4eb3d54149
modeld: use any available stream as main, if there's only one ( #28514 )
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* Use whatever stream is available as main, if there's only one
* Move logw somewhere else
* Add wideRoadCameraState to ignore_alive if its not available
2023-06-12 20:13:56 -07:00
4ae0378f63
automatically detect available camera streams ( #27640 )
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* remove WideCameraOnly
* check in set_initial_state
* no block
* remove try block
* apply reviews
2023-06-12 13:40:43 -07:00
b22cadc04d
thneed: cleanup duplicate GPU config ( #28487 )
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Co-authored-by: Comma Device <device@comma.ai >
2023-06-11 13:26:41 -07:00
d5101e11ad
modeld: adjust CL priority ( #28413 )
2023-06-05 17:17:38 -07:00
7925232a34
hot coffee model ( #28296 )
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* 1061b1c7-b944-43e3-a940-b56b64d66f54/700
* bump cereal
* bump cereal
* make mypy happy
* write TODO
* read height from written params
* fix certain_if_calib logic and unit tests
* factor moving_avg_with_linear_decay
* remove whitespace
* update model ref commit
* default value for CI
* update process replay ref commit
* update process replay ref commit
* update process replay ref commit
* bump cereal
2023-06-02 20:55:13 -07:00
d0a8b3780c
fix input order in onnxmodel ( #28274 )
2023-05-23 16:11:51 -07:00
328b5d9d47
Nicki Minaj Model ( #28218 )
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* New model: 2ff7490f-8a2f-4c0d-87a8-b0fa3a4a6a71
* Updated model_replay_ref_commit
2023-05-22 15:11:04 -07:00
bda0d6ac77
update dm model README ( #28238 )
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add calib dm input in readme
2023-05-19 15:20:43 -07:00
2d4558d5cf
update DM model README ( #28211 )
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* update DM model readme
* rename + permalink + correct types and ranges
2023-05-16 13:40:49 -07:00
f80c1087fc
new model: trained with augmented turn desire pulses ( #28063 )
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* df733db3-fad2-4485-abe9-59a6a47f2233/449 85f20e13-dd4d-49a8-ba33-98e6afc161d9/700
* update ref commit
2023-05-01 16:03:16 -07:00
26541d9e7a
new model: trained on new dataset ( #27637 )
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* df733db3-fad2-4485-abe9-59a6a47f2233/449 946c0f55-247d-4790-a407-c07e4364b340/700
* fix reducel2 df733db3-fad2-4485-abe9-59a6a47f2233/449 946c0f55-247d-4790-a407-c07e4364b340/700
* update ref commit
2023-03-22 20:19:46 -07:00
e146bb1a96
update modeld/models readme ( #27564 )
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* update readme with new model design
* typo
* space
2023-03-11 16:26:39 -08:00
3892c60980
tinygrad: bump to 0.5 ( #27505 )
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* bump tinygrad to 0.5
* update release files
* ref commit + bump tinygrad
* save 220 mW
---------
Co-authored-by: Comma Device <device@comma.ai >
2023-03-06 15:50:28 -08:00
eb8bdc0026
MPC path in UI ( #27380 )
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* 10s lat
* Full length MPC
* redfine N
* Leave controls the same for now
* Updates
* use long plan in lat plan
* interp plan
* simplergit add selfdrive/controls/plannerd.py selfdrive/controls/
* expand to 10s
* revert this
* fix linter
* vizualize
* fix long test
* typo
* cleanup
* compiles
* unused
* unused
* bump cereal
* bump cereal
* use model if no uiplanm
* update replay
* update ref commit
* bump cereal to master
2023-02-17 19:58:30 -08:00
1e49c54ffb
new model: improved height estimation ( #27234 )
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* 07a3a2b2-6dbe-43c3-9bb9-a8023932e054/449 c3d7d18a-6207-42e7-84d9-601ecb3c6f0e/700
* 07a3a2b2-6dbe-43c3-9bb9-a8023932e054/449 db92e7f3-3f4b-4f0f-95ff-76cb6ed6894a/700
* update ref commit
2023-02-08 22:21:31 -08:00
7316cd03fb
new model: fixed weight decay logic ( #27068 )
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* 07a3a2b2-6dbe-43c3-9bb9-a8023932e054/449 cdfa9e3c-2807-49fc-bdc7-a985f8ff1644/700
* update refs
2023-01-26 19:09:12 -08:00
64ed44e3b5
tinygrad: update to new version ( #27067 )
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* tinygrad: bump and retain OPENCL behavior
* add graph.py to release, bump tiny
* update files_common and read from it in scons
* bump with typo fix
* switch tinygrad backend to GPU
* update ref commit
Co-authored-by: Comma Device <device@comma.ai >
2023-01-24 14:06:56 -08:00
cd8e03d53e
move all third party stuff into third_party/ ( #26853 )
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* mv fastcluster
* move msm_kgsl.h
* camerad include
* update path
* mv pyextra
* fix tici build
* add acados_template to release build
Co-authored-by: Comma Device <device@comma.ai >
2022-12-31 21:00:50 -08:00
160c9ba1d2
Navmodel and driving style: update runner ( #26762 )
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* Navmodel and driving style: update runner
* No driving style yet
* thneedrunner without extra inputs
* nav feature ref
2022-12-11 15:25:36 -08:00
6e0893299a
navmodeld: only render necessary frames ( #26698 )
2022-12-05 17:41:32 -08:00
bb8a38a050
navmodeld ( #26665 )
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* Added navmodeld
* New nav model: 7c306685-5476-4bd4-ab65-105b01b6bca8/300, feats only
* little cleanup
* Remove NAV flag
* Moved to_kj_array_ptr to commonmodel.h
* Switch from decimation to last_frame_id check
* add to release files
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-12-02 13:14:30 -08:00
ceb94f1bcd
Revert "Albert Einstein Model" ( #26576 )
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Revert "Albert Einstein Model (#26456 )"
This reverts commit 34c80a6fbd
2022-11-22 11:41:22 -08:00
34c80a6fbd
Albert Einstein Model ( #26456 )
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* d0bc247d-9529-4e50-a5dd-95a8a5733874/440 38fb1ce9-18d7-4292-9ffd-678f8483ebf4/700
* update model replay ref commit
2022-11-18 17:50:24 -08:00
f63f0de80a
E2e long model: calibrate model speed to wheel speed ( #26395 )
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* calibrate!
