openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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from tinygrad.helpers import trange
from tinygrad.nn.datasets import mnist
import mlx.core as mx
import mlx.nn as nn
import mlx.optimizers as optim
from functools import partial
class Model(nn.Module):
def __init__(self):
super().__init__()
self.c1 = nn.Conv2d(1, 32, 5)
self.c2 = nn.Conv2d(32, 32, 5)
self.bn1 = nn.BatchNorm(32)
self.m1 = nn.MaxPool2d(2)
self.c3 = nn.Conv2d(32, 64, 3)
self.c4 = nn.Conv2d(64, 64, 3)
self.bn2 = nn.BatchNorm(64)
self.m2 = nn.MaxPool2d(2)
self.lin = nn.Linear(576, 10)
def __call__(self, x):
x = mx.maximum(self.c1(x), 0)
x = mx.maximum(self.c2(x), 0)
x = self.m1(self.bn1(x))
x = mx.maximum(self.c3(x), 0)
x = mx.maximum(self.c4(x), 0)
x = self.m2(self.bn2(x))
return self.lin(mx.flatten(x, 1))
if __name__ == "__main__":
X_train, Y_train, X_test, Y_test = mnist()
X_train = mx.array(X_train.float().permute((0,2,3,1)).numpy())
Y_train = mx.array(Y_train.numpy())
X_test = mx.array(X_test.float().permute((0,2,3,1)).numpy())
Y_test = mx.array(Y_test.numpy())
model = Model()
optimizer = optim.Adam(1e-3)
def loss_fn(model, x, y): return nn.losses.cross_entropy(model(x), y).mean()
state = [model.state, optimizer.state]
@partial(mx.compile, inputs=state, outputs=state)
def step(samples):
# Compiled functions will also treat any inputs not in the parameter list as constants.
X,Y = X_train[samples], Y_train[samples]
loss_and_grad_fn = nn.value_and_grad(model, loss_fn)
loss, grads = loss_and_grad_fn(model, X, Y)
optimizer.update(model, grads)
return loss
test_acc = float('nan')
for i in (t:=trange(70)):
samples = mx.random.randint(0, X_train.shape[0], (512,)) # putting this in JIT didn't work well
loss = step(samples)
if i%10 == 9: test_acc = ((model(X_test).argmax(axis=-1) == Y_test).sum() * 100 / X_test.shape[0]).item()
t.set_description(f"loss: {loss.item():6.2f} test_accuracy: {test_acc:5.2f}%")