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 import Tensor, dtypes, GlobalCounters
if __name__ == "__main__":
t = Tensor.empty(81920, 4096, dtype=dtypes.half)
GlobalCounters.reset()
t.softmax(-1, dtype="half").realize()
GlobalCounters.reset()
t.softmax(-1, dtype="half", _single_kernel=True).realize()
from tinygrad.codegen.kernel import Kernel, Opt, OptOps
from tinygrad.helpers import get_single_element
GlobalCounters.reset()
si = get_single_element(t.softmax(-1, dtype="half", _single_kernel=True).schedule())
k = Kernel(si.ast)
#k.apply_opt(Opt(OptOps.UPCAST, 0, 4))
k.apply_opt(Opt(OptOps.UPCAST, 1, 4))
k.apply_opt(Opt(OptOps.LOCAL, 1, 32))
#k.apply_opt(Opt(OptOps.LOCAL, 0, 8))
k.apply_opt(Opt(OptOps.UNROLL, 1, 4))
k.apply_opt(Opt(OptOps.UNROLL, 0, 4))
#k.apply_opt(Opt(OptOps.GROUP, 1, 256))
#k.apply_opt(Opt(OptOps.GROUP, 0, 32))
#k.apply_opt(Opt(OptOps.GROUP, 1, 32))
#k.apply_opt(Opt(OptOps.GROUP, 0, 32))
from tinygrad.engine.realize import CompiledRunner, ExecItem
run = CompiledRunner(prg:=k.to_program())
ExecItem(run, si.bufs).run()