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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import unittest
import numpy as np
from tinygrad import Tensor, Variable
class TestSample(unittest.TestCase):
def test_sample(self):
X = Tensor.rand(10000, 50).realize()
BS = 16
idxs = np.random.randint(0, X.shape[0], size=(BS))
# this uncovered a bug with arg sort order
batch = [Variable(f'idx{i}', 0, X.shape[0]-1).bind(s) for i,s in enumerate(idxs.tolist())]
x = Tensor.cat(*[X.shrink(((batch[i], batch[i]+1), None)) for i in range(BS)])
print(idxs)
ret = x.numpy()
base = X.numpy()[idxs]
np.testing.assert_equal(ret, base)
if __name__ == '__main__':
unittest.main()