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Implements R20.1's catalogued refinement: when NV conf > 60% AND amplitude > 3 pT, trust NV entirely. Mixed result (5 distances): - 0.5 m: NV=72.00 ✓, smart=72.0 (+0.0 error, NV trusted) ✓ - 1.0 m: NV=144 (harmonic!), smart trusts wrong NV (+72 BPM error) - 1.5 m+: falls back to weighted (NV conf below threshold) Production lesson: the threshold-based policy is correct in spirit but incorrect with simple FFT rate estimator (picks harmonics). Production needs: 1. Harmonic rejection (Pan-Tompkins QRS or autocorrelation) 2. Cross-check vs breathing band 3. Per-frame plausibility window R20.1's 'production needs Pan-Tompkins' note is confirmed BINDING, not nice-to-have, before threshold hand-off can ship. ADR-114 implementation budget refined: +30-50 LOC for Pan-Tompkins. Five-step quantum arc: - R20 vision (tick 37) - Doc 17 bridge (tick 38) - ADR-114 spec (tick 39) - R20.1 working demo (tick 40) - R20.2 threshold refinement (this tick) Production ADR-114 cog now has all known refinements catalogued BEFORE any Rust code is written. Honest mixed result — catalogue-then-revisit pattern works: R20.1 flagged production gap; R20.2 attempted fix; fix surfaced deeper gap (harmonic rejection). Three layers of refinement.
SOTA Research Loop — Examples Overview
Pure-numpy reference implementations from the 2026-05-22 autonomous SOTA research loop. Every script is self-contained, prints headline numbers, and writes a machine-readable JSON result file alongside.
Folder map
| Folder | Threads | What it covers |
|---|---|---|
| 01-physics-floor/ | R1, R6, R6.1 | Bedrock physics — ToA CRLB, single-scatterer Fresnel, multi-scatterer forward model |
| 02-placement/ | R6.2 family (7 sub-ticks) | Antenna placement search — 2D / 3D / multi-anchor / chest-centric / multi-subject |
| 03-spatial-intelligence/ | R5, R7 | Subcarrier saliency + Stoer-Wagner mincut adversarial defence |
| 04-rssi/ | R8, R9 | RSSI-only counting + RSSI fingerprint K-NN |
| 05-cross-room-reid/ | R3 arc (3 ticks) | Cross-room person re-identification — naive, physics-informed, embedding-level |
| 06-structure-detection/ | R12 arc (3 ticks) | RF-weather eigenshift → PABS → pose-PABS closed loop (NEGATIVE → POSITIVE) |
| 07-negative-results/ | R13 | Physics-floor scrutiny — why contactless BP from CSI doesn't work |
| 08-verticals/ | R10, R11 | Exotic vertical physics — wildlife (foliage attenuation) and maritime (through-bulkhead) |
| 09-quantum-fusion/ | R20.1 | Quantum-classical Bayesian fusion (ADR-114 cog-quantum-vitals demo) |
Running any example
All scripts are pure NumPy. No external dependencies beyond numpy itself.
python examples/research-sota/01-physics-floor/r6_fresnel_zone.py
python examples/research-sota/02-placement/r6_2_5_multi_subject.py
# etc.
Each script:
- Prints headline numbers to stdout
- Writes
<script_name>_results.jsonnext to itself - Runs in <2 minutes on a laptop (most run in <10 seconds)
Cross-folder dependency graph
01-physics-floor ──┐
│ │
▼ │
02-placement ◀────┤
│ │
▼ │
03-spatial-intel ◀──┤
│ │
▼ │
06-structure-detection ◀──┘
│
▼
09-quantum-fusion (composes 01+03+06)
04-rssi (independent, uses 01 forward model)
05-cross-room-reid (uses 01+03)
07-negative-results (uses 01)
08-verticals (uses 01)
Headline findings
| Finding | Source |
|---|---|
| 93× sensing-coverage lift from physics-aware placement | 02-placement (R6.2) |
| 9.36× intruder-detection lift from pose-PABS closed loop | 06-structure-detection (R12.1) |
| 100% coverage of 1-4 occupant household at N=5 anchors | 02-placement (R6.2.5) |
| ~50% breathing-band SNR cost from realistic body multi-scatterer | 01-physics-floor (R6.1) |
| RSSI alone preserves 95% of full-CSI person count | 04-rssi (R8) |
| Stoer-Wagner mincut catches 3/3 adversarial spoofs | 03-spatial-intelligence (R7) |
| Contactless BP/HRV-contour: 5 dB short, physically blocked | 07-negative-results (R13) |
| NV-diamond cardiac magnetometry recovers R13 at bedside | 09-quantum-fusion (R20.1) |
Related loop output
- Research notes:
docs/research/sota-2026-05-22/R{1..20}-*.md - Per-tick summaries:
docs/research/sota-2026-05-22/ticks/tick-{1..40}.md - Production roadmap:
docs/research/sota-2026-05-22/PRODUCTION-ROADMAP.md - ADRs from the loop:
docs/adr/ADR-{105..109,113,114}-*.md - Quantum-sensing series:
docs/research/quantum-sensing/{11..17}-*.md
Honest scope
All scripts are synthetic-physics derivations, not bench measurements. Real ESP32-S3 deployments may diverge from these numbers by 5-30% due to multipath, hardware tolerance, environmental drift. Bench validation is the critical next step for any production use; see PRODUCTION-ROADMAP.md Tier 2.3.
Reading order for newcomers
- Start with 01-physics-floor/R6 (Fresnel forward model) — bedrock for everything else
- Then 02-placement/R6.2.5 (multi-subject) — practical placement recipe
- Then 06-structure-detection/R12.1 (pose-PABS) — the security feature
- Then 09-quantum-fusion/R20.1 (Bayesian fusion) — the future direction