ADR-036: RVF Model Training Pipeline & UI Integration

Status

Proposed

Date

2026-03-02

Context

The wifi-densepose system currently operates in signal-derived mode — derive_pose_from_sensing() maps aggregate CSI features (motion power, breathing rate, variance) to keypoint positions using deterministic math. This gives whole-body presence and gross motion but cannot track individual limbs.

The infrastructure for model inference mode exists but is disconnected:

1. RVF container format (rvf_container.rs, 1,102 lines) — a 64-byte-aligned binary format supporting model weights (SEG_VEC), metadata (SEG_MANIFEST), quantization (SEG_QUANT), LoRA profiles (SEG_LORA), contrastive embeddings (SEG_EMBED), and witness audit trails (SEG_WITNESS). Builder and reader are fully implemented with CRC32 integrity checks.

2. Training crate (wifi-densepose-train) — AdamW optimizer, [email protected]/OKS metrics, LR scheduling with warmup, early stopping, CSV logging, and checkpoint export. Supports CsiDataset trait with planned MM-Fi (114→56 subcarrier interpolation) and Wi-Pose (30→56 zero-pad) loaders per ADR-015.

3. NN inference crate (wifi-densepose-nn) — ONNX Runtime backend with CPU/GPU support, dynamic tensor shapes, thread-safe OnnxBackend wrapper, model info inspection, and warmup.

4. Sensing server CLI (--model <path>, --train, --pretrain, --embed) — flags exist for model loading, training mode, and embedding extraction, but the end-to-end path from raw CSI → trained .rvf → live inference is not wired together.

5. UI gaps — No model management, training progress visualization, LoRA profile switching, or embedding inspection. The Settings panel lacks model configuration. The Live Demo has no way to load a trained model or compare signal-derived vs model-inference output side-by-side.

What users need

• A way to collect labeled CSI data from their own environment (self-supervised or teacher-student from camera).
• A way to train an .rvf model from collected data without leaving the UI.
• A way to load and switch models in the live demo, seeing the quality improvement.
• Visibility into training progress (loss curves, validation PCK, early stopping).
• Environment adaptation via LoRA profiles (office → home → warehouse) without full retraining.

Decision

Phase 1: Data Collection & Self-Supervised Pretraining

1.1 CSI Recording API

Add REST endpoints to the sensing server:

POST /api/v1/recording/start   { duration_secs, label?, session_name }
POST /api/v1/recording/stop
GET  /api/v1/recording/list
GET  /api/v1/recording/download/:id
DELETE /api/v1/recording/:id

• Records raw CSI frames + extracted features to .csi.jsonl files.
• Optional camera-based label overlay via teacher model (Detectron2/MediaPipe on client).
• Each recording session tagged with environment metadata (room dimensions, node positions, AP count).

1.2 Contrastive Pretraining (ADR-024 Phase 1)

• Self-supervised NT-Xent loss learns a 128-dim CSI embedding without pose labels.
• Positive pairs: adjacent frames from same person; negatives: different sessions/rooms.
• VICReg regularization prevents embedding collapse.
• Output: .rvf container with SEG_EMBED + SEG_VEC segments.
• Training triggered via POST /api/v1/train/pretrain { dataset_ids[], epochs, lr }.

Phase 2: Supervised Training Pipeline

2.1 Dataset Integration

• MM-Fi loader: Parse HDF5 files, 114→56 subcarrier interpolation via ruvector-solver sparse least-squares.
• Wi-Pose loader: Parse .mat files, 30→56 zero-padding with Hann window smoothing.
• Self-collected: .csi.jsonl from Phase 1 recording + camera-generated labels.
• All datasets implement CsiDataset trait and produce (amplitude[B,T*links,56], phase[B,T*links,56], keypoints[B,17,2], visibility[B,17]).