* Fix test
* Fix proc replay
* check len
* get v_ego from model 8501d20-bb59-4193-aa82-82b2737dedd6/449 609d90f3-65e6-4617-a60c-d6d99eead408/700
* bump cereal
* initialize v_model_error
* typo
* better names
* cleanup
* bump cereal
* update model replay ref commit
* bump to cereal master
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu >
2022-11-07 17:49:36 -08:00
c3388d216c
Model trained with headlight augmentation ( #26284 )
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* d8501d20-bb59-4193-aa82-82b2737dedd6/449 ddfe2a22-fb0e-4ff0-a97f-0157b95eb44d/700
* update ref
2022-10-30 23:55:48 -07:00
2b7290a142
Model trained with more long noise ( #26241 )
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* d8501d20-bb59-4193-aa82-82b2737dedd6/449 d37d320d-7d78-479a-9be2-d58c75284307/700
* Update model ref
2022-10-26 00:20:30 -07:00
68e7f42d68
use upstream tinygrad ( #26178 )
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* use upstream tinygrad
* add networkx to pipfile
* Revert "add networkx to pipfile"
This reverts commit 6cfa164378fa072b325a27040f0388730771437c.
* dont need networkx and update tinygrad
* submodule sync
* add new thneed file
* fix release files
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com >
2022-10-21 13:11:50 -07:00
0edbbdeaf9
Modeld: Add comment ( #26188 )
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Rename and add comment
2022-10-21 11:20:52 -07:00
d25ab3e366
Wide transform model ( #26165 )
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* d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700
* Change model outs
* Add cereal
* Publish transform
* d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700
* Bump cereal to master
* Bump cereal to master
* Update model ref
2022-10-21 01:29:58 -07:00
3a50d5fd85
Revert "d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700"
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This reverts commit 0ac12b82c7
2022-10-21 00:32:34 -07:00
0ac12b82c7
d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700
2022-10-21 00:24:11 -07:00
6b36f73870
desire: give the pulse at t=0 ( #26180 )
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input desire at t0
2022-10-20 15:13:58 -07:00
d522492ba0
DM: add use of e2e preds ( #26078 )
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* try ml
* de56
* j914ef75a
* jd1124586
* jd1124586
* d112
* oops
* set
* update ref
* use offset
* bump DM power usage
* new ref
2022-10-17 19:40:06 -07:00
00494a44f4
CI speedup ( #26096 )
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* CI speedup
* use the new stuff
* push
* no regressions
* try that
* don't let this slip
* fix modeld tests
* fix linter
* modernize prebuilt
* cleanup
* fix those
* increase a bit
2022-10-16 15:54:36 -07:00
b654ebdd25
Refactor model: no klblock ( #26035 )
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* ff138dc0-d097-4818-b40e-dba5ba89d5d6/449 13274b7d-b546-4b91-a587-33b4af7dec6a/700
* b1bb39be-c6ce-4744-8e63-92969fda6bfc/449 f3ebfba1-f686-448f-be9b-b4d5010be91c/700
* model ref
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu >
2022-10-15 20:04:35 -07:00
6c5693e965
faster rocket launcher model ( #26009 )
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* cache tokens 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700
* udpate ref commit
* bump tinygrad to master
2022-10-07 17:22:42 -07:00
cb0b7375b7
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 >
2022-10-05 21:43:38 -07:00
2f878830c8
modeld: removed extra spaces ( #25880 )
2022-09-23 10:54:13 -07:00
48efd8374b
Revert "modeld: bug fix in single camera mode of modeld ( #25658 )"
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This reverts commit 7cdb538043
2022-09-06 13:00:49 -07:00
7cdb538043
modeld: bug fix in single camera mode of modeld ( #25658 )
2022-09-05 17:52:12 -07:00
6c39382d71
modeld: delete unused SNPE stuff after move to tinygrad ( #25635 )
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* delete unused stuff
* remove CL interceptor from thneed since we don't use SNPE anymore
* remove dead files from release
