From 2895346746634d7eec0ee749f946c87039948a25 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 22 Jul 2026 18:12:13 -0700
Subject: [PATCH] Rebel Legion model (#38164)

* 3e5b7d32-e114-4517-96b4-b3a2448fd939/400

* 9ffd502c-01d0-40f3-93c2-07a4d3e4445c/400

* 1afc2042-8761-4663-ae6a-d593b13defd0/400

* d4b183da-3b8c-4ff7-8927-e3e7216ddb86/400

* 60a46520-f02f-49c5-8eae-e0f8de92af07/400

* ca63f597-de00-478f-970c-302069a59130/400

* 0322768e-5d7e-46e6-9712-d52de312e1da/400

* d25f38c8-8689-42a7-8326-f0c7ce00625f

* f14f0be4-bf1e-4dc3-914d-3d9a23b5a05a/400

* lil smooth

* 03dfde49-54e6-4129-b05f-24b0b0c7e5f0/400

* 6d9d6f8a-5c82-41f6-92aa-4c1a11eb5645/400

* ci: fix model review tinygrad import

* ci: skip unfetched big model in review

---------

Co-authored-by: Toby Penner <toby@comma.ai>
---
 .github/workflows/model_review.yaml                       | 2 +-
 openpilot/selfdrive/modeld/modeld.py                      | 4 ++--
 openpilot/selfdrive/modeld/models/driving_supercombo.onnx | 4 ++--
 scripts/reporter.py                                       | 2 ++
 4 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/model_review.yaml b/.github/workflows/model_review.yaml
index d491b6397..bdcc2e897 100644
--- a/.github/workflows/model_review.yaml
+++ b/.github/workflows/model_review.yaml
@@ -37,7 +37,7 @@ jobs:
         run: |
           echo "content<<EOF" >> $GITHUB_OUTPUT
           echo "## Model Review" >> $GITHUB_OUTPUT
-          PYTHONPATH=${{ github.workspace }} MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
+          PYTHONPATH=${{ github.workspace }}:${{ github.workspace }}/tinygrad_repo MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
           echo "EOF" >> $GITHUB_OUTPUT
 
       - name: Post model report comment
diff --git a/openpilot/selfdrive/modeld/modeld.py b/openpilot/selfdrive/modeld/modeld.py
index 9fc72eb74..3ba4dfa71 100755
--- a/openpilot/selfdrive/modeld/modeld.py
+++ b/openpilot/selfdrive/modeld/modeld.py
@@ -31,8 +31,8 @@ from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
 PROCESS_NAME = "openpilot.selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
-LAT_SMOOTH_SECONDS = 0.0
-LONG_SMOOTH_SECONDS = 0.3
+LAT_SMOOTH_SECONDS = 0.1
+LONG_SMOOTH_SECONDS = 0.1
 MIN_LAT_CONTROL_SPEED = 0.3
 BIG_MODEL_TIMEOUT = 60
 
diff --git a/openpilot/selfdrive/modeld/models/driving_supercombo.onnx b/openpilot/selfdrive/modeld/models/driving_supercombo.onnx
index f0672eab4..944eebb01 100644
--- a/openpilot/selfdrive/modeld/models/driving_supercombo.onnx
+++ b/openpilot/selfdrive/modeld/models/driving_supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:659727c4d4839adc4992a254409a54259a8756a743f2d567bf5fdc6579f8009b
-size 60881999
+oid sha256:15e563da34889318e41321a2559682d417416602de9b6f5093c3be0e6766419d
+size 96599486
diff --git a/scripts/reporter.py b/scripts/reporter.py
index 5de552183..175a06fa6 100755
--- a/scripts/reporter.py
+++ b/scripts/reporter.py
@@ -36,6 +36,8 @@ if __name__ == "__main__":
 
   for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
     fn = os.path.basename(f)
+    if fn == "big_driving_supercombo.onnx":
+      continue
     master_path = MASTER_PATH + MODEL_PATH + fn
     if os.path.exists(master_path):
       master = get_checkpoint(master_path)