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parse planplus (#37386)

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Harald Schäfer
2026-02-24 15:41:00 -08:00
committed by GitHub
parent 159d3a30e3
commit 0b6da2077f
1 changed files with 2 additions and 0 deletions
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selfdrive/modeld/parse_model_outputs.py
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@@ -113,6 +113,8 @@ class Parser:
plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
if 'planplus' in outs:
self.parse_mdn('planplus', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
return outs