Refactor HEM parameters: rename HEMExpAuthority to HEMExpDominant and update related logic

common/params_keys.h

@@ -241,7 +241,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"HybridExpBias", {PERSISTENT, FLOAT, "0", "0", 1}},
     {"HybridExperimental", {PERSISTENT, BOOL, "0", "0", 1}},
     {"HybridVisionBrakeSensitivity", {PERSISTENT, FLOAT, "1", "1", 1}},
-    {"HEMExpAuthority", {CLEAR_ON_MANAGER_START, FLOAT, "0.5", "0.5", 2}},
+    {"HEMExpDominant", {CLEAR_ON_MANAGER_START, BOOL, "0", "0", 2}},
     {"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
     {"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
     {"CurveSpeedControllerNoLead", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},

selfdrive/controls/lib/longitudinal_planner.py

@@ -1911,7 +1911,7 @@ class LongitudinalPlanner:
       + (" stop" if hc.last_standstill else "")
     )
 
-  def _publish_hem_authority(self, now_t):
+  def _publish_hem_status(self, now_t):
     if self._hem_params_memory is None:
       try:
         self._hem_params_memory = Params(memory=True)
@@ -1921,7 +1921,7 @@ class LongitudinalPlanner:
       return
     self._hem_auth_pub_t = now_t
     try:
-      self._hem_params_memory.put("HEMExpAuthority", float(self.hybrid_controller.exp_authority))
+      self._hem_params_memory.put_bool("HEMExpDominant", bool(self.hybrid_controller.last_exp_dominant))
     except Exception:
       pass
 
@@ -2354,7 +2354,7 @@ class LongitudinalPlanner:
         t_follow=effective_t_follow,
       )
       self._log_hem_status(now_t, True, scene_v_ego, output_a_target_mpc, output_a_target_e2e, output_a_target)
-      self._publish_hem_authority(now_t)
+      self._publish_hem_status(now_t)
       output_should_stop = output_should_stop_mpc or output_should_stop_e2e
     elif tinygrad_model and self.mode != 'acc' and self.generation != 'v9':
       output_a_target_e2e = sm['modelV2'].action.desiredAcceleration

selfdrive/ui/lib/starpilot_status.py

@@ -33,20 +33,24 @@ def _is_hybrid_experimental_mode(state: UIState) -> bool:
   return bool(state.starpilot_toggles.get("hybrid_experimental_mode", False))
 
 
-def _hem_exp_authority(state: UIState) -> float:
-  """Exp/E2E authority weight (0.0 chill-only .. 1.0 exp-only) published by the planner."""
+def _hem_exp_dominant(state: UIState) -> bool:
+  """True when the fused output tracks the E2E/vision input more than chill ACC.
+
+  Uses the planner's per-frame comparison (HEMExpDominant) rather than the raw
+  exp_authority, which is inflated by the E2E Authority Bias baseline.
+  """
   params_memory = getattr(state, "params_memory", None)
   if params_memory is None:
-    return 0.5
+    return False
   try:
-    return float(params_memory.get("HEMExpAuthority") or 0.5)
+    return bool(int(params_memory.get("HEMExpDominant") or 0))
   except (TypeError, ValueError):
-    return 0.5
+    return False
 
 
 def _hem_border_color(state: UIState) -> rl.Color:
   """Blue when chill dominates the fusion, orange when experimental/vision dominates (like CEM)."""
-  return EXPERIMENTAL_COLOR if _hem_exp_authority(state) > 0.5 else HYBRID_EXPERIMENTAL_COLOR
+  return EXPERIMENTAL_COLOR if _hem_exp_dominant(state) else HYBRID_EXPERIMENTAL_COLOR
 
 
 def _override_color_applies(state: UIState) -> bool:

selfdrive/ui/tests/test_starpilot_status.py

@@ -15,8 +15,8 @@ from openpilot.selfdrive.ui.lib.starpilot_status import (
 from openpilot.selfdrive.ui.ui_state import UIStatus
 
