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seems a bit repetitive yea?

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This commit is contained in:
discountchubbs
2025-07-14 16:34:36 -07:00
parent 30907c3cf9
commit f7efd7c641
1 changed files with 7 additions and 2 deletions
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sunnypilot/modeld_v2/parse_model_outputs_split.py
+7 -2
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@@ -125,8 +125,6 @@ class Parser:
out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
if 'sim_pose' in outs:
self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
for k in ['lead_prob', 'lane_lines_prob']:
self.parse_binary_crossentropy(k, outs)
def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
@@ -136,6 +134,11 @@ class Parser:
self.split_outputs(outs)
self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
self.parse_binary_crossentropy('meta', outs)
if self.generation >= 13:
self.parse_binary_crossentropy('lane_lines_prob', outs)
else:
for k in ['lead_prob', 'lane_lines_prob']:
self.parse_binary_crossentropy(k, outs)
return outs
def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
@@ -146,6 +149,8 @@ class Parser:
if 'desired_curvature' in outs:
self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
if self.generation >= 13:
self.parse_binary_crossentropy('lead_prob', outs)
return outs
def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: