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firestar5683
2026-05-20 15:22:08 -05:00
parent f3cf4d6969
commit f55402e033
11 changed files with 52483 additions and 56412 deletions
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selfdrive/controls/lib/longitudinal_planner.py
+1 -1
View File
@@ -429,7 +429,7 @@ class LongitudinalPlanner:
@property
def mlsim(self):
return self.generation in ("v8", "v10", "v11", "v12", "v13", "v14")
return self.generation in ("v8", "v10", "v11", "v12", "v13", "v14", "v15")
def get_mpc_mode(self) -> str:
if not self.mlsim:
selfdrive/controls/tests/test_longitudinal_planner.py
+69 -35
View File
@@ -111,7 +111,7 @@ def make_toggles(model_version: str = "v11"):
)
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_experimental_mlsim_uses_vehicle_min_accel_floor(model_version):
v_ego = 18.0
desired_accel = -1.0
@@ -132,7 +132,7 @@ def test_experimental_mlsim_uses_vehicle_min_accel_floor(model_version):
assert planner.output_a_target < comfort_min_accel
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_uses_close_raw_lead_when_tracking_lead_is_debounced(model_version):
v_ego = 5.0
@@ -157,7 +157,7 @@ def test_acc_mode_uses_close_raw_lead_when_tracking_lead_is_debounced(model_vers
)
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_matches_no_lead_baseline_for_far_vision_only_lead_without_tracking(model_version):
v_ego = 29.0
@@ -352,7 +352,7 @@ def test_vision_slow_stopped_lead_cap_ignores_far_high_speed_stop_candidate():
assert planner.get_vision_slow_stopped_lead_cap(lead, v_ego, -1.0, 1.45) is None
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_dynamic_t_follow_increases_modestly_for_closing_lead(model_version):
v_ego = 21.535
@@ -376,7 +376,7 @@ def test_dynamic_t_follow_increases_modestly_for_closing_lead(model_version):
assert planner.effective_t_follow < sm["starpilotPlan"].tFollow + 0.45
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_dynamic_t_follow_stays_near_base_for_far_highway_lead(model_version):
v_ego = 29.26
@@ -398,7 +398,7 @@ def test_dynamic_t_follow_stays_near_base_for_far_highway_lead(model_version):
assert planner.effective_t_follow == pytest.approx(sm["starpilotPlan"].tFollow, abs=0.02)
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_dynamic_t_follow_releases_toward_base_after_lead_opens(model_version):
v_ego = 21.535
@@ -426,7 +426,7 @@ def test_dynamic_t_follow_releases_toward_base_after_lead_opens(model_version):
assert planner.effective_t_follow == pytest.approx(sm["starpilotPlan"].tFollow, abs=0.02)
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_vision_lead_approach_cap_smooths_before_close_brake(model_version):
approach_v_ego = 21.535
close_v_ego = 21.435
@@ -468,7 +468,7 @@ def test_acc_mode_vision_lead_approach_cap_smooths_before_close_brake(model_vers
assert planner_close.output_a_target < approach_outputs[0] - 0.8
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_tracked_vision_far_mild_closure_does_not_bypass_persistence(model_version):
v_ego = 37.45
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
@@ -482,7 +482,7 @@ def test_tracked_vision_far_mild_closure_does_not_bypass_persistence(model_versi
assert not planner.tracked_vision_lead_approach_needs_immediate_brake(lead, v_ego, approach_cap)
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_tracked_vision_close_or_braking_lead_bypasses_persistence(model_version):
v_ego = 19.50
@@ -503,7 +503,7 @@ def test_acc_mode_tracked_vision_close_or_braking_lead_bypasses_persistence(mode
assert planner.output_a_target < -1.3
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_pretracking_vision_slow_lead_blocks_positive_catchup(model_version):
v_ego = 23.23
@@ -538,7 +538,7 @@ def test_acc_mode_pretracking_vision_slow_lead_blocks_positive_catchup(model_ver
assert planner_with_lead.output_a_target < -0.2