 
-def _state(*, enabled=False, lat_active=False, aol=False, status=None, events=(), hybrid=False, hem_authority=None):
-  params_memory = {"HEMExpAuthority": f"{hem_authority:.3f}"} if hem_authority is not None else {}
+def _state(*, enabled=False, lat_active=False, aol=False, status=None, events=(), hybrid=False, hem_exp_dominant=None):
+  params_memory = {"HEMExpDominant": b"1"} if hem_exp_dominant else {}
   return SimpleNamespace(
     sm={
       "selfdriveState": SimpleNamespace(enabled=enabled, experimentalMode=False),
@@ -59,7 +59,7 @@ def test_hybrid_experimental_mode_uses_blue_border():
 
 
 def test_hybrid_experimental_mode_uses_orange_when_exp_dominates():
-  state = _state(enabled=True, lat_active=True, hybrid=True, hem_authority=0.8)
+  state = _state(enabled=True, lat_active=True, hybrid=True, hem_exp_dominant=True)
 
   assert _rgb(get_border_color(state)) == _rgb(EXPERIMENTAL_COLOR)
   assert _rgb(get_screen_edge_color(state)) == _rgb(EXPERIMENTAL_COLOR)
@@ -67,7 +67,7 @@ def test_hybrid_experimental_mode_uses_orange_when_exp_dominates():
 
 
 def test_hybrid_experimental_mode_keeps_blue_when_chill_dominates():
-  state = _state(enabled=True, lat_active=True, hybrid=True, hem_authority=0.3)
+  state = _state(enabled=True, lat_active=True, hybrid=True, hem_exp_dominant=False)
 
   assert _rgb(get_border_color(state)) == _rgb(HYBRID_EXPERIMENTAL_COLOR)
   assert _rgb(get_screen_edge_color(state)) == _rgb(HYBRID_EXPERIMENTAL_COLOR)

starpilot/controls/lib/hybrid_experimental_mode.py

@@ -51,6 +51,7 @@ class HybridExperimentalMode:
     self.last_w_vision = 0.0
     self.last_regime = "throttle"
     self.last_standstill = False
+    self.last_exp_dominant = False
 
     # User tuning
     self.HYBRID_EXP_BIAS = 0.2            # [-1.0, 1.0]
@@ -68,6 +69,7 @@ class HybridExperimentalMode:
     self.last_w_vision = 0.0
     self.last_regime = "throttle"
     self.last_standstill = False
+    self.last_exp_dominant = False
 
   def set_tuning(self, exp_bias: float, vision_brake_sensitivity: float, t_follow=None, jerk_factor=None):
     self.HYBRID_EXP_BIAS = float(np.clip(exp_bias, -1.0, 1.0))
@@ -235,4 +237,9 @@ class HybridExperimentalMode:
     self.last_w_vision = w_vision
     self.last_regime = "brake" if is_braking_phase else "throttle"
     self.last_standstill = standstill_weight > 0.0
+    # Border hint: True when the fused output tracks the E2E/vision input more
+    # closely than chill ACC. Setting-independent, unlike raw exp_authority which
+    # includes the E2E Authority Bias baseline.
+    out = self.prev_a_target
+    self.last_exp_dominant = abs(out - a_exp) < abs(out - a_chill) - 0.03
     return self.prev_a_target

starpilot/controls/tests/test_hybrid_experimental_mode.py

@@ -259,4 +259,26 @@ def test_vision_stop_uses_emergency_brake_ramp():
   controller = make_controller(prev=0.0)
   model = FakeModel(velocity=list(np.linspace(20.0, 0.2, 33)), position=list(np.linspace(0.0, 40.0, 33)))
   out = [controller.update(20.0, 25.0, FakeLead(status=False), model, 0.0, -3.5) for _ in range(5)]
-  assert out[-1] <= -2.5, f"Vision stop should ramp braking fast, got {out}"
+  assert out[-1] <= -2.5, f"Vision stop should ramp braking fast, got {out}"
+
+
+def test_last_exp_dominant_true_when_vision_braking():
+  controller = make_controller(prev=0.0)
+  model = FakeModel(velocity=list(np.linspace(20.0, 0.2, 33)), position=list(np.linspace(0.0, 40.0, 33)))
+  run(controller, v_ego=20.0, v_cruise=25.0, lead=FakeLead(status=False),
+      model=model, a_chill=0.0, a_exp=-3.0, frames=60)
+  assert controller.last_exp_dominant
+
+
+def test_last_exp_dominant_false_when_chill_brakes_for_lead():
+  controller = make_controller(prev=0.0)
+  lead = FakeLead(status=True, d_rel=5.0, v_lead=0.0)
+  model = FakeModel(velocity=[15.0] * 33, position=list(np.linspace(0.0, 100.0, 33)))
+  run(controller, v_ego=15.0, v_cruise=20.0, lead=lead, model=model, a_chill=-2.5, a_exp=1.0, frames=40)
+  assert not controller.last_exp_dominant
+
+
+def test_last_exp_dominant_false_at_neutral_cruise():
+  controller = make_controller(prev=0.0)
+  run(controller, a_chill=0.0, a_exp=0.05, frames=10)
+  assert not controller.last_exp_dominant