Improved lead model: 6be443f2-ed70-4580-9c31-61b94d068e24/950 (#22290)
* 6be443f2-ed70-4580-9c31-61b94d068e24/950
* meta changed too
* new ref
* new ref from CI
* unused
* Revert "new ref from CI"
This reverts commit 28b6bdc810
.
* new ref from CI again
pull/22305/head
parent
1e4b61b393
commit
72a736f90e
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models/supercombo.dlc (Stored with Git LFS)
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models/supercombo.dlc (Stored with Git LFS)
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models/supercombo.onnx (Stored with Git LFS)
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@ -13,9 +13,9 @@
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#include "selfdrive/common/timing.h"
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constexpr int DESIRE_PRED_SIZE = 32;
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constexpr int OTHER_META_SIZE = 32;
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constexpr int OTHER_META_SIZE = 48;
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constexpr int NUM_META_INTERVALS = 5;
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constexpr int META_STRIDE = 6;
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constexpr int META_STRIDE = 7;
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constexpr int PLAN_MHP_N = 5;
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constexpr int PLAN_MHP_COLUMNS = 15;
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@ -23,7 +23,7 @@ constexpr int PLAN_MHP_VALS = 15*33;
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constexpr int PLAN_MHP_SELECTION = 1;
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constexpr int PLAN_MHP_GROUP_SIZE = (2*PLAN_MHP_VALS + PLAN_MHP_SELECTION);
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constexpr int LEAD_MHP_N = 5;
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constexpr int LEAD_MHP_N = 2;
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constexpr int LEAD_TRAJ_LEN = 6;
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constexpr int LEAD_PRED_DIM = 4;
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constexpr int LEAD_MHP_VALS = LEAD_PRED_DIM*LEAD_TRAJ_LEN;
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@ -208,6 +208,7 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const float *meta_da
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fill_sigmoid(&meta_data[DESIRE_LEN+4], brake_3ms2_sigmoid, NUM_META_INTERVALS, META_STRIDE);
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fill_sigmoid(&meta_data[DESIRE_LEN+5], brake_4ms2_sigmoid, NUM_META_INTERVALS, META_STRIDE);
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fill_sigmoid(&meta_data[DESIRE_LEN+6], brake_5ms2_sigmoid, NUM_META_INTERVALS, META_STRIDE);
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//fill_sigmoid(&meta_data[DESIRE_LEN+7], GAS PRESSED, NUM_META_INTERVALS, META_STRIDE);
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std::memmove(prev_brake_5ms2_probs, &prev_brake_5ms2_probs[1], 4*sizeof(float));
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std::memmove(prev_brake_3ms2_probs, &prev_brake_3ms2_probs[1], 2*sizeof(float));
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@ -1 +0,0 @@
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1d17a97b34258507720b39cdf059a3c769aaf998
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@ -1 +1 @@
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a6a2358fe21ee43f10ed26100eb2f0811b877670
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0bda0bfb1196caaa5ba8ec52e689a250077c5bab
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