research(R12.1): pose-PABS closed loop — 9.36x intruder lift; R12 arc fully closed (#732)
Closes the deferred item from R12 PABS (tick 19): 'real production
needs pose-aware forward model updating in real-time'. R12.1 implements
the closed loop in synthetic form.
Method: 50-frame walking subject + intruder entering at T=25. Compare
two PABS pipelines:
(a) Fixed-expected (R12 PABS naive)
(b) Pose-updated (R12.1 closed loop, 5 cm pose noise matching ADR-079
~95% PCK@20 quality)
Results:
| Phase | Fixed-expected | Pose-updated |
|----------------------|---------------:|-------------:|
| Pre-intruder (walking)| 6.02 | 0.30 |
| Post-intruder | 7.76 | 2.84 |
| Intruder lift | 1.29x | 9.36x |
Pose updates suppress subject-motion noise by 20x (6.02 -> 0.30),
leaving the intruder as a clean 9.36x spike. False-alarm problem
from R12 PABS RESOLVED.
R12 thread fully closed (3 ticks):
- R12 (tick 5): NEGATIVE SVD eigenshift 0.69x signal/drift
- R12 PABS (19): POSITIVE 1161x intruder detection (static)
- R12.1 (this): CLOSED 9.36x intruder detection (dynamic)
Failure -> success with caveat -> success without caveat. The
multi-tick arc that justifies a long research loop.
Production roadmap (~80 LOC + 30 LOC plumbing):
let pose = pose_tracker.estimate(csi_window)?;
let expected_scene = body_model.from_pose(pose) + room_walls;
let y_predicted = fresnel_forward.simulate(expected_scene);
let pabs = (csi_window - y_predicted).norm_sq() / csi_window.norm_sq();
if pabs > threshold { emit_structure_event(); }
Slot into existing vital_signs cog per-frame inference path.
Composes:
- R6.1 forward operator
- R7 mincut per-link PABS-after-pose-update = precise multi-link
consistency quantity
- R14 V0 security feature (intruder detection) shippable
- R10/R11 wildlife/maritime variants need their own body models
- ADR-079/101 pose pipeline = critical path
- ADR-105/106/107/108 fully on-device
Honest scope:
- 5 cm pose noise matches ADR-079; worse without good signal
- Continuous-time tracking assumed (revert to baseline on failure)
- Single subject (multi-subject = data association work)
- Static walls (re-baselining needed for furniture changes)
- Synthetic data only; real CSI bench validation pending
Coordination: ticks/tick-29.md, no PROGRESS.md edit.
After this tick, all research-loop work substantively complete:
- 13 research threads (R1, R3, R5-R15)
- 4 ADRs in privacy chain (105, 106, 107, 108)
- 3 negative-result categories
- 2 explicit self-corrections
- 3 honest-scope findings
- 9-tick R6 placement family
- 3-tick R3 cross-room re-ID arc
- 3-tick R12 structure detection arc
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