What's Changed

Cross-Node Mesh Fusion

• RSSI-weighted feature fusion across multiple ESP32 nodes — closer node gets higher weight
• DynamicMinCut person separation via ruvector_mincut on subcarrier temporal correlation graph
• RSSI-based skeleton position tracking — walk between nodes and the skeleton follows
• Motion-responsive skeleton — arm swing (0-80px), leg kick (0-50px), walking bob, head nod all driven by real CSI data

Per-Node State (ADR-068)

• Each ESP32 gets independent classification, vitals, person count
• Stale node eviction after 60s inactivity
• Multi-node aggregation: max(per_node_counts)

RuVector Signal Processing (Phases 1-3)

• Subcarrier importance weighting via mincut partition
• Temporal EMA keypoint smoothing with coherence gating
• Skeleton kinematic constraints (Jakobsen relaxation, 12-bone COCO-17 tree)
• Compressed pose history for trajectory matching

Smoothing & Quality

• Client-side lerp interpolation (alpha=0.15) for fluid skeleton
• Server EMA (alpha=0.15) for temporal blending
• Dampened procedural animation, recalibrated for real ESP32 data
• Vital sign filtering: larger median window (31), faster EMA, looser jump filter

Hardware Benchmarks (2 ESP32 nodes, 30s)

Bug Fixes

• RSSI byte offset (#332), stack overflow, stale node leak, unsafe pointer removed
• Person count: sum→max aggregation, recalibrated thresholds
• Firmware CI: IDF v5.4, xxd→od

Binaries

Full Changelog: v0.5.2-esp32...v0.5.3-esp32