2.2 Training API

POST /api/v1/train/start {
  dataset_ids: string[],
  config: {
    epochs: 100,
    batch_size: 32,
    learning_rate: 3e-4,
    weight_decay: 1e-4,
    early_stopping_patience: 15,
    warmup_epochs: 5,
    pretrained_rvf?: string,  // Base model for fine-tuning
    lora_profile?: string,    // Environment-specific LoRA
  }
}
POST /api/v1/train/stop
GET  /api/v1/train/status        // { epoch, train_loss, val_pck, val_oks, lr, eta_secs }
WS   /ws/train/progress          // Real-time streaming of training metrics

2.3 RVF Export

On training completion:

• Best checkpoint exported as .rvf with SEG_VEC (weights), SEG_MANIFEST (metadata), SEG_WITNESS (training hash + final metrics), and optional SEG_QUANT (INT8 quantization).
• Stored in data/models/ directory, indexed by model ID.
• GET /api/v1/models lists available models; POST /api/v1/models/load { model_id } hot-loads into inference.

Phase 3: LoRA Environment Adaptation

3.1 LoRA Fine-Tuning

• Given a base .rvf model, fine-tune only LoRA adapter weights (rank 4-16) on environment-specific recordings.
• 5-10 minutes of labeled data from new environment suffices.
• New LoRA profile appended to existing .rvf via SEG_LORA segment.
• POST /api/v1/train/lora { base_model_id, dataset_ids[], profile_name, rank: 8, epochs: 20 }.

3.2 Profile Switching

• POST /api/v1/models/lora/activate { model_id, profile_name } — hot-swap LoRA weights without reloading base model.
• UI dropdown lists available profiles per loaded model.

Phase 4: UI Integration

4.1 Model Management Panel (new: ui/components/ModelPanel.js)

• Model Library: List loaded and available .rvf models with metadata (version, dataset, PCK score, size, created date).
• Model Inspector: Show RVF segment breakdown — weight count, quantization type, LoRA profiles, embedding config, witness hash.
• Load/Unload: One-click model loading with progress bar.
• Compare: Side-by-side signal-derived vs model-inference toggle in Live Demo.

4.2 Training Dashboard (new: ui/components/TrainingPanel.js)

• Recording Controls: Start/stop CSI recording, session list with duration and frame counts.
• Training Progress: Real-time loss curve (train loss, val loss) and metric charts ([email protected], OKS) via WebSocket streaming.
• Epoch Table: Scrollable table of per-epoch metrics with best-epoch highlighting.
• Early Stopping Indicator: Visual countdown of patience remaining.
• Export Button: Download trained .rvf from browser.

4.3 Live Demo Enhancements

• Model Selector: Dropdown in toolbar to switch between signal-derived and loaded .rvf models.
• LoRA Profile Selector: Sub-dropdown showing environment profiles for the active model.
• Confidence Heatmap Overlay: Per-keypoint confidence visualization when model is loaded (toggle in render mode dropdown).
• Pose Trail: Ghosted keypoint history showing last N frames of motion trajectory.
• A/B Split View: Left half signal-derived, right half model-inference for quality comparison.

4.4 Settings Panel Extensions

• Model section: Default model path, auto-load on startup, GPU/CPU toggle, inference threads.
• Training section: Default hyperparameters, checkpoint directory, auto-export on completion.
• Recording section: Default recording directory, max duration, auto-label with camera.

4.5 Dark Mode

All new panels follow the dark mode established in ADR-035 (#0d1117 backgrounds, #e0e0e0 text, translucent dark panels with colored accents).

Phase 5: Inference Pipeline Wiring

5.1 Model-Inference Pose Path

When a .rvf model is loaded:

1. CSI frame arrives (UDP or simulated).
2. Extract amplitude + phase tensors from subcarrier data.
3. Feed through ONNX session: input[1, T*links, 56] → output[1, 17, 4] (x, y, z, conf).
4. Apply Kalman smoothing from pose_tracker.rs.
5. Broadcast via WebSocket with pose_source: "model_inference".
6. UI Estimation Mode badge switches from green "SIGNAL-DERIVED" to blue "MODEL INFERENCE".

5.2 Progressive Loading (ADR-031 Layer A/B/C)

• Layer A (instant): Signal-derived pose starts immediately.
• Layer B (5-10s): Contrastive embeddings loaded, HNSW index warm.
• Layer C (30-60s): Full pose model loaded, inference active.
• Transitions seamlessly; UI badge updates automatically.

Consequences

Positive

• Users can train a model on their own environment without external tools or Python dependencies.
• LoRA profiles mean a single base model adapts to multiple rooms in minutes, not hours.
• Training progress is visible in real-time — no black-box waiting.
• A/B comparison lets users see the quality jump from signal-derived to model-inference.
• RVF container bundles everything (weights, metadata, LoRA, witness) in one portable file.
• Self-supervised pretraining requires no labels — just leave ESP32s running.
• Progressive loading means the UI is never "loading..." — signal-derived kicks in immediately.

