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LeTR14 🇫🇷 (#35730)

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* 9e9f8657-4e39-43d4-b36d-2d90ab18f6e9

* fix parsing
This commit is contained in:
YassineYousfi
2025-07-16 19:52:39 -07:00
committed by GitHub
parent 6c7abc42f6
commit aac09d1d92
3 changed files with 9 additions and 9 deletions
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selfdrive/modeld/models/driving_policy.onnx
+2 -2
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@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:1741cad23f6f451782b5db6182218749ee12072e393d57eac36d8d5c55d9358a
size 15583374
oid sha256:cddefa5dbe21c60858f0d321d12d1ed4b126d05a7563f651bdf021674be63d64
size 15701037
selfdrive/modeld/models/driving_vision.onnx
+2 -2
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@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:3d2bd82ba42341dba1bda5426e45c4c646db604c9ac422156eaa2b9ef26194f9
size 46265993
oid sha256:afee02876ed51f21883e731990a252fd57afda6a78700c41fbf22d8cb288b4b5
size 46147818
selfdrive/modeld/parse_model_outputs.py
+5 -5
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@@ -90,22 +90,22 @@ class Parser:
self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
for k in ['lead_prob', 'lane_lines_prob']:
self.parse_binary_crossentropy(k, outs)
self.parse_binary_crossentropy('lane_lines_prob', outs)
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
self.parse_binary_crossentropy('meta', outs)
return outs
def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
if 'lat_planner_solution' in outs:
self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
if 'desired_curvature' in outs:
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
self.parse_binary_crossentropy('lead_prob', outs)
self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
return outs
def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: