Give mavwaked a speech model instead of an energy threshold (#210)

.gitignore

@@ -70,3 +70,5 @@ coverage.out
 
 # root .env — MAVEN_AMBIENT_TOKEN and friends, same class as deploy/telegram.env
 .env
+# silero-vad, downloaded (see AGENTS.md)
+/models/vad/

AGENTS.md

@@ -95,6 +95,22 @@ model: the code puts `query: ` in front of a question and `passage: ` in front
 of a stored note, which is how e5 was trained. The quantized file is the one
 that is downloaded, deployed and measured.
 
+## Voice activity model for mavwaked
+
+`mavwaked` decides an utterance has started with silero-vad when `-vad-model`
+points at it, and with an energy threshold when it does not. The model is 2.3MB
+and is not committed:
+
+```sh
+mkdir -p models/vad
+curl -sL -o models/vad/silero_vad.onnx \
+  https://github.com/snakers4/silero-vad/raw/master/src/silero_vad/data/silero_vad.onnx
+```
+
+It needs the same `libonnxruntime.so` the embedder needs, passed as `-onnx-lib`
+or read from `MAVEN_ONNX_LIB`. The measurement is
+`docs/evals/2026-08-09-silero-vad.md`, and the tests skip without the file.
+
 **Also need ONNX Runtime** (`libonnxruntime.so`):
 
 ```sh

cmd/mavwaked/main.go

@@ -5,12 +5,17 @@
 // is detected sends it as a PushToTalk frame to the voice server. The reply
 // audio is played back through aplay(1).
 //
-// No wake-word model yet (MVP uses voice-activity-only trigger). The
-// SurfaceVoice auth layer caps all commands at L0 (no destructive acts),
-// making accidental triggers safe by design. A proper wake-word engine
-// (openWakeWord / Silero VAD ONNX) is the planned upgrade — the VAD shape
-// (30ms frames, 16kHz PCM) matches silero-vad's input interface exactly, so
-// swapping energy-threshold for ONNX-inference is a local change in vad.go.
+// Voice activity is silero-vad when -vad-model points at the graph, and an
+// energy threshold when it does not. Silero declines noise the threshold
+// accepts: 0 frames against 68 to 99 on the four fixtures, measured in
+// docs/evals/2026-08-09-silero-vad.md. Note that the model window is 512
+// samples and the capture frame is 480, so silero.go re-chunks. This comment
+// used to say the two matched, which was true of silero v4.
+//
+// There is still no wake-word model, so anything spoken near the microphone
+// becomes a turn (V-487 stage two). The SurfaceVoice auth layer caps all
+// commands at L0 (no destructive acts), which is what makes an accidental
+// trigger safe rather than expensive.
 //
 // While a reply is playing the capture side is muted (half-duplex): without
 // it, Maven's own voice comes back in through the mic and she answers
@@ -73,6 +78,9 @@ func run(args []string) error {
 	bargeIn := flag.Bool("barge-in", false, "cut Maven off when he talks over her (needs a room-tuned -barge-in-rms)")
 	bargeRMS := flag.Int("barge-in-rms", defaultBargeRMS, "RMS x10000 a frame must clear to count as barge-in")
 	bargeFrames := flag.Int("barge-in-frames", defaultBargeFrames, "consecutive frames over -barge-in-rms before playback is cut")
+	vadModel := flag.String("vad-model", "", "silero-vad onnx file; empty runs the energy threshold instead")
+	vadThreshold := flag.Float64("vad-threshold", defaultSileroThreshold, "speech probability a frame must clear")
+	onnxLib := flag.String("onnx-lib", os.Getenv("MAVEN_ONNX_LIB"), "libonnxruntime.so, needed with -vad-model")
 	flag.CommandLine.Parse(args)
 
 	ctx, stop := signal.NotifyContext(context.Background(), syscall.SIGINT, syscall.SIGTERM, syscall.SIGHUP)
@@ -82,8 +90,20 @@ func run(args []string) error {
 	vc := voice.Dial(*addr)
 	defer vc.Close()
 
-	// VAD engine.
+	// VAD engine. A model that will not load is logged and not fatal: the
+	// energy threshold is worse, and it is a great deal better than a
+	// listening client that refuses to start.
 	vad := NewVAD(*minRMS, *speechMs, *silenceMs, *maxMs)
+	if *vadModel != "" {
+		s, err := newSileroVAD(*vadModel, *onnxLib)
+		if err != nil {
+			log.Printf("mavwaked: silero unavailable, energy threshold unchanged: %v", err)
+		} else {
+			defer s.Close()
+			vad.UseSilero(s, *vadThreshold)
+			log.Printf("mavwaked: silero-vad from %s, threshold %.2f", *vadModel, *vadThreshold)
+		}
+	}
 
 	// Audio source.
 	var src io.ReadCloser

cmd/mavwaked/silero.go

@@ -0,0 +1,171 @@
+package main
+
+// silero-vad, the speech detector that replaces the energy threshold (V-487).
+//
+// Why an energy threshold is not a voice activity detector. It answers "is
+// this frame loud", and a fan, a door and a television are all loud. mavwaked
+// sends every utterance it accepts to speech-to-text and then to the daemon,
+// so a false trigger is a turn Maven takes on something nobody said to her.
+// Silero answers "is this frame speech", which is the question.
+//
+// It is 2.3MB of ONNX and runs on one CPU core in real time. That is not an
+// aside: this is the one model in the system that may never be offloaded or
+// gated on GPU admission, because a wake path that waits on a card is not a
+// wake path.
+//
+// Nil is a working value. Without -vad-model the daemon runs the energy VAD
+// exactly as it did before this file existed.
+
+import (
+	"fmt"
+	"sync"
+
+	ort "github.com/yalue/onnxruntime_go"
+)
+
+const (
+	// sileroWindow — samples per inference at 16kHz. The model is fixed at
+	// 512 and does not accept another size, which is why this file
+	// re-chunks rather than reusing the 480-sample capture frame. main.go
+	// used to claim the two matched; that was true of silero v4.
+	sileroWindow = 512
+
+	// sileroContext — samples of the previous window prepended to each
+	// inference, as the reference implementation does. Without it the first
+	// milliseconds of every window are judged with no history and speech
+	// onsets score low.
+	sileroContext = 64
+
+	// sileroState — the LSTM state carried between windows, [2][1][128].
+	sileroStateDim = 128
+
+	// defaultSileroThreshold — probability above which a window is speech.
+	// 0.5 is the reference default. Raising it costs speech onsets, which
+	// are the quietest part of an utterance.
+	defaultSileroThreshold = 0.5
+)
+
+// sileroVAD holds one ONNX session and the streaming state around it. It is
+// fed 30ms capture frames and answers per frame, buffering across calls
+// because 480 samples never line up with a 512-sample window.
+type sileroVAD struct {
+	mu      sync.Mutex
+	session *ort.DynamicAdvancedSession
+
+	pending []float32               // samples not yet part of a full window
+	context [sileroContext]float32  // tail of the previous window
+	state   []float32               // [2][1][128], carried between windows
+	last    float64                 // most recent probability, held between windows
+	sr      []int64
+}
+
+// newSileroVAD loads the graph. The ONNX environment is initialised here when
+// nothing else has done it, because mavwaked has no embedder to do it first.
+func newSileroVAD(modelPath, libPath string) (*sileroVAD, error) {
+	if !ort.IsInitialized() {
+		if libPath != "" {
+			ort.SetSharedLibraryPath(libPath)
+		}
+		if err := ort.InitializeEnvironment(); err != nil {
+			return nil, fmt.Errorf("silero: onnx runtime: %w", err)
+		}
+	}
+	s, err := ort.NewDynamicAdvancedSession(modelPath,
+		[]string{"input", "state", "sr"}, []string{"output", "stateN"}, nil)
+	if err != nil {
+		return nil, fmt.Errorf("silero: load %s: %w", modelPath, err)
+	}
+	return &sileroVAD{
+		session: s,
+		state:   make([]float32, 2*sileroStateDim),
+		sr:      []int64{16000},
+	}, nil
+}
+
+// Speech reports whether the frame carries speech, and the probability behind
+// that answer. A frame that completes no window inherits the previous
+// probability, so the caller sees one answer per frame either way.
+func (s *sileroVAD) Speech(frame []int16, threshold float64) (bool, float64) {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+
+	for _, v := range frame {
+		s.pending = append(s.pending, float32(v)/32768.0)
+	}
+	for len(s.pending) >= sileroWindow {
+		p, err := s.infer(s.pending[:sileroWindow])
+		if err != nil {
+			// A failed inference must not silence the microphone. Hold the
+			// last answer and let the next window try again.