* that's removed
* oops, didn't save
2022-09-01 18:28:20 -07:00
e1b7a37a1f
Support e2e long in longitudinal planner ( #25636 )
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* refactor
* Add planer modes to support offline, acc, and blended
* add acceleration
* Fix index
* Update model ref
* Read in model outputs
* Add model msg
* Add e2e logic
* Add source
2022-09-01 15:40:25 -07:00
40d6f4b65c
modeld: Move from SNPE to tinygrad ( #25207 )
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* compiling, won't work yet
* running with inputs and outputs
* there's some magic chance this works
* no more dlc, include onnx
* yolo tests plz
* bump tinygrad
* files_common + delete dlc
* tinygrad_repo -> tinygrad
* pre commit config
* llops needed
* extra in files_common
* bump tinygrad
* fix indent
* tinygrad/nn/__init__
* tinygrad_repo
* bump tinygrad repo
* bump tinygrad
* bump with native_exp, match maybe
* native_explog is argument
* pyopencl no cache
* 5% chance this matches
* work in float32?
* bump tinygrad
* fix build
* no __init__
* fix recip
* dumb hack
* adding thneed PC support
* fix pc segfault
* pc thneed is working
* to_image
* prints stuff with debug=2
* it sort of works
* copy host ptr is simpler
* bug fix
* build on c3
* this correct?
* reenable float16
* fix private, fixup copy_inputs internal
* bump tinygrad and update ref commit
* fix OPTWG on PC
* maybe fix non determinism
* revert model replay ref commit
* comments, init zeroed out buffers
* upd ref commit
* bump tinygrad to fix initial image
* try this ref
Co-authored-by: Comma Device <device@comma.ai >
2022-09-01 10:31:14 -07:00
b6e355a933
modeld: PC Thneed prereqs ( #25615 )
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* pc thneed prereqs
* ugh, out of date
* that can stay private
* memcpy here is fine in SNPE variant
* release files
* thneed docs don't work anymore. they didn't look too useful
Co-authored-by: Comma Device <device@comma.ai >
2022-08-30 17:57:14 -07:00
6590fb2b93
pre-commit: add codespell ( #25571 )
2022-08-30 11:20:55 -07:00
68b1dbc0ea
modeld: delete wide_frame in model_free ( #25562 )
2022-08-26 11:19:05 -07:00
2f46fe5d85
Nuclear Grade Model: less memory, more accuracy ( #25524 )
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* c9d10c64-bea4-41ec-8ca3-d8c886fda172/440 6d1c8a6b-4070-4780-80f1-6f08f234275e/900
* update ref
2022-08-25 00:01:21 -07:00
041458f632
Falcon Punch Model: turn cutting improvements ( #25413 )
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* simplified change to mpc dynamics
* add jerk pts
* increase jerk cost
* increase jerk pts multipler to master value
* Add final commit
* 1456d261-d232-4654-8885-4d9fde883894/440 ac1a6744-85b0-4ec6-8ba7-608d0717b8f1/750
* some copies are useful
* update model replay ref
* less frames in model replay onnx cpu
* 1456d261-d232-4654-8885-4d9fde883894/440 264b67f5-3f52-4b58-b11f-58dd8aaf08bf/950
* 1456d261-d232-4654-8885-4d9fde883894/440 236fc556-fba3-4255-8ccf-684b22637160/950
* c9d10c64-bea4-41ec-8ca3-d8c886fda172/440 26d73dd2-862a-44ae-bbdd-32cc4f397ad7/900
* Fix couple tests
* Update ref
* Unused for now
* Add lateral factor comment
* Unused variable
Co-authored-by: nuwandavek <vivekaithal44@gmail.com >
Co-authored-by: Bruce Wayne <yassine@comma.ai >
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu >
Co-authored-by: Bruce Wayne <batman@gpu06.internal >
2022-08-12 00:47:59 -07:00
3afe7464df
Model file too big: Revert "New model: minor fixes" ( #25390 )
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Revert "New model: minor fixes (#25368 )"
This reverts commit 55bf938504
2022-08-08 12:42:46 -07:00
55bf938504
New model: minor fixes ( #25368 )
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* 1456d261-d232-4654-8885-4d9fde883894/440 ac1a6744-85b0-4ec6-8ba7-608d0717b8f1/750
* some copies are useful
* update model replay ref
* less frames in model replay onnx cpu
Co-authored-by: Bruce Wayne <yassine@comma.ai >
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu >
2022-08-05 17:28:15 -07:00
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