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_pretracking_vision_far_slower_lead_starts_braking_before_tracking(model_version):
v_ego = 21.48
@@ -579,7 +579,7 @@ def test_acc_mode_pretracking_vision_far_slower_lead_starts_braking_before_track
assert lead_outputs[-1] < no_lead_outputs[-1] - 0.15
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_pretracking_vision_far_slower_lead_can_still_brake_immediately(model_version):
v_ego = 21.48
@@ -601,7 +601,7 @@ def test_acc_mode_pretracking_vision_far_slower_lead_can_still_brake_immediately
assert planner.output_a_target < -0.45
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_pretracking_closer_braking_vision_lead_bypasses_far_lead_persistence(model_version):
v_ego = 17.46
@@ -623,7 +623,7 @@ def test_acc_mode_pretracking_closer_braking_vision_lead_bypasses_far_lead_persi
assert planner.output_a_target < -0.35
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_pretracking_flappy_far_lead_requires_persistence(model_version):
v_ego = 26.09
@@ -672,7 +672,7 @@ def test_acc_mode_pretracking_flappy_far_lead_requires_persistence(model_version
assert min(flappy_outputs) > min(no_lead_outputs) - 0.12
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_pretracking_near_stopped_vision_lead_does_not_relax_when_confidence_is_midrange(model_version):
v_ego = 20.35
@@ -706,7 +706,7 @@ def test_acc_mode_pretracking_near_stopped_vision_lead_does_not_relax_when_confi
assert planner_with_lead.output_a_target < -0.45
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_tracked_pace_matched_lead_caps_positive_catchup(model_version):
v_ego = 28.7
@@ -740,7 +740,7 @@ def test_acc_mode_tracked_pace_matched_lead_caps_positive_catchup(model_version)
assert planner_with_lead.output_a_target < 0.08
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_low_speed_vision_stop_buffer_sets_should_stop_before_tiny_gap(model_version):
v_ego = 3.8
@@ -763,7 +763,7 @@ def test_acc_mode_low_speed_vision_stop_buffer_sets_should_stop_before_tiny_gap(
assert planner.output_a_target < -1.0
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_low_speed_vision_stop_buffer_brakes_harder_for_close_slow_vision_lead(model_version):
v_ego = 6.2
@@ -786,7 +786,7 @@ def test_acc_mode_low_speed_vision_stop_buffer_brakes_harder_for_close_slow_visi
assert planner.output_a_target <= -2.7
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_low_speed_vision_stop_buffer_stays_latched_when_closure_softens_near_stop(model_version, monkeypatch):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.55)
@@ -805,7 +805,7 @@ def test_acc_mode_low_speed_vision_stop_buffer_stays_latched_when_closure_soften
assert cap_held <= -1.25
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_close_moving_vision_lead_keeps_negative_output_while_should_stop(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.242)
@@ -839,7 +839,7 @@ def test_acc_mode_close_moving_vision_lead_keeps_negative_output_while_should_st
assert all(output <= -0.02 for output in outputs[2:])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_close_near_standstill_vision_lead_keeps_meaningful_brake_floor(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.017)
@@ -862,7 +862,7 @@ def test_acc_mode_close_near_standstill_vision_lead_keeps_meaningful_brake_floor
assert planner.output_a_target <= -0.20
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_close_near_standstill_moving_lead_keeps_brake_floor_while_should_stop(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.034)
@@ -885,7 +885,7 @@ def test_acc_mode_close_near_standstill_moving_lead_keeps_brake_floor_while_shou
assert planner.output_a_target <= -0.20
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_close_opening_vision_lead_does_not_drop_to_zero_after_stop_release(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=1.49)
@@ -920,7 +920,7 @@ def test_acc_mode_close_opening_vision_lead_does_not_drop_to_zero_after_stop_rel
assert planner.output_a_target <= -0.18