+			break
+		}
+		s.last = p
+		s.pending = s.pending[sileroWindow:]
+	}
+	return s.last >= threshold, s.last
+}
+
+// infer runs one window and rolls the state and the context forward.
+func (s *sileroVAD) infer(window []float32) (float64, error) {
+	in := make([]float32, sileroContext+sileroWindow)
+	copy(in, s.context[:])
+	copy(in[sileroContext:], window)
+
+	inT, err := ort.NewTensor(ort.NewShape(1, int64(len(in))), in)
+	if err != nil {
+		return 0, err
+	}
+	defer inT.Destroy()
+	stT, err := ort.NewTensor(ort.NewShape(2, 1, sileroStateDim), s.state)
+	if err != nil {
+		return 0, err
+	}
+	defer stT.Destroy()
+	srT, err := ort.NewTensor(ort.NewShape(1), s.sr)
+	if err != nil {
+		return 0, err
+	}
+	defer srT.Destroy()
+
+	out, err := ort.NewEmptyTensor[float32](ort.NewShape(1, 1))
+	if err != nil {
+		return 0, err
+	}
+	defer out.Destroy()
+	next, err := ort.NewEmptyTensor[float32](ort.NewShape(2, 1, sileroStateDim))
+	if err != nil {
+		return 0, err
+	}
+	defer next.Destroy()
+
+	if err := s.session.Run(
+		[]ort.Value{inT, stT, srT},
+		[]ort.Value{out, next},
+	); err != nil {
+		return 0, err
+	}
+	copy(s.state, next.GetData())
+	copy(s.context[:], in[len(in)-sileroContext:])
+	return float64(out.GetData()[0]), nil
+}
+
+// Reset drops the streaming state. Called at every utterance boundary and
+// after barge-in, so echo-era history never scores the next sentence.
+func (s *sileroVAD) Reset() {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+	s.pending = s.pending[:0]
+	s.context = [sileroContext]float32{}
+	for i := range s.state {
+		s.state[i] = 0
+	}
+	s.last = 0
+}
+
+// Close releases the session.
+func (s *sileroVAD) Close() error {
+	if s == nil || s.session == nil {
+		return nil
+	}
+	return s.session.Destroy()
+}

cmd/mavwaked/silero_test.go

@@ -0,0 +1,149 @@
+package main
+
+// What this measures. The energy threshold cannot tell a voice from a
+// television, and every utterance it accepts becomes a turn. So the test that
+// matters is not "does silero find speech" — it is "does it decline what the
+// energy threshold accepts".
+//
+// Speech is the four piper fixtures mavsttd already scores against. They are
+// synthesised, so nothing of the owner's voice is committed. Non-speech is
+// white noise at the same loudness, which is the cheapest thing that fools an
+// energy floor and the honest floor for this claim.
+//
+// Both halves skip without models/vad/silero_vad.onnx and MAVEN_ONNX_LIB,
+// like the TestONNX measurements in internal/router/eval.
+
+import (
+	"math"
+	"math/rand"
+	"os"
+	"path/filepath"
+	"testing"
+)
+
+const wavHeader = 44 // 16kHz mono s16le, written by piper
+
+func loadSilero(t *testing.T) *sileroVAD {
+	t.Helper()
+	model := filepath.Join("..", "..", "models", "vad", "silero_vad.onnx")
+	lib := os.Getenv("MAVEN_ONNX_LIB")
+	if _, err := os.Stat(model); err != nil {
+		t.Skipf("missing %s: %v", model, err)
+	}
+	if lib == "" {
+		t.Skip("MAVEN_ONNX_LIB unset")
+	}
+	s, err := newSileroVAD(model, lib)
+	if err != nil {
+		t.Skipf("silero unavailable: %v", err)
+	}
+	return s
+}
+
+// feedAll runs a whole clip through a VAD and reports how many utterances it
+// produced and how many frames it called speech.
+func feedAll(v *VAD, pcm []int16) (utterances, speechFrames int) {
+	for i := 0; i+frameSamples <= len(pcm); i += frameSamples {
+		frame := pcm[i : i+frameSamples]
+		utt, state := v.Feed(frame)
+		if state == StateSpeech {
+			speechFrames++
+		}
+		if utt.Bytes != nil {
+			utterances++
+		}
+	}
+	return utterances, speechFrames
+}
+
+func readFixture(t *testing.T, name string) []int16 {
+	t.Helper()
+	raw, err := os.ReadFile(filepath.Join("..", "mavsttd", "testdata", name))
+	if err != nil {
+		t.Skipf("missing fixture %s: %v", name, err)
+	}
+	if len(raw) <= wavHeader {
+		t.Fatalf("%s: %d bytes, no audio", name, len(raw))
+	}
+	return PCMToI16(raw[wavHeader:])
+}
+
+// noise returns white noise scaled to the same RMS as ref. Same loudness,
+// nothing said.
