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firestar5683
2026-04-28 21:14:00 -05:00
parent d547e3632d
commit 422d92f0ea
11 changed files with 54 additions and 29 deletions
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selfdrive/modeld/parse_model_outputs.py
+4 -1
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@@ -131,11 +131,14 @@ class Parser:
def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
self.split_outputs(outs)
if 'action' in outs:
self.parse_mdn('action', outs, in_N=0, out_N=0, out_shape=(ModelConstants.ACTION_WIDTH,))
if 'lat_planner_solution' in outs:
self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
if 'desired_curvature' in outs:
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
if 'desire_state' in outs:
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
return outs
def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: