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modeld_v2: spatial features — apply latest upstream simplification (remove reshape conditional)

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Comma Device
2026-08-24 09:12:31 +08:00
parent d0bdbd0792
commit b1a25ba41d
1 changed files with 1 additions and 2 deletions
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openpilot/sunnypilot/modeld_v2/compile_modeld.py
+1 -2
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@@ -208,8 +208,7 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
vision_out_cast = next(iter(vision_runner({road_key: img, wide_key: big_img}).values())).cast('float32').realize()
if 'features_buffer' not in inputs:
new_feat = vision_out_cast[:, features_slice].reshape(1, -1).unsqueeze(0)
feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
inputs['features_buffer'] = feat_buf if len(fb := input_shapes['features_buffer']) <= 3 else feat_buf.reshape(fb)
inputs['features_buffer'] = shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
policy_outs = [next(iter(pol_runner(inputs).values())).cast('float32').realize() for pol_runner in policy_runners]
return (vision_out_cast, *policy_outs) if len(policy_outs) > 1 else (vision_out_cast, policy_outs[0])