Files
onepilot/tinygrad_repo/extra/optimization/run_qnet.py
T
carrot 77a8919349 TR16 Model, fix radar routine (#211)
* UV+DTR model

* DTR model.. again.

* fix naviGPS

* fix radar...

* fix..

* test

* fix..

* carrot serv

* fix..

* fix.. fleet

* fix.. radar

* fix atc

* Steam Powered model..

* fix.. radarLatFactor range.. 200->500

* fix.. dbc..

* side

* SP v2

* brake light

* fix brakelight

* fix..

* add datetime...

* fix..

* fix..

* fix..

* fix..

* blind spot

* fix tz

* fix..

* ff

* radarLatFactor

* fix.. bsd

* Revert "fix.. bsd"

This reverts commit 1d0d1434470e1b92c65eaffaeb8dd7cd779f85ee.

* fix.. bsd side..

* test

* fix.. e2e conditions

* Revert "test"

This reverts commit 0ce791dbd66c17260366ed1a4df2626c602dbb7d.

* TR16

* fix cut-in detect threshold  3.4 -> 2.6

* fix.. jerk_l limit 5->10

* fix..

* fix.. gm

* fix.. OPTIMA_H mass

* fix.. radar..

* fix radar..

* fix..

* Radar...

* fix..

* fix..

* fix..

* fix.. radartrack 3

* fix..

* fix..

* fix..

* merge..

* fix.. canfd

* fix..

* fix..

* fix..

* fix.. radard

* new cut_in

* Revert "new cut_in"

This reverts commit b9b6e9b33318fe1ce7d626468139b17848efcdcd.

* fix..

* new cut_in detect...

* fix.. disp..

* fix..

* fix..

* fix.. center radar..

* fix.. radar y_sane..

* fix..

* fix..

* hkg jerk 10 -> 5

* fix..

* fix..

* fix.. radar dbc..

* fix..

* fix.. jLead filter..

* test new radar interface..

* fix..

* fix..

* test time...

* Revert "test time..."

This reverts commit 63e9187736985c4dc4b4f3736674ba7cda6adc3f.

* fix radar..

* fix..

* FireHose model..

* tinygrad

* Update interface.py

* fix..

* fix.. nff toyota corolla_tss2

* fix..

* fix..

* fix.. radar

* fix..

* fix.. radar, y_gate

* fix.. radar..

* fix.. for clone..

* scc radar enable at low speed..

* fix.. settings..

* fix.

* fix..

* fix.. radarTimeStep.

* TR16 model again..

* RELEASE.md

* fix cut-in detection...

* fix.. registeration timeout 15sec..

* fix..

* fix.. radar processing.

* fix..

* fix..

* fix..

* fix..

* fix..

* fix..
2025-09-05 15:43:10 +09:00

33 lines
1.2 KiB
Python

from typing import List, Tuple
from tinygrad.codegen.opt.kernel import Kernel
from tinygrad.codegen.opt.search import get_kernel_actions, actions
_net = None
def beam_q_estimate(beam:List[Tuple[Kernel, float]]) -> List[Tuple[Kernel, float]]:
global _net
if _net is None:
from tinygrad.nn.state import load_state_dict, safe_load
from extra.optimization.pretrain_valuenet import ValueNet
_net = ValueNet(1021+len(actions), 2)
load_state_dict(_net, safe_load("/tmp/qnet.safetensors"), verbose=False)
from tinygrad.tensor import Tensor
from tinygrad.helpers import Context
from extra.optimization.helpers import lin_to_feats
import numpy as np
feats = []
lins = []
base_tms = []
for lin,tm in beam:
lin_feats = lin_to_feats(lin)
for a,v in get_kernel_actions(lin, include_0=False).items():
acts = np.zeros(len(actions))
acts[a-1] = 1.0
feats.append(np.concatenate([lin_feats, acts]))
lins.append(v)
base_tms.append(tm)
with Context(BEAM=0):
with Tensor.train(False):
preds = _net(Tensor(feats)).numpy()
pred_time = np.array(base_tms) / np.exp(preds[:, 0])
return sorted(zip(lins, pred_time), key=lambda x: x[1])