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realize for non compiled

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This commit is contained in:
discountchubbs
2026-08-23 11:45:56 -07:00
parent e9bafbd353
commit 400a35ef7f
1 changed files with 3 additions and 3 deletions
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openpilot/sunnypilot/modeld_v2/compile_modeld.py
+3 -3
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@@ -202,7 +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)
feat_buf = shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).realize()
inputs['features_buffer'] = feat_buf if len(fb := input_shapes['features_buffer']) <= 3 else feat_buf.reshape(fb)
if vision_runner:
@@ -210,14 +210,14 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
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'] = feat_buf.reshape(input_shapes['features_buffer'])
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})
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'] = feat_buf.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: