History

rUv c7ddb2d7d1 feat(worldmodel): ADR-147 — OccWorld world model integration, wifi-densepose-worldmodel v0.3.0 (#856 ) * feat(worldmodel): ADR-147 — OccWorld integration, wifi-densepose-worldmodel v0.3.0 (#854) - New crate `wifi-densepose-worldmodel` v0.3.0: async Unix-socket bridge to OccWorld Python inference server; `OccWorldBridge`, `OccupancyGrid3D`, `TrajectoryPrior`, `worldgraph_to_occupancy` encoder (14/14 tests pass) - `scripts/occworld_server.py`: long-lived Python inference server for OccWorld TransVQVAE (72.4M params); applies API-bug patches; dummy mode for CI testing; graceful SIGTERM shutdown - `pose_tracker.rs`: `trajectory_prior` soft-blend injection (80/20 Kalman/prior) on torso keypoint; `set_trajectory_prior()` public method - CI: added `Run ADR-147 worldmodel tests` step - ADR-147: accepted — OccWorld primary (209 ms, 3.37 GB VRAM, RTX 5080); Cosmos deferred to ADR-148 (32.54 GB VRAM exceeds hardware) - Benchmark proof: 208.7 ms P50, 3.37 GB peak VRAM, 12.1 GB headroom Co-Authored-By: claude-flow <ruv@ruv.net> * chore: update ruvector.db state Co-Authored-By: claude-flow <ruv@ruv.net> * chore: ruvector.db sync Co-Authored-By: claude-flow <ruv@ruv.net> * fix(cli): add missing min_frames field to CalibrateArgs test helper E0063 in calibrate.rs:448 — CalibrateArgs gained min_frames in ADR-135 but the default_args() test helper was not updated. min_frames=0 means 'use tier default', matching the existing runtime behaviour. Co-Authored-By: claude-flow <ruv@ruv.net>		2026-05-29 16:53:51 -04:00
..
benches	feat(signal): ADR-135 — empty-room baseline calibration	2026-05-28 18:57:08 -04:00
src	feat(worldmodel): ADR-147 — OccWorld world model integration, wifi-densepose-worldmodel v0.3.0 (#856 )	2026-05-29 16:53:51 -04:00
tests	feat(signal): ADR-135 — empty-room baseline calibration	2026-05-28 18:57:08 -04:00
Cargo.toml	release: version bumps for crates.io publish (streaming-engine cascade)	2026-05-29 09:26:38 -04:00
README.md	chore(repo): rename rust-port/wifi-densepose-rs → v2/ (flatten to one level) (#427 )	2026-04-25 21:28:13 -04:00

README.md

wifi-densepose-signal

State-of-the-art WiFi CSI signal processing for human pose estimation.

Overview

wifi-densepose-signal implements six peer-reviewed signal processing algorithms that extract human motion features from raw WiFi Channel State Information (CSI). Each algorithm is traced back to its original publication and integrated with the ruvector family of crates for high-performance graph and attention operations.

Algorithms

Algorithm	Module	Reference
Conjugate Multiplication	`csi_ratio`	SpotFi, SIGCOMM 2015
Hampel Filter	`hampel`	WiGest, 2015
Fresnel Zone Model	`fresnel`	FarSense, MobiCom 2019
CSI Spectrogram	`spectrogram`	Common in WiFi sensing literature since 2018
Subcarrier Selection	`subcarrier_selection`	WiDance, MobiCom 2017
Body Velocity Profile (BVP)	`bvp`	Widar 3.0, MobiSys 2019

Features

CSI preprocessing -- Noise removal, windowing, normalization via CsiProcessor.
Phase sanitization -- Unwrapping, outlier removal, and smoothing via PhaseSanitizer.
Feature extraction -- Amplitude, phase, correlation, Doppler, and PSD features.
Motion detection -- Human presence detection with confidence scoring via MotionDetector.
ruvector integration -- Graph min-cut (person matching), attention mechanisms (antenna and spatial attention), and sparse solvers (subcarrier interpolation).

Quick Start

use wifi_densepose_signal::{
    CsiProcessor, CsiProcessorConfig,
    PhaseSanitizer, PhaseSanitizerConfig,
    MotionDetector,
};

// Configure and create a CSI processor
let config = CsiProcessorConfig::builder()
    .sampling_rate(1000.0)
    .window_size(256)
    .overlap(0.5)
    .noise_threshold(-30.0)
    .build();

let processor = CsiProcessor::new(config);

Architecture

wifi-densepose-signal/src/
  lib.rs                 -- Re-exports, SignalError, prelude
  bvp.rs                 -- Body Velocity Profile (Widar 3.0)
  csi_processor.rs       -- Core preprocessing pipeline
  csi_ratio.rs           -- Conjugate multiplication (SpotFi)
  features.rs            -- Amplitude/phase/Doppler/PSD feature extraction
  fresnel.rs             -- Fresnel zone diffraction model
  hampel.rs              -- Hampel outlier filter
  motion.rs              -- Motion and human presence detection
  phase_sanitizer.rs     -- Phase unwrapping and sanitization
  spectrogram.rs         -- Time-frequency CSI spectrograms
  subcarrier_selection.rs -- Variance-based subcarrier selection

Crate	Role
`wifi-densepose-core`	Foundation types and traits
`ruvector-mincut`	Graph min-cut for person matching
`ruvector-attn-mincut`	Attention-weighted min-cut
`ruvector-attention`	Spatial attention for CSI
`ruvector-solver`	Sparse interpolation solver

License

MIT OR Apache-2.0