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_close_near_standstill_departing_lead_keeps_small_brake_after_stop_release(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.034)
@@ -955,7 +955,7 @@ def test_acc_mode_close_near_standstill_departing_lead_keeps_small_brake_after_s
assert planner.output_a_target <= -0.18
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_tracked_vision_model_brake_floor_prevents_positive_output_on_slower_lead(model_version):
v_ego = 19.1
@@ -977,7 +977,7 @@ def test_acc_mode_tracked_vision_model_brake_floor_prevents_positive_output_on_s
assert planner.output_a_target <= -0.35
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_tracked_vision_model_brake_cap_relaxes_mild_model_brake_slam_window(model_version):
v_ego = 20.56
@@ -991,7 +991,7 @@ def test_tracked_vision_model_brake_cap_relaxes_mild_model_brake_slam_window(mod
assert cap > -1.2
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_tracked_vision_model_brake_cap_does_not_relax_strong_model_brake(model_version):
v_ego = 20.56
@@ -1004,7 +1004,7 @@ def test_tracked_vision_model_brake_cap_does_not_relax_strong_model_brake(model_
assert cap is None
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_manual_resume_override_clears_no_lead_model_stop_at_standstill(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.0)
@@ -1021,7 +1021,7 @@ def test_manual_resume_override_clears_no_lead_model_stop_at_standstill(model_ve
assert planner.output_a_target >= 0.2
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_manual_resume_override_does_not_clear_stopped_lead_stop(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.0)
@@ -1042,7 +1042,7 @@ def test_manual_resume_override_does_not_clear_stopped_lead_stop(model_version):
assert planner.output_should_stop
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_standstill_moving_lead_does_not_force_resume_while_should_stop(model_version):
v_ego = 0.0
@@ -1066,7 +1066,7 @@ def test_standstill_moving_lead_does_not_force_resume_while_should_stop(model_ve
assert planner.output_a_target < 0.1
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_standstill_moving_lead_applies_resume_floor_once_stop_clears(model_version):
v_ego = 0.0
@@ -1092,7 +1092,7 @@ def test_standstill_moving_lead_applies_resume_floor_once_stop_clears(model_vers
assert planner.output_a_target >= 0.2
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_standstill_moving_lead_holds_depart_accel_floor_after_stop_release(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.0)
@@ -1130,7 +1130,7 @@ def test_standstill_moving_lead_holds_depart_accel_floor_after_stop_release(mode
assert outputs[4] >= 0.25
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_standstill_moving_lead_depart_accel_hold_cancels_if_lead_brakes(model_version):
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
planner = LongitudinalPlanner(CP, init_v=0.0)
@@ -1168,7 +1168,7 @@ def test_standstill_moving_lead_depart_accel_hold_cancels_if_lead_brakes(model_v
assert planner.output_a_target < 0.1
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_acc_mode_damps_far_radar_mild_lead_brake_more_than_close_brake(model_version):
far_v_ego = 29.26
far_v_cruise = 32.22
@@ -1244,6 +1244,7 @@ def test_modeld_action_passes_tomb_raider_longitudinal_params(monkeypatch):
mlsim=True,
is_v9=True,
is_v14=False,
is_v15=False,
starpilot_toggles=toggles,
)
@@ -1278,6 +1279,7 @@ def test_modeld_action_uses_direct_action_head_for_v14(monkeypatch):
mlsim=True,
is_v9=False,
is_v14=True,
is_v15=False,
starpilot_toggles=toggles,
)
@@ -1286,6 +1288,38 @@ def test_modeld_action_uses_direct_action_head_for_v14(monkeypatch):
assert not action.shouldStop
def test_modeld_action_uses_current_action_head_scaling_for_v15(monkeypatch):
monkeypatch.setenv("DEBUG", "0")
fake_commonmodel = types.ModuleType("openpilot.selfdrive.modeld.models.commonmodel_pyx")
