve:
Phi x = scale * forward-FFT(x) sampled at bins (k_idx mod G)
Phi^H v = scale * unnormalised inverse-FFT of v scattered into those bins
Warm-start and Lipschitz estimation stay dense at construction.
Measured (criterion, same run, same machine):
ht20: 2.22 ms -> 265 us (8.4x)
ht40: 10.26 ms -> 717 us (14.3x)
The real HE40 grid (K=484, G=1452) scales further per the O(K*G)/O(G log G)
ratio.
3 new tests: FFT<->dense matvec equivalence to float tolerance on ht20 and
he40 grids; end-to-end dominant-tap agreement on a single-path frame; all
default configs keep FFT off. New cir_estimate_fft bench group.
Workspace gate: 2,921 passed / 0 failed (default path bit-exact, witnesses
unchanged).
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* feat(core): canonical frame decoder — capture-to-claim replay (ADR-136)
The encode half of the ADR-136 frame contract existed (ComplexSample,
to_canonical_bytes, witness_hash) but there was no decoder: a captured
canonical frame could be witnessed but never reconstructed, blocking
replay-from-capture.
CsiFrame::from_canonical_bytes is the exact inverse: same id, metadata,
complex payload, and witness hash (tested as the round-trip law AC7 — the
replayed frame re-encodes byte-identically). Amplitude/phase are recomputed
from the payload (projections, not independent state). Every malformed-input
class fails closed (AC8): header truncation -> Truncated, payload truncation
-> PayloadMismatch, unknown discriminants, non-UTF-8 device id, trailing
bytes. Nil calibration uuid decodes as None per the documented encoding.
Core: 36 tests pass. Workspace gate: 2,937 passed / 0 failed.
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* feat(engine): dynamic min-cut mesh partition guard (ruvector-mincut)
Maintains an exact min-cut over the live mesh coupling graph — nodes are
sensing nodes, coupling is the product of fusion attention weights — and
surfaces per cycle, as TrustedOutput::mesh:
- cut value: the global "how close is the array to partitioning" number,
a structural measure per-node heuristics miss;
- weak side: which specific nodes would split off (failure/jamming triage,
feeds ADR-032 posture);
- at-risk flag: counts as a structural event for the drift->recalibration
advisor (alongside ADR-142 change-points).
Degenerate cases fail toward risk: a node with zero coupling is reported as
already partitioned (cut 0, that node as the weak side).
Measured cost policy (criterion, 12-node mesh — the honest part):
- weights quantized (1/64) + change-gated: steady-state cycles do ZERO graph
work and reuse the cached cut (~7.3 us, ~23x cheaper than building);
- on any real change a full exact rebuild (~171 us) is used, because ONE
DynamicMinCut delete+insert measured ~240 us — the subpolynomial machinery
amortizes on much larger graphs, so rebuild-on-change is the measured
optimum at mesh scale (one-edge case -28% after switching policy);
- full process_cycle with the guard: ~33 us for 4 nodes vs the 50 ms budget.
9 mesh_guard tests (weak-node detection, steady-state zero updates,
sub-quantum gating, join/drop rebuild, determinism, disconnection) + an
engine-level wiring test (down-weighted node -> weak side -> recalibration).
Engine 24 tests; workspace gate 2,946 passed / 0 failed.
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* feat(engine): mesh partition risk demotes privacy + enters the witness (ADR-032)
Completes the mesh-guard integration: its at_risk signal was advisory-only
(fed the recalibration advisor). It now also contributes to the ADR-141
privacy demotion alongside fusion- and array-level contradictions — a mesh
close to partitioning makes the fused belief less trustworthy, so the cycle
emits at a more restricted class (monotonic; information only removed).
Because effective_class feeds the BLAKE3 witness, a fragmenting array now
shifts the witness: partition risk is auditable, not just logged. The mesh
computation moved ahead of the demotion step in process_cycle; mesh_guard_mut
exposes risk-threshold tuning.
Test: a forced-risk 3-node cycle demotes PrivateHome Anonymous->Restricted
and shifts the witness vs a clean baseline. Engine 25 tests; workspace gate
2,947 passed / 0 failed.
https://claude.ai/code/session_01MjBucx95K4BuUxZi8NWwRH
* fix: public-PR review findings — privacy-path honesty, gate holes, mesh-guard cliff
- sensing-server: engine errors logged+counted (no silent swallow), trust
state exposed via status surface, privacy-demotion claims aligned with
the actual parallel-audit-path behavior
- occupancy_bench: vacuous-F1 hole closed (degenerate test sets fail with
their own criterion); CI-lower-bound test made probative
- mesh_guard: quantization scaled to observed coupling range — >=65-node
balanced meshes no longer permanently at_risk (regression test)
- engine: both wiring tests made probative (same-topology witness compare,
deterministic risk-crossing fixture)
- mat: axum/tokio optional behind api; real serde feature (api enables it)
- core: canonical decoder strict (non-zero reserved bytes and nil UUID
rejected — injective on accepted domain, forged-bytes tests)
- CHANGELOG: un-spliced the FFT/adapter bullet mangle
Co-Authored-By: claude-flow <ruv@ruv.net>
* chore: strip private-track references for public PR
Reword the occupancy-benchmark changelog bullet to drop a cross-reference
to the private research track, and restore the WorldGraph retention bullet
header that was glued onto the preceding MAT bullet.
Co-Authored-By: claude-flow <ruv@ruv.net>
* chore: lockfile refresh for cherry-picked feature set
Co-Authored-By: claude-flow <ruv@ruv.net>
---------
Co-authored-by: Claude <noreply@anthropic.com>
ruv