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    feat(worldmodel): ADR-147 — OccWorld world model integration, wifi-densepose-worldmodel v0.3.0 (#856)

    frostbyte_neo 发布于 2026-05-29 20:53:51 +00:00

    • 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

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