fake_commonmodel.DrivingModelFrame = object
fake_commonmodel.CLContext = object
monkeypatch.setitem(sys.modules, fake_commonmodel.__name__, fake_commonmodel)
from openpilot.selfdrive.modeld import modeld
prev_action = log.ModelDataV2.Action.new_message()
prev_action.desiredCurvature = 0.05
prev_action.desiredAcceleration = -0.2
toggles = SimpleNamespace(vEgoStopping=0.42)
action = modeld.get_action_from_model(
{"action": np.array([[12.0, -0.8]], dtype=np.float32)},
prev_action,
lat_action_t=0.2,
long_action_t=0.73,
v_ego=5.0,
mlsim=True,
is_v9=False,
is_v14=False,
is_v15=True,
starpilot_toggles=toggles,
)
assert action.desiredCurvature == pytest.approx(0.48)
assert action.desiredAcceleration < -0.2
assert not action.shouldStop
def test_publish_force_stop_handoff_sets_should_stop_when_vcruise_zero():
class FakePM:
def __init__(self):
@@ -1323,7 +1357,7 @@ def test_publish_force_stop_handoff_sets_should_stop_when_vcruise_zero():
assert pm.sent["longitudinalPlan"].longitudinalPlan.shouldStop
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14"])
@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
def test_force_stop_handoff_sets_output_should_stop_before_zero_vcruise(model_version):
v_ego = 1.25
CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
selfdrive/modeld/modeld.py
+13 -9
View File
@@ -100,10 +100,13 @@ def _canonical_model_id(model_id: str) -> str:
def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
lat_action_t: float, long_action_t: float, v_ego: float, mlsim: bool,
is_v9: bool, is_v14: bool, starpilot_toggles) -> log.ModelDataV2.Action:
if is_v14:
is_v9: bool, is_v14: bool, is_v15: bool, starpilot_toggles) -> log.ModelDataV2.Action:
if is_v14 or is_v15:
desired_curv_unscaled, desired_accel = model_output['action'][0]
desired_curvature = float(desired_curv_unscaled) / 100.0
if is_v15:
desired_curvature = float(desired_curv_unscaled) / max(1.0, v_ego) ** 2
else:
desired_curvature = float(desired_curv_unscaled) / 100.0
should_stop = (v_ego < 0.3 and desired_accel < 0.1)
desired_accel = smooth_value(float(desired_accel), prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
@@ -304,8 +307,9 @@ class ModelState:
self.is_v12 = (self.policy_generation == "v12")
self.is_v13 = (self.policy_generation == "v13")
self.is_v14 = (self.policy_generation == "v14")
self.is_v15 = (self.policy_generation == "v15")
self.is_v9 = (self.policy_generation == "v9")
self.mlsim = (self.policy_generation in ("v8", "v10", "v11", "v12", "v13", "v14"))
self.mlsim = (self.policy_generation in ("v8", "v10", "v11", "v12", "v13", "v14", "v15"))
self.policy_has_plan = 'plan' in self.policy_output_slices
self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
@@ -330,7 +334,7 @@ class ModelState:
self.off_policy_output: np.ndarray | None = None
off_policy_metadata = None
if self.policy_generation in ("v12", "v13", "v14") or OFF_POLICY_METADATA_PATH.is_file() or OFF_POLICY_PKL_PATH.is_file():
if self.policy_generation in ("v12", "v13", "v14", "v15") or OFF_POLICY_METADATA_PATH.is_file() or OFF_POLICY_PKL_PATH.is_file():
resolved_off_policy_meta = ensure_artifact(OFF_POLICY_METADATA_PATH, "driving_off_policy_metadata.pkl", optional=True)
if resolved_off_policy_meta is not None:
with open(resolved_off_policy_meta, 'rb') as f:
@@ -449,14 +453,14 @@ class ModelState:
self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
if self.prev_desired_curv_key is not None:
# v9/v10/v11/v12/v13/v14 models expect zeros for prev_desired_curv(s); others use history
if self.is_v9 or self.is_v10 or self.is_v11 or self.is_v12 or self.is_v13 or self.is_v14:
# v9/v10/v11/v12/v13/v14/v15 models expect zeros for prev_desired_curv(s); others use history
if self.is_v9 or self.is_v10 or self.is_v11 or self.is_v12 or self.is_v13 or self.is_v14 or self.is_v15:
self.numpy_inputs[self.prev_desired_curv_key][:] = 0 * self.full_prev_desired_curv[0, self.temporal_idxs]
