77a8919349
* 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..
33 lines
1.2 KiB
Python
33 lines
1.2 KiB
Python
from typing import List, Tuple
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from tinygrad.codegen.opt.kernel import Kernel
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from tinygrad.codegen.opt.search import get_kernel_actions, actions
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_net = None
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def beam_q_estimate(beam:List[Tuple[Kernel, float]]) -> List[Tuple[Kernel, float]]:
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global _net
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if _net is None:
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from tinygrad.nn.state import load_state_dict, safe_load
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from extra.optimization.pretrain_valuenet import ValueNet
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_net = ValueNet(1021+len(actions), 2)
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load_state_dict(_net, safe_load("/tmp/qnet.safetensors"), verbose=False)
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from tinygrad.tensor import Tensor
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from tinygrad.helpers import Context
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from extra.optimization.helpers import lin_to_feats
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import numpy as np
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feats = []
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lins = []
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base_tms = []
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for lin,tm in beam:
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lin_feats = lin_to_feats(lin)
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for a,v in get_kernel_actions(lin, include_0=False).items():
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acts = np.zeros(len(actions))
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acts[a-1] = 1.0
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feats.append(np.concatenate([lin_feats, acts]))
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lins.append(v)
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base_tms.append(tm)
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with Context(BEAM=0):
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with Tensor.train(False):
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preds = _net(Tensor(feats)).numpy()
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pred_time = np.array(base_tms) / np.exp(preds[:, 0])
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return sorted(zip(lins, pred_time), key=lambda x: x[1])
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