From d097a0c201d407f61ccdb18058919d05dccea3ac Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 19 Aug 2025 11:35:22 -0700 Subject: [PATCH] model parser: fix lead mhp out shape (#36024) * model parser: fix lead mhp out shape * fix for real --- selfdrive/modeld/parse_model_outputs.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 5812e0b32e..038f51ca9c 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -104,16 +104,15 @@ class Parser: self.parse_binary_crossentropy('lead_prob', outs) lead_mhp = self.is_mhp(outs, 'lead', ModelConstants.LEAD_MHP_SELECTION * ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH) lead_in_N, lead_out_N = (ModelConstants.LEAD_MHP_N, ModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0) - self.parse_mdn( - 'lead', outs, in_N=lead_in_N, out_N=lead_out_N, - out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) - ) + lead_out_shape = (ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) if lead_mhp else \ + (ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN, ModelConstants.LEAD_WIDTH) + self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH) plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0) - self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) return outs