else:
self.numpy_inputs[self.prev_desired_curv_key][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
if self.off_policy_enabled and self.off_policy_prev_desired_curv_key is not None:
if self.is_v9 or self.is_v12 or self.is_v13 or self.is_v14:
if self.is_v9 or self.is_v12 or self.is_v13 or self.is_v14 or self.is_v15:
self.off_policy_numpy_inputs[self.off_policy_prev_desired_curv_key][:] = 0 * self.full_prev_desired_curv[0, self.temporal_idxs]
else:
self.off_policy_numpy_inputs[self.off_policy_prev_desired_curv_key][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
@@ -659,7 +663,7 @@ def main(demo=False):
model_output, prev_action,
lat_action_t,
long_action_t,
v_ego, model.mlsim, model.is_v9, model.is_v14, starpilot_toggles,
v_ego, model.mlsim, model.is_v9, model.is_v14, model.is_v15, starpilot_toggles,
)
prev_action = action
fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
selfdrive/ui/layouts/settings/starpilot/driving_model.py
+1 -1
View File
@@ -691,7 +691,7 @@ class StarPilotDrivingModelLayout(_SettingsPage):
f"{key}_driving_vision_metadata.pkl",
]
if version in {"v12", "v13", "v14"}:
if version in {"v12", "v13", "v14", "v15"}:
files.extend(
[
f"{key}_driving_off_policy_tinygrad.pkl",
selfdrive/ui/mici/layouts/settings/driving_model.py
+1 -1
View File
@@ -725,7 +725,7 @@ class DrivingModelBigButton(BigButton):
f"{key}_driving_vision_metadata.pkl",
]
if version in {"v12", "v13", "v14"}:
if version in {"v12", "v13", "v14", "v15"}:
files.extend([
f"{key}_driving_off_policy_tinygrad.pkl",
f"{key}_driving_off_policy_metadata.pkl",
starpilot/assets/model_manager.py
+2 -2
View File
@@ -18,7 +18,7 @@ from openpilot.starpilot.common.starpilot_utilities import delete_file
from openpilot.starpilot.common.starpilot_variables import MODELS_PATH
MANIFEST_CANDIDATES = ("v21",)
TINYGRAD_VERSIONS = {"v8", "v9", "v10", "v11", "v12", "v13", "v14"}
TINYGRAD_VERSIONS = {"v8", "v9", "v10", "v11", "v12", "v13", "v14", "v15"}
DEFAULT_MODEL_KEY = "sc2"
MODEL_KEY_CANONICAL_MAP = {
"sc": DEFAULT_MODEL_KEY,
@@ -192,7 +192,7 @@ class ModelManager:
f"{model_key}_driving_vision_metadata.pkl",
]
if model_version in {"v12", "v13", "v14"}:
if model_version in {"v12", "v13", "v14", "v15"}:
filenames += [
f"{model_key}_driving_off_policy_tinygrad.pkl",
f"{model_key}_driving_off_policy_metadata.pkl",
starpilot/common/starpilot_variables.py
+1 -1
View File
@@ -1069,7 +1069,7 @@ class StarPilotVariables:
if isinstance(toggle.model_version, bytes):
toggle.model_version = toggle.model_version.decode("utf-8", "ignore")
toggle.classic_model = toggle.model_version in {"v1", "v2", "v3", "v4"}
toggle.tinygrad_model = toggle.model_version in {"v8", "v9", "v10", "v11", "v12", "v13", "v14"}
toggle.tinygrad_model = toggle.model_version in {"v8", "v9", "v10", "v11", "v12", "v13", "v14", "v15"}
toggle.tomb_raider = toggle.model == "space-lab"
toggle.model_ui = self.get_value("ModelUI")
starpilot/system/the_pond/the_pond.py
+2 -2
View File
@@ -4330,14 +4330,14 @@ def setup(app):
if f"{model_key}.thneed" in on_disk_files:
return True
if model_version in ("v8", "v9", "v10", "v11", "v12", "v13", "v14"):
if model_version in ("v8", "v9", "v10", "v11", "v12", "v13", "v14", "v15"):
required_files = {
f"{model_key}_driving_policy_tinygrad.pkl",
f"{model_key}_driving_vision_tinygrad.pkl",
f"{model_key}_driving_policy_metadata.pkl",
f"{model_key}_driving_vision_metadata.pkl",
}
if model_version in ("v12", "v13", "v14"):
if model_version in ("v12", "v13", "v14", "v15"):
required_files |= {
f"{model_key}_driving_off_policy_tinygrad.pkl",
f"{model_key}_driving_off_policy_metadata.pkl",
uncompiledmodels/driving_off_policy.onnx
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uncompiledmodels/driving_on_policy.onnx
BIN
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uncompiledmodels/driving_vision.onnx
+52393 -56360
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