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firestar5683
2026-08-10 22:53:46 -05:00
parent d938c9daa6
commit 6bd48c28e8
582 changed files with 64651 additions and 17100 deletions
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scripts/validate_model_artifact.py
+7 -8
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@@ -15,7 +15,6 @@ if str(REPO_ROOT) not in sys.path:
from tinygrad.tensor import Tensor
from openpilot.common.params import Params
from openpilot.selfdrive.modeld.compile_modeld import WARP_INPUTS
from openpilot.selfdrive.modeld.modeld import ModelState
@@ -48,16 +47,16 @@ def main() -> int:
if "action_t" in model.npy:
model.npy["action_t"][:] = [0.15, 0.25]
img, big_img = model.warp_enqueue(
**{key: model.input_queues[key] for key in WARP_INPUTS},
warped = model.warp_enqueue(
**{key: model.input_queues[key] for key in model.warp_input_keys},
frame=frames[0],
big_frame=frames[1],
)
outputs = model.run_policy(
**{key: model.input_queues[key] for key in model.policy_input_keys},
img=img,
big_img=big_img,
)
policy_inputs = {key: model.input_queues[key] for key in model.policy_input_keys}
if model.image_history_pipeline == "policy":
outputs = model.run_policy(**policy_inputs, warped=warped)
else:
outputs = model.run_policy(**policy_inputs, img=warped[0], big_img=warped[1])
arrays = [output.numpy().flatten() for output in outputs]
if model.model_type == "supercombo":
parsed = model.parser.parse_outputs(model.slice_outputs(arrays[0], model.output_slices))