mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-09-11 04:43:43 +08:00
Code Issues Packages Projects Releases Wiki Activity

modeld: fall back on invalid big model outputs (#38700)

Browse Source
This commit is contained in:
Harald Schäfer
2026-08-26 12:06:53 -07:00
committed by GitHub
parent 084747c75d
commit d40df6f829
1 changed files with 2 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
openpilot/selfdrive/modeld/modeld.py
+2 -4
View File
@@ -163,7 +163,7 @@ class ModelState:
return parsed_model_outputs
def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
inputs: dict[str, np.ndarray]) -> dict[str, np.ndarray] | None:
inputs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
for key in bufs.keys():
ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
yuv_size = self.frame_buf_params[key][3]
@@ -189,9 +189,7 @@ class ModelState:
)
model_output = outs.numpy()[0]
if self.usbgpu and not np.all(np.isfinite(model_output)):
# TODO remove with prev_feat
cloudlog.error("model output not finite, dropping frame")
return None
raise RuntimeError("model output not finite")
outputs_dict = self.parser.parse_outputs(self.slice_outputs(model_output, self.output_slices))
self.npy['prev_feat'][:] = model_output[self.output_slices['hidden_state']]