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1e3bb5be7ec3cd00a2ff8c8a7bc02b8efbf1cddc
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29 Commits

Author SHA1 Message Date
Mitchell Goff
531c13f2ac Moonrise Model (#28761) 
* New model: 889463fc-5e5d-497d-9111-c8567a13cabf

* Updated model replay ref
 2023-06-30 18:52:20 -07:00
YassineYousfi
4fcd82076a Nicolas Cage Model (#28547) 
01697194-d32d-4c3a-a803-d8f61cdf24e9/449 2ff8e6a1-7efd-4984-9f29-974164a3747b/700
 2023-06-16 13:36:56 -07:00
YassineYousfi
7925232a34 hot coffee model (#28296) 
* 1061b1c7-b944-43e3-a940-b56b64d66f54/700

* bump cereal

* bump cereal

* make mypy happy

* write TODO

* read height from written params

* fix certain_if_calib logic and unit tests

* factor moving_avg_with_linear_decay

* remove whitespace

* update model ref commit

* default value for CI

* update process replay ref commit

* update process replay ref commit

* update process replay ref commit

* bump cereal
 2023-06-02 20:55:13 -07:00
Mitchell Goff
328b5d9d47 Nicki Minaj Model (#28218) 
* New model: 2ff7490f-8a2f-4c0d-87a8-b0fa3a4a6a71

* Updated model_replay_ref_commit
 2023-05-22 15:11:04 -07:00
YassineYousfi
f80c1087fc new model: trained with augmented turn desire pulses (#28063) 
* df733db3-fad2-4485-abe9-59a6a47f2233/449 85f20e13-dd4d-49a8-ba33-98e6afc161d9/700

* update ref commit
 2023-05-01 16:03:16 -07:00
YassineYousfi
26541d9e7a new model: trained on new dataset (#27637) 
* df733db3-fad2-4485-abe9-59a6a47f2233/449 946c0f55-247d-4790-a407-c07e4364b340/700

* fix reducel2 df733db3-fad2-4485-abe9-59a6a47f2233/449 946c0f55-247d-4790-a407-c07e4364b340/700

* update ref commit
 2023-03-22 20:19:46 -07:00
YassineYousfi
1e49c54ffb new model: improved height estimation (#27234) 
* 07a3a2b2-6dbe-43c3-9bb9-a8023932e054/449 c3d7d18a-6207-42e7-84d9-601ecb3c6f0e/700

* 07a3a2b2-6dbe-43c3-9bb9-a8023932e054/449 db92e7f3-3f4b-4f0f-95ff-76cb6ed6894a/700

* update ref commit
 2023-02-08 22:21:31 -08:00
YassineYousfi
7316cd03fb new model: fixed weight decay logic (#27068) 
* 07a3a2b2-6dbe-43c3-9bb9-a8023932e054/449 cdfa9e3c-2807-49fc-bdc7-a985f8ff1644/700

* update refs
 2023-01-26 19:09:12 -08:00
YassineYousfi
ceb94f1bcd Revert "Albert Einstein Model" (#26576) 
Revert "Albert Einstein Model (#26456)"

This reverts commit 34c80a6fbd.
 2022-11-22 11:41:22 -08:00
YassineYousfi
34c80a6fbd Albert Einstein Model (#26456) 
* d0bc247d-9529-4e50-a5dd-95a8a5733874/440 38fb1ce9-18d7-4292-9ffd-678f8483ebf4/700

* update model replay ref commit
 2022-11-18 17:50:24 -08:00
Harald Schäfer
f63f0de80a E2e long model: calibrate model speed to wheel speed (#26395) 
* calibrate!

* Fix test

* Fix proc replay

* check len

* get v_ego from model 8501d20-bb59-4193-aa82-82b2737dedd6/449 609d90f3-65e6-4617-a60c-d6d99eead408/700

* bump cereal

* initialize v_model_error

* typo

* better names

* cleanup

* bump cereal

* update model replay ref commit

* bump to cereal master

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
 2022-11-07 17:49:36 -08:00
YassineYousfi
c3388d