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Mathew Beaneandclaude-flow cbd84acf6c fix(unified): stop GaussianMap::decay compounding across calls

decay(now) multiplied confidence by exp(-(now - timestamp_ns)/tau_eff)
on every call, but timestamp_ns is the last-seen time and does not move
when decay runs. Calling decay(t1) then decay(t2) applied
exp(-(t1-ts)/tau) * exp(-(t2-ts)/tau) instead of exp(-(t2-ts)/tau), so
confidence fell faster the more often the caller ticked.

Track how far each Gaussian has already been decayed (decayed_to_ns)
and only apply the interval since max(decayed_to_ns, timestamp_ns).
A fresh observation still restarts the clock, and the lifetime-stretched
tau_eff is unchanged. Fusion and the merge pass keep the later of the
two decayed_to_ns values. The new field is #[serde(default)], so maps
serialized before this change load with 0 and decay from timestamp_ns
as before.

Adds two tests: one-shot vs. per-second decay must agree to 1e-12, and
the wall-vs-transient persistence case must hold when decay runs every
10 s.

Co-Authored-By: claude-flow <ruv@ruv.net>

2026-10-03 22:58:13 -04:00

.cargo

fix: align multistatic CSI time and clear Rust advisories (#1669 )

2026-08-22 14:59:22 -04:00

.claude-flow

chore(repo): rename rust-port/wifi-densepose-rs → v2/ (flatten to one level) (#427 )

2026-04-25 21:28:13 -04:00

crates

fix(unified): stop GaussianMap::decay compounding across calls

2026-10-03 22:58:13 -04:00

data

fix: remediate vitals, desktop, and repository integrity issues (#1618 )