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Rocket Launcher Model (#25963)

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* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300

* compute only 9 tokens: 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300

* tinygrad: cleanup gather

* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/700

* empty commit for tests

* bump tinygrad

* dont use tinygrad matmul for now

* bump tinygrad

* 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700

* float16 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700

* increase steer rate cost

* Revert "increase steer rate cost"

This reverts commit 74ce9ab9be7ef17ecfec931f96851b12f37f2336.

* fork tinygrad

* empty commit for tests

* basics

* Kinda works

* new lat

* new tuning

* Move LATMPCN so scons compiles

* Update long weights

* Add tinygrad optim

* Update model ref

* update weights

* Update ref

* Try

* Error message for field ignore

* update model regf

* ref commit

* Fix onnx test

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
old-commit-hash: cb0b7375b728d1b6e92db68c9ba55f0f54c09a3f
This commit is contained in:
HaraldSchafer
2022-10-05 21:43:38 -07:00
committed by GitHub
parent f93f4e9f9b
commit a8ec6f4cfd
19 changed files with 93 additions and 76 deletions
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selfdrive/controls/tests/test_lateral_mpc.py
+3 -2
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@@ -1,7 +1,8 @@
import unittest
import numpy as np
from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
from selfdrive.controls.lib.drive_helpers import LAT_MPC_N, CAR_ROTATION_RADIUS
from selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS
from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvature_init=0.,
@@ -9,7 +10,7 @@ def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvatur
if lat_mpc is None:
lat_mpc = LateralMpc()
lat_mpc.set_weights(1., 1., 1.)
lat_mpc.set_weights(1., 1., 0.0, 1.)
y_pts = poly_shift * np.ones(LAT_MPC_N + 1)
heading_pts = np.zeros(LAT_MPC_N + 1)