LeTR14 🇫🇷 (#35730)

* 9e9f8657-4e39-43d4-b36d-2d90ab18f6e9

* fix parsing

selfdrive/modeld/models/driving_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1741cad23f6f451782b5db6182218749ee12072e393d57eac36d8d5c55d9358a
-size 15583374
+oid sha256:cddefa5dbe21c60858f0d321d12d1ed4b126d05a7563f651bdf021674be63d64
+size 15701037

selfdrive/modeld/models/driving_vision.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3d2bd82ba42341dba1bda5426e45c4c646db604c9ac422156eaa2b9ef26194f9
-size 46265993
+oid sha256:afee02876ed51f21883e731990a252fd57afda6a78700c41fbf22d8cb288b4b5
+size 46147818

selfdrive/modeld/parse_model_outputs.py

@@ -90,10 +90,7 @@ class Parser:
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
     self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    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))
-    for k in ['lead_prob', 'lane_lines_prob']:
-      self.parse_binary_crossentropy(k, outs)
+    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)
     return outs
@@ -106,6 +103,9 @@ 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]: