lint

# Conflicts:
#	openpilot/sunnypilot/modeld_v2/compile_modeld.py
#	openpilot/sunnypilot/modeld_v2/modeld.py
#	openpilot/sunnypilot/modeld_v2/tests/test_combined_pkl_loader.py
#	openpilot/sunnypilot/modeld_v2/tests/test_warp.py
#	openpilot/sunnypilot/modeld_v2/warp.py
#	openpilot/sunnypilot/models/manager.py
#	openpilot/sunnypilot/models/runners/helpers.py
#	openpilot/sunnypilot/models/runners/model_runner.py
#	openpilot/sunnypilot/models/runners/tinygrad/model_types.py
#	openpilot/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
#	sunnypilot/models/helpers.py

.github/workflows/build-single-tinygrad-model.yaml

@@ -12,11 +12,11 @@ on:
         required: false
         type: string
       recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        description: 'Existing recompiled directory number (e.g. 1 for recompiled1)'
         required: true
         type: string
       json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        description: 'driving_models version number to update (e.g. 18 for driving_models_v18.json)'
         required: true
         type: string
       artifact_suffix:
@@ -63,12 +63,11 @@ on:
         default: 'None'
         options:
           - None
-          - Simple Plan Models
+          - Master Models
-          - Space Lab Models
+          - Release Models
-          - TR Models
+          - 2025 World Models
-          - DTR Models
+          - 2026 World Models
           - Custom Merge Models
-          - FOF series models
           - Other
       custom_model_folder:
         description: 'Custom model folder name (if "Other" selected)'

.github/workflows/sunnypilot-build-model.yaml

@@ -30,6 +30,11 @@ on:
         required: false
         type: string
         default: ''
+      target_hardware:
+        description: 'Hardware target to compile for (qcom or usbgpu)'
+        required: false
+        type: string
+        default: 'qcom'
   workflow_dispatch:
     inputs:
       upstream_branch:
@@ -46,6 +51,14 @@ on:
         required: false
         type: boolean
         default: true
+      target_hardware:
+        description: 'Hardware target to compile for'
+        required: true
+        type: choice
+        options:
+          - qcom
+          - usbgpu
+        default: 'qcom'
 
 
 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
@@ -161,19 +174,30 @@ jobs:
           name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
           path: ${{ env.MODELS_DIR }}
       - run: |
-          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
+          rm -f ${{ env.MODELS_DIR }}/{dmonitoring_model,big_driving_policy,big_driving_vision,big_driving_supercombo}.onnx
 
       - name: Build Model
         run: |
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          source ${UV_PROJECT_ENVIRONMENT}/bin/activate
           export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}:${{ github.workspace }}"
 
           COMPILE_MODELD="${{ github.workspace }}/openpilot/sunnypilot/modeld_v2/compile_modeld.py"
           MODEL_SIZE=$(python3 -c "from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE as s; print(f'{s[0]}x{s[1]}')")
           CAMERA_RES=$(python3 -c "from openpilot.common.transformations.camera import _ar_ox_fisheye as a, _os_fisheye as o; print(f'{a.width}x{a.height} {o.width}x{o.height}')")
+
+          if [ "${{ inputs.target_hardware }}" == "usbgpu" ]; then
+            echo "USBGPU build"
+            export USBGPU=1
+            TG_FLAGS="DEV=AMD USBGPU=1 IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/big_driving_tinygrad.pkl"
+          else
+            echo "QCOM build"
             TG_FLAGS="DEV=QCOM IMAGE=1 FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 OPENPILOT_HACKS=1"
+            OUTPUT_PKL="${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+          fi
 
           # Generate metadata for all ONNX files
           find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
@@ -186,7 +210,13 @@ jobs:
           POLICY_ONNX="${{ env.MODELS_DIR }}/driving_policy.onnx"
           OFF_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_off_policy.onnx"
           ON_POLICY_ONNX="${{ env.MODELS_DIR }}/driving_on_policy.onnx"
-          SUPERCOMBO_ONNX="${{ env.MODELS_DIR }}/supercombo.onnx"
+          SUPERCOMBO_ONNX=""
+          for f in "${{ env.MODELS_DIR }}/supercombo.onnx" "${{ env.MODELS_DIR }}/driving_supercombo.onnx"; do
+            if [ -f "$f" ]; then
+              SUPERCOMBO_ONNX="$f"
+              break
+            fi
+          done
 
           MODEL_TYPE="" ONNX_ARGS="" OUTPUT_NAME=""
           if [ -f "$VISION_ONNX" ]; then
@@ -207,24 +237,15 @@ jobs:
           fi
 
           if [ -n "$MODEL_TYPE" ]; then
-            echo "Detected: $MODEL_TYPE -> driving_tinygrad.pkl"
+            echo "Detected: $MODEL_TYPE -> $OUTPUT_PKL"
             env ${TG_FLAGS} python3 "$COMPILE_MODELD" \
               --model-type $MODEL_TYPE \
               --model-size $MODEL_SIZE \
               --camera-resolutions $CAMERA_RES \
               $ONNX_ARGS \
-              --output "${{ env.MODELS_DIR }}/driving_tinygrad.pkl"
+              --output "$OUTPUT_PKL"
           fi
 
-      - name: Validate Model Outputs
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --validate-only \
-            --model-dir "${{ env.MODELS_DIR }}"
-
       - name: Prepare Output
         run: |
           sudo rm -rf ${{ env.OUTPUT_DIR }}