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Not Too Shabby Model (#34484)

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* b25c27a8-263b-4f3f-b1f8-72ac49b4f9c7/700

* replay

* model_replay: support empty
This commit is contained in:
YassineYousfi
2025-01-28 12:16:13 -08:00
committed by GitHub
parent 82722217be
commit 2eb3585dae
4 changed files with 28 additions and 24 deletions
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selfdrive/modeld/constants.py
+10 -9
View File
@@ -71,13 +71,14 @@ class Plan:
class Meta:
ENGAGED = slice(0, 1)
# next 2, 4, 6, 8, 10 seconds
GAS_DISENGAGE = slice(1, 36, 7)
BRAKE_DISENGAGE = slice(2, 36, 7)
STEER_OVERRIDE = slice(3, 36, 7)
HARD_BRAKE_3 = slice(4, 36, 7)
HARD_BRAKE_4 = slice(5, 36, 7)
HARD_BRAKE_5 = slice(6, 36, 7)
GAS_PRESS = slice(7, 36, 7)
GAS_DISENGAGE = slice(1, 31, 6)
BRAKE_DISENGAGE = slice(2, 31, 6)
STEER_OVERRIDE = slice(3, 31, 6)
HARD_BRAKE_3 = slice(4, 31, 6)
HARD_BRAKE_4 = slice(5, 31, 6)
HARD_BRAKE_5 = slice(6, 31, 6)
# next 0, 2, 4, 6, 8, 10 seconds
LEFT_BLINKER = slice(36, 48, 2)
RIGHT_BLINKER = slice(37, 48, 2)
GAS_PRESS = slice(31, 55, 4)
BRAKE_PRESS = slice(32, 55, 4)
LEFT_BLINKER = slice(33, 55, 4)
RIGHT_BLINKER = slice(34, 55, 4)
selfdrive/modeld/fill_model_msg.py
+2 -2
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@@ -159,8 +159,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
#disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
#disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
selfdrive/modeld/models/supercombo.onnx
+2 -2
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@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
size 51453312
oid sha256:d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a
size 51461700
selfdrive/test/process_replay/model_replay.py
+14 -11
View File
@@ -57,21 +57,24 @@ def get_event(logs, event):
def zl(array, fill):
return zip_longest(array, [], fillvalue=fill)
def get_idx_if_non_empty(l, idx=None):
return l if idx is None else (l[idx] if len(l) > 0 else None)
def generate_report(proposed, master, tmp, commit):
ModelV2_Plots = zl([
(lambda x: x.velocity.x[0], "velocity.x"),
(lambda x: x.action.desiredCurvature, "desiredCurvature"),
(lambda x: x.leadsV3[0].x[0], "leadsV3.x"),
(lambda x: x.laneLines[1].y[0], "laneLines.y"),
#(lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
(lambda x: get_idx_if_non_empty(x.velocity.x, 0), "velocity.x"),
(lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"),
(lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"),
(lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"),
(lambda x: get_idx_if_non_empty(x.meta.disengagePredictions.gasPressProbs, 1), "gasPressProbs")
], "modelV2")
DriverStateV2_Plots = zl([
(lambda x: x.wheelOnRightProb, "wheelOnRightProb"),
(lambda x: x.leftDriverData.faceProb, "leftDriverData.faceProb"),
(lambda x: x.leftDriverData.faceOrientation[0], "leftDriverData.faceOrientation0"),
(lambda x: x.leftDriverData.leftBlinkProb, "leftDriverData.leftBlinkProb"),
(lambda x: x.leftDriverData.notReadyProb[0], "leftDriverData.notReadyProb0"),
(lambda x: x.rightDriverData.faceProb, "rightDriverData.faceProb"),
(lambda x: get_idx_if_non_empty(x.wheelOnRightProb), "wheelOnRightProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.faceProb), "leftDriverData.faceProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"),
(lambda x: get_idx_if_non_empty(x.leftDriverData.notReadyProb, 0), "leftDriverData.notReadyProb0"),
(lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"),
], "driverStateV2")
return [plot(map(v[0], get_event(proposed, event)), \