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sched mem kernels

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This commit is contained in:
discountchubbs
2026-10-02 10:32:07 -07:00
parent 10d70028db
commit ccbb57bc2f
1 changed files with 4 additions and 4 deletions
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openpilot/sunnypilot/modeld_v2/compile_modeld.py
+4 -4
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@@ -233,14 +233,14 @@ def make_run_policy(vision_runner, policy_runners: list, features_slice: slice,
warped_dev = warped.to(Device.DEFAULT)
Tensor.realize(packed_npy_inputs_dev, warped_dev)
img = stock.shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn)
big_img = stock.shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn)
img = stock.shift_and_sample(img_q, warped_dev[0:1], sample_skip_fn).realize()
big_img = stock.shift_and_sample(big_img_q, warped_dev[1:2], sample_skip_fn).realize()
unpacked_tensors = [tensor.reshape(shape) for tensor, shape in zip(packed_npy_inputs_dev.split(npy_sizes), npy_shapes.values(), strict=True)]
unpacked_dict = dict(zip(npy_shapes.keys(), unpacked_tensors, strict=True))
desire_dev = unpacked_dict['desire']
desire_buf = stock.shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn)
desire_buf = stock.shift_and_sample(desire_q, desire_dev.reshape(1, 1, -1), sample_desire_fn).realize()
inputs = {desire_key: desire_buf}
for key, tensor_val in unpacked_dict.items():
@@ -249,7 +249,7 @@ 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']
inputs['features_buffer'] = stock.shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).reshape(input_shapes['features_buffer'])
inputs['features_buffer'] = stock.shift_and_sample(feat_q, prev_feat_dev.reshape(1, 1, -1), sample_skip_fn).realize().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()