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
dtypes.default_float = dtypes.float16
from tinygrad.dtype import to_dtype
from tinygrad.helpers import getenv
if __name__ == "__main__":
# matmuls in bert layers
BS = getenv("BS", 96//6)
acc_dtype = to_dtype(getenv("ACC_DTYPE", "half"))
tensors = [
(Tensor.empty(BS, 512, 1024), Tensor.empty(1024, 1024).T), # linear to get qkv
(Tensor.empty(BS, 512, 16, 64).permute(0,2,1,3), Tensor.empty(BS, 512, 16, 64).permute(0,2,3,1)), # q@k
(Tensor.empty(BS, 16, 512, 512), Tensor.empty(BS, 512, 16, 64).permute(0,2,1,3)), # qk@v
]
for t0, t1 in tensors:
print(f"{t0.shape=}, {t0.lazydata.st.real_strides()=}, {t1.shape=}, {t1.lazydata.st.real_strides()=}")
for _ in range(5):
t0.dot(t1, dtype=acc_dtype).realize()