From 938981dce9a84e0b4bcf77691c6faced199d4405 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Fri, 25 Jul 2025 11:38:07 -0700 Subject: [PATCH] =?UTF-8?q?Space=20Lab=20Model=20=F0=9F=9B=B0=EF=B8=8F=20(?= =?UTF-8?q?#35804)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 95c34be5-4fa1-4875-8b1d-fb7162140f10/400 * 660235c5-1647-40c4-8493-880de8f662d0/400 --- selfdrive/modeld/models/driving_policy.onnx | 4 ++-- selfdrive/modeld/models/driving_vision.onnx | 4 ++-- selfdrive/modeld/parse_model_outputs.py | 6 +++--- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index ee9a9b6ec1..9bb9254a0f 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ef059460a95076f9a8600abb8c9d56c8c3b7384505b158064e2e875458b965bb -size 15701037 +oid sha256:02cf21ce7e9784c6009cc32a6f1ea22482911897b6d944419477973284052716 +size 15583374 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index 6cdca2f93c..18f63358db 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:afee02876ed51f21883e731990a252fd57afda6a78700c41fbf22d8cb288b4b5 -size 46147818 +oid sha256:c824f68646a3b94f117f01c70dc8316fb466e05fbd42ccdba440b8a8dc86914b +size 46265993 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index d5a5dc1bb4..b89de27594 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -93,6 +93,9 @@ class Parser: self.parse_binary_crossentropy('lane_lines_prob', outs) self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) + self.parse_binary_crossentropy('lead_prob', outs) + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: @@ -103,9 +106,6 @@ class Parser: if 'desired_curvature' in outs: self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) - self.parse_binary_crossentropy('lead_prob', outs) - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) return outs def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: