Sets up docs/research/sota-2026-05-22/ as the autonomous-research
output dir, with PROGRESS.md as the canonical 15-vector research
agenda spanning spatial intelligence, RF features, RSSI-only, and
exotic/long-horizon verticals. Cron d6e5c473 (*/10 * * * *) picks
threads from this file and self-terminates at 2026-05-22 08:00 ET.
First concrete contribution this tick — R5 subcarrier saliency:
* examples/research-sota/r5_subcarrier_saliency.py: pure-numpy port
of the count cog's Conv1d encoder + count head, computes per-
subcarrier input×gradient saliency via central-difference. 128
samples × 56 subcarriers × 2 forward passes/subcarrier ≈ ~3 s on
CPU, no GPU or framework dependency.
* docs/research/sota-2026-05-22/R5-subcarrier-saliency.md: research
note with motivation, method, novelty argument, and the first
measured ranking. Top-8 subcarriers for cog-person-count v0.0.2:
[41, 52, 30, 31, 10, 35, 2, 38]. Max/mean ratio 2.85x.
* v2/crates/cog-person-count/cog/artifacts/saliency.json: machine-
readable per-subcarrier saliency + top-K lists, so future-tick
experiments (retrain at K=8/16/32) consume it without re-running.
Key insight from the first measurement: top-8 saliency is *band-
spread* (indices span 2-52), not concentrated. This directly raises
R8's (RSSI-only) feasibility ceiling, because RSSI is a band-
aggregate — it retains the integral of a band-spread signal. First-
order estimate: RSSI-only should hit ~60% of full-CSI accuracy for
the count task. R7 (adversarial defence) inherits a concrete defender-
priority list: corroborate these 8 subcarriers across nodes.
This commit is the first of many short, focused contributions over
the next ~12 hours. PROGRESS.md is the canonical pointer for the
next tick to pick up the next thread.
Demos 04 and 05 work fine locally — operator has assets/X Bot.fbx
present. On the gh-pages deploy the FBX is intentionally absent
(Mixamo license boundary, .gitignored) and the previous onError
handler just logged 'FBX load failed' to the console and left a
stuck '⚠ Load failed — see console' message in the overlay.
Replaces both onError handlers with an in-page card that:
- Explains why the asset is missing (license boundary, not a bug)
- Tells you exactly how to run it locally (Mixamo download path,
where to drop the file, the serve-demo.py command)
- Links to Mixamo + the repo source + back to the gallery
- Lets the ADR-097 helpers scene keep rendering behind it
- Logs at warn (not error) — no more uncaught console.error noise
The success branch is untouched, so local development is identical
to before.
Adds a new GitHub Pages workflow that publishes the ADR-097 three.js
demo gallery alongside the existing observatory/, pose-fusion/,
pointcloud/, and nvsim/ deployments. Uses keep_files: true so the
other deployments are preserved.
What ships:
* `examples/three.js/index.html` — new landing page that lists all 5
demos with screenshots, "standalone" vs "needs FBX" badges, and an
honest note explaining the Mixamo X Bot.fbx license boundary
(demos 04 and 05 need a local download from mixamo.com; demos
01-03 run standalone in any modern browser).
* `.github/workflows/threejs-pages.yml` — staged copy of demos/,
screenshots/, README.md, and the new index.html into
`_site/three.js/`. Drops an `assets/README.txt` placeholder
explaining the FBX-not-shipped policy. Triggered on changes to
examples/three.js/** or the workflow itself.
* README.md — adds the live link to the existing demo row
(`▶ three.js Demos (5)`) plus a one-line callout describing the
gallery and the FBX caveat.
After this PR merges, the workflow runs and publishes:
https://ruvnet.github.io/RuView/three.js/
* feat(examples/three.js): cinematic skinned realtime pose demo + ESP32 CSI bridge
Five-stage example progression exploring three.js helpers (ADR-097 surface) as
a viewer for live RuView sensor data:
1. helpers-demo.html — clean ADR-097 helper reference (GridHelper,
PolarGridHelper, BoxHelper, AxesHelper),
file://-safe, no backend
2. helpers-cinematic.html — same scene + UnrealBloomPass + pseudo-CSI
sonar pings + tomography sweep + procedural
cyber floor + ambient drift particles
3. helpers-skinned.html — replaces sphere skeleton with Mixamo X Bot
via GLTFLoader from threejs.org CDN, plays
bundled animations with additive blending
4. helpers-skinned-fbx.html — same but loads a local Mixamo FBX (needs
serve-demo.py — file:// can't fetch local
siblings). Drop X Bot.fbx alongside.
5. helpers-skinned-realtime.html — webcam → MediaPipe Pose Heavy →
poseWorldLandmarks → direct quaternion
retargeting onto the Mixamo skeleton.
Real ESP32-S3 CSI streamed over WebSocket
from ruvultra (Tailscale, port 8766).
Supporting:
- serve-demo.py threaded HTTP server with no-cache headers
(fixes net::ERR_EMPTY_RESPONSE on the FBX path)
- ruvultra-csi-bridge.py ESP32 RuView firmware tick → WebSocket bridge,
runs as systemd-run unit on ruvultra
Bugs found + fixed along the way (all documented in code comments):
- FBX exports yield TWO parallel Bone trees with identical names; only the
SkinnedMesh.skeleton.bones one drives visible deformation. model.traverse
finds orphans.
- Mixamo FBX nests a zero-length wrapper bone above the real bone, same name.
bone.children[0].getWorldPosition == bone.getWorldPosition → restDir is
(0,0,0) → setFromUnitVectors collapses to identity. Walk past same-named
same-position wrappers when computing tail.
- AnimationMixer.update() with a "stopped" action still mutates bones unless
enabled=false is set.
Retargeting layer in helpers-skinned-realtime.html:
- 12 bones direct quaternion retarget (arms × 2, legs × 2, spine × 3, neck)
- Hips root rotation from shoulder/hip line basis (torso twist + lean)
- Neck aims at ear-midpoint (kp 7+8), not nose (kp 0), to remove the
forward bias of the protruding-nose anchor
- One Euro Filter per landmark per axis (Casiez 2012) — adaptive low-pass
- Visibility-weighted per-bone slerp gain — occluded limbs relax to rest
- URL toggles: ?mirror= ?yflip= ?zflip= ?cnn=0/1/2 ?csi=ws://...
Live CSI integration:
- Bridge parses adaptive_ctrl tick lines (motion/presence/rssi/yield)
- Browser fans single ESP32 reading across 4 UI nodes with phase-shifted
wobble (0.88–1.00 × sin(t·0.55 + offsetᵢ))
- EMA α=0.06 (~3 sec time constant), HUD update throttled 3 Hz
Co-Authored-By: claude-flow <ruv@ruv.net>
* refactor(examples/three.js): organize into demos/screenshots/server/assets + add README
Flatten the 13-file flat layout into purposeful subfolders so the demo
collection has a clean top-level entry point (README.md) and the file roles
are obvious from a directory listing.
Layout:
demos/ 01..05 — numbered for the progression (helpers → cinematic →
skinned → skinned-fbx → skinned-realtime)
screenshots/ one PNG per demo, matching the demo's filename prefix
server/ serve-demo.py + ruvultra-csi-bridge.py
assets/ X Bot.fbx (gitignored, used by demos 04 and 05)
Touched files (beyond the renames):
- 04-skinned-fbx.html, 05-skinned-realtime.html: MODEL_URL now resolves
'../assets/X%20Bot.fbx' instead of './X%20Bot.fbx'
- server/serve-demo.py: chdir() walks 3 levels up to repo root (was 2), and
the URL banner now lists all 5 demos
- .gitignore: comment refresh — points at assets/ and screenshots/
- 05-skinned-realtime.html also picks up in-flight fps-tune work from this
branch (Holistic script, SMOOTH_K URL param, slerp gain scaling) since
those edits and the rename hit the same file
Verified end-to-end:
- python examples/three.js/server/serve-demo.py
- all 5 demos return 200, X Bot.fbx returns 200 from new asset/ path
- demos 04 + 05 render the X Bot mesh; 0 JS errors via browser eval
- screenshots reproduced match the originals
Co-Authored-By: claude-flow <ruv@ruv.net>
The Rust port lived two directories deep (rust-port/wifi-densepose-rs/)
without any sibling under rust-port/ that warranted the extra level.
Move the whole workspace up to v2/ to match v1/ (Python) at the same
depth and shorten every cd / build command across the repo.
git mv preserves history for all tracked files. 60 files updated for
path references (CI workflows, ADRs, docs, scripts, READMEs, internal
.claude-flow state). Two manual fixes for relative-cd paths in
CLAUDE.md and ADR-043 that became wrong after the depth change
(cd ../.. → cd ..).
Validated:
- cargo check --workspace --no-default-features → clean (after target/
nuke; the gitignored target/ was carried by the OS rename and had
hard-coded old paths in build scripts)
- cargo test --workspace --no-default-features → 1,539 passed, 0 failed,
8 ignored (same totals as pre-rename)
- ESP32-S3 on COM7 → still streaming live CSI (cb #40300, RSSI -64 dBm)
After-merge follow-up: contributors should `rm -rf v2/target` once and
let cargo regenerate from the new path.
- examples/medical/README.md: full guide for BP estimator,
hardware requirements, sample output, accuracy table, AHA
categories, disclaimer, RuView integration explanation
- README.md: added Medical Examples to documentation table
Co-Authored-By: claude-flow <ruv@ruv.net>
Reads real-time heart rate from MR60BHA2 60 GHz mmWave sensor and
estimates BP trends using HR/HRV correlation model:
- Mean HR → baseline SBP/DBP
- SDNN (HRV) → sympathetic/parasympathetic adjustment
- LF/HF spectral ratio → fine adjustment (with numpy)
- Optional calibration with a real BP reading
Verified on real hardware: 125/83 mmHg estimate from 35 HR samples
over 60 seconds at 84 bpm mean HR with 91ms SDNN.
NOT A MEDICAL DEVICE — research/wellness tracking only.
Co-Authored-By: claude-flow <ruv@ruv.net>
rUv