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nayan
2026-07-25 18:30:29 -04:00
parent e143888eb1
commit 273eb9f997
1 changed files with 3 additions and 4 deletions
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openpilot/sunnypilot/modeld_v2/compile_modeld.py
+3 -4
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@@ -148,14 +148,13 @@ def create_jit_runner(vision_runner, policy_runners: list, nv12: NV12Frame, mode
inputs['traffic_convention'] = traffic_conv_dev
if vision_runner:
vision_out = next(iter(vision_runner({road_key: img, wide_key: big_img}).values()))
vision_out_cast = vision_out.cast('float32')
vision_out_cast = next(iter(vision_runner({road_key: img, wide_key: big_img}).values())).cast('float32').realize()
new_feat = vision_out_cast[:, features_slice].reshape(1, -1).unsqueeze(0)
inputs['features_buffer'] = shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
policy_outs = [next(iter(pol_runner(inputs).values())).cast('float32') for pol_runner in policy_runners]
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])
inputs.update({road_key: img, wide_key: big_img, 'features_buffer': sample_skip_fn(feat_q)})
policy_out = next(iter(policy_runners[0](inputs).values())).cast('float32')
policy_out = next(iter(policy_runners[0](inputs).values())).cast('float32').realize()
new_feat = policy_out[:, features_slice].reshape(1, -1).unsqueeze(0)
shift_and_sample(feat_q, new_feat, sample_skip_fn).realize()
return policy_out