+func noise(ref []int16, seed int64) []int16 {
+	target := frameRMS(ref)
+	r := rand.New(rand.NewSource(seed))
+	out := make([]int16, len(ref))
+	for i := range out {
+		out[i] = int16(r.NormFloat64() * target * 32768.0)
+	}
+	return out
+}
+
+func TestSileroHearsSpeechAndDeclinesNoise(t *testing.T) {
+	s := loadSilero(t)
+	defer s.Close()
+
+	for _, name := range []string{"ru_fact.wav", "ru_query.wav", "ru_reminder.wav", "en_act.wav"} {
+		pcm := readFixture(t, name)
+
+		v := NewVAD(0, 0, 0, 0)
+		v.UseSilero(s, defaultSileroThreshold)
+		_, spoke := feedAll(v, pcm)
+		if spoke == 0 {
+			t.Errorf("%s: silero heard no speech in a spoken clip", name)
+		}
+
+		s.Reset()
+		v2 := NewVAD(0, 0, 0, 0)
+		v2.UseSilero(s, defaultSileroThreshold)
+		_, heard := feedAll(v2, noise(pcm, 7))
+
+		energy := NewVAD(0, 0, 0, 0)
+		_, energyHeard := feedAll(energy, noise(pcm, 7))
+
+		t.Logf("%s: speech frames — silero on speech %d, silero on noise %d, energy on noise %d",
+			name, spoke, heard, energyHeard)
+		if heard >= energyHeard {
+			t.Errorf("%s: silero called %d noise frames speech, energy called %d — no improvement",
+				name, heard, energyHeard)
+		}
+		s.Reset()
+	}
+}
+
+// BenchmarkSileroFrame answers the only performance question that matters
+// here: one 30ms frame must cost far less than 30ms on one core, or the
+// detector cannot run always-on beside everything else on that machine.
+func BenchmarkSileroFrame(b *testing.B) {
+	s := loadSilero(&testing.T{})
+	if s == nil {
+		b.Skip("silero unavailable")
+	}
+	defer s.Close()
+	frame := make([]int16, frameSamples)
+	for i := range frame {
+		frame[i] = int16(i%400 - 200)
+	}
+	for i := 0; i < b.N; i++ {
+		s.Speech(frame, defaultSileroThreshold)
+	}
+}
+
+// TestSileroRechunksAcrossFrames pins the reason this file exists. The capture
+// frame is 480 samples and the model window is 512, so a detector that ran one
+// inference per frame would be feeding the model a shape it does not accept.
+func TestSileroRechunksAcrossFrames(t *testing.T) {
+	s := loadSilero(t)
+	defer s.Close()
+
+	silence := make([]int16, frameSamples)
+	for i := 0; i < 20; i++ {
+		if _, p := s.Speech(silence, defaultSileroThreshold); math.IsNaN(p) {
+			t.Fatalf("frame %d: probability is NaN", i)
+		}
+	}
+	if len(s.pending) >= sileroWindow {
+		t.Errorf("pending grew to %d samples, so windows are not being consumed", len(s.pending))
+	}
+}

cmd/mavwaked/vad.go

@@ -68,6 +68,37 @@ type VAD struct {
 	// follows the room's ambient level. Initialised to minRMS; updated
 	// on each silence frame.
 	floorRMS float64
+
+	// speech is silero-vad, or nil. When it is set the energy floor decides
+	// nothing: the question becomes "is this speech" rather than "is this
+	// loud", and the noise floor is not even tracked. Everything after that
+	// answer — the speech hold, the silence hold, the length cap, the
+	// buffer — is the same state machine either way, which is why the
+	// detector goes here and not around this type.
+	speech    *sileroVAD
+	speechMin float64
+}
+
+// UseSilero swaps the energy threshold for the model. Passing nil is a
+// no-op, so a caller that could not load the graph keeps a working VAD.
