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modeld_v2: spatial features (PR-1934) latest; model list to v21/v22

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Comma Device
2026-08-24 08:43:50 +08:00
parent a69b5cc4f0
commit b8cd2a6808
3 changed files with 4 additions and 6 deletions
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openpilot/sunnypilot/modeld_v2/compile_modeld.py
+2 -4
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@@ -202,8 +202,7 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
if 'prev_feat' in unpacked_dict:
prev_feat_dev = unpacked_dict['prev_feat']
feat_buf = shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn)
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, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).reshape(input_shapes['features_buffer'])
if vision_runner:
vision_out_cast = next(iter(vision_runner({road_key: img, wide_key: big_img}).values())).cast('float32').realize()
@@ -216,8 +215,7 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
inputs.update({road_key: img, wide_key: big_img})
if 'features_buffer' not in inputs:
feat_buf = sample_skip_fn(feat_q)
inputs['features_buffer'] = feat_buf if len(fb := input_shapes['features_buffer']) <= 3 else feat_buf.reshape(fb)
inputs['features_buffer'] = sample_skip_fn(feat_q).reshape(input_shapes['features_buffer'])
policy_out = next(iter(policy_runners[0](inputs).values())).cast('float32').realize()
if 'features_buffer' not in inputs and features_slice is not None:
openpilot/sunnypilot/models/fetcher.py
+1 -1
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@@ -140,7 +140,7 @@ class ModelCache:
class ModelFetcher:
"""Handles fetching and caching of model data from remote source"""
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v20.json"
MODEL_URL = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_v21.json"
MODEL_URL_USBGPU = "https://raw.githubusercontent.com/sunnypilot/sunnypilot-models/refs/heads/gh-pages/docs/driving_models_usbgpu_v22.json"
def __init__(self, params: Params):
openpilot/sunnypilot/models/helpers.py
+1 -1
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@@ -18,7 +18,7 @@ from openpilot.sunnypilot.models.constants import Meta, MetaSimPose, MetaTombRai
from openpilot.common.hardware.hw import Paths
# SET ME TO THE EXACT JSON VERSION WE SET IN SUNNYPILOT_MODELS REPO
REQUIRED_JSON_VERSION = 17
REQUIRED_JSON_VERSION = 18
CUSTOM_MODEL_PATH = Paths.model_root()
METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'