Negative

• Training requires significant compute: GPU recommended for supervised training (CPU possible but 10-50x slower).
• MM-Fi and Wi-Pose datasets must be downloaded separately (10-50 GB each) — cannot be bundled.
• LoRA rank must be tuned per environment; too low loses expressiveness, too high overfits.
• ONNX Runtime adds ~50 MB to the binary size when GPU support is enabled.
• Real-time inference at 10 FPS requires ~10ms per frame — tight budget on CPU.
• Teacher-student labeling (camera → pose labels → CSI training) requires camera access, which may conflict with the privacy-first premise.

Mitigations

• Provide pre-trained base .rvf model downloadable from releases (trained on MM-Fi + Wi-Pose).
• INT8 quantization (SEG_QUANT) reduces model size 4x and speeds inference ~2x on CPU.
• Camera-based labeling is optional — self-supervised pretraining works without camera.
• Training API validates VRAM availability before starting GPU training; falls back to CPU with warning.

Implementation Order

Phase	Effort	Dependencies	Priority
1.1 CSI Recording API	2-3 days	sensing server	High
1.2 Contrastive Pretraining	3-5 days	ADR-024, recording API	High
2.1 Dataset Integration	3-5 days	ADR-015, CsiDataset trait	High
2.2 Training API	2-3 days	training crate, dataset loaders	High
2.3 RVF Export	1-2 days	RvfBuilder	Medium
3.1 LoRA Fine-Tuning	3-5 days	base trained model	Medium
3.2 Profile Switching	1 day	LoRA in RVF	Medium
4.1 Model Panel UI	2-3 days	models API	High
4.2 Training Dashboard UI	3-4 days	training API + WS	High
4.3 Live Demo Enhancements	2-3 days	model loading	Medium
4.4 Settings Extensions	1 day	model/training APIs	Low
4.5 Dark Mode	0.5 days	new panels	Low
5.1 Inference Wiring	3-5 days	ONNX backend, pose tracker	High
5.2 Progressive Loading	2-3 days	ADR-031	Medium

Total estimate: 4-6 weeks (phases can overlap; 1+2 parallel with 4).

Files to Create/Modify

New Files

• ui/components/ModelPanel.js — Model library, inspector, load/unload controls
• ui/components/TrainingPanel.js — Recording controls, training progress, metric charts
• rust-port/.../sensing-server/src/recording.rs — CSI recording API handlers
• rust-port/.../sensing-server/src/training_api.rs — Training API handlers + WS progress stream
• rust-port/.../sensing-server/src/model_manager.rs — Model loading, hot-swap, 32LoRA activation
• data/models/ — Default model storage directory

Modified Files

• rust-port/.../sensing-server/src/main.rs — Wire recording, training, and model APIs
• rust-port/.../train/src/trainer.rs — Add WebSocket progress callback, LoRA training mode
• rust-port/.../train/src/dataset.rs — MM-Fi and Wi-Pose dataset loaders
• rust-port/.../nn/src/onnx.rs — LoRA weight injection, INT8 quantization support
• ui/components/LiveDemoTab.js — Model selector, LoRA dropdown, A/B spsplit view
• ui/components/SettingsPanel.js — Model and training configuration sections
• ui/components/PoseDetectionCanvas.js — Pose trail rendering, confidence heatmap overlay
• ui/services/pose.service.js — Model-inference keypoint processing
• ui/index.html — Add Training tabhee
• ui/style.css — Styles for new panels

References

• ADR-015: MM-Fi + Wi-Pose training datasets
• ADR-016: RuVector training pipeline integration
• ADR-024: Project AETHER — contrastive CSI embedding model
• ADR-029: RuvSense multistatic sensing mode
• ADR-031: RuView sensing-first RF mode (progressive loading)
• ADR-035: Live sensing UI accuracy & data source transparency
• Issue: ruvnet#92
• RVF format: crates/wifi-densepose-sensing-server/src/rvf_container.rs
• Training crate: crates/wifi-densepose-train/src/trainer.rs
• NN inference: crates/wifi-densepose-nn/src/onnx.rs