+func (v *VAD) UseSilero(s *sileroVAD, threshold float64) {
+	if s == nil {
+		return
+	}
+	if threshold <= 0 {
+		threshold = defaultSileroThreshold
+	}
+	v.speech = s
+	v.speechMin = threshold
+}
+
+// isSpeech answers the one question the state machine asks of a frame.
+func (v *VAD) isSpeech(frame []int16, rms float64) bool {
+	if v.speech != nil {
+		ok, _ := v.speech.Speech(frame, v.speechMin)
+		return ok
+	}
+	return rms >= v.floorRMS
 }
 
 // NewVAD creates a VAD with the given thresholds. Zero values use defaults.
@@ -110,7 +141,7 @@ func (v *VAD) State() SpeechState { return v.state }
 // should send the audio to the voice server before feeding more frames.
 func (v *VAD) Feed(frame []int16) (_ audio.Audio, state SpeechState) {
 	rms := frameRMS(frame)
-	isSpeech := rms >= v.floorRMS
+	isSpeech := v.isSpeech(frame, rms)
 
 	switch v.state {
 	case StateSilence:
@@ -175,6 +206,9 @@ func (v *VAD) Feed(frame []int16) (_ audio.Audio, state SpeechState) {
 func (v *VAD) Reset() { v.reset() }
 
 func (v *VAD) reset() {
+	if v.speech != nil {
+		v.speech.Reset()
+	}
 	v.state = StateSilence
 	v.speechFrames = 0
 	v.silenceFrames = 0

docs/evals/2026-08-09-silero-vad.md

@@ -0,0 +1,63 @@
+# silero-vad against the energy threshold in mavwaked
+
+*Measured 2026-08-09 on homesrv. V-487, stage one of two.*
+
+mavwaked decided an utterance had started by comparing frame energy to an
+adaptive floor. That answers "is this frame loud". A fan, a door and a
+television are all loud, and every utterance mavwaked accepts becomes a turn.
+
+silero-vad answers "is this frame speech". It is 2.3MB of ONNX and it replaces
+the comparison and nothing else. The speech hold, the silence hold, the length
+cap and the utterance buffer are the same state machine either way.
+
+## What it declines
+
+Speech is the four piper fixtures `mavsttd` already scores against, so nothing
+of the owner's voice is committed. Non-speech is white noise at the same RMS as the clip beside it. That is the
+cheapest thing that fools an energy floor.
+
+| clip | silero, speech frames on speech | silero on noise | energy on noise |
+|---|---|---|---|
+| ru_fact.wav | 59 | 0 | 68 |
+| ru_query.wav | 69 | 0 | 79 |
+| ru_reminder.wav | 80 | 0 | 89 |
+| en_act.wav | 90 | 0 | 99 |
+
+The energy threshold accepts every noise clip as a complete utterance. Silero
+calls not one frame of any of them speech, and still hears all four spoken
+clips. `TestSileroHearsSpeechAndDeclinesNoise` is that table.
+
+White noise is a floor, not a proof. It says nothing about a television, which
+is speech, or about a fan, which is narrowband. Those need room recordings and
+this box has none.
+
+## What it costs
+
+`BenchmarkSileroFrame` on the homesrv laptop (Ryzen 5 5600U), one 30ms frame
+through the model including the re-chunking:
+
+    509µs per frame
+
+That is 1.7% of one core, on the slower of the two machines. The detector runs
+on the workstation beside the microphone, never on the GPU. This number is what
+says it does not need one.
+
+## The window is 512 samples, not 480
+
+`cmd/mavwaked/main.go` claimed the frame contract matched silero's input
+exactly. That was true of silero v4. Version 5 takes exactly 512 samples at 16kHz, plus 64 samples of context from
+the previous window. So `sileroVAD` buffers across capture frames, and a frame
+completing no window inherits the previous probability. `TestSileroRechunksAcrossFrames` pins it.
+
+## Still an energy gate by default
+
+`-vad-model` is empty in the code default, so a deployment that does not pass
+it runs exactly what shipped before. Barge-in is untouched and deliberately so. It reads frame energy while she is
+speaking, which is a different question from whether the frame is speech.
+
+## Not done here
+
+The wake word. This is stage one of the two V-487 asks for. The second needs a
+keyword model that does not exist yet. The pretrained openWakeWord keywords are
+English, and a Russian one has to be trained. Until then anything spoken near
+the microphone still becomes a turn. It is now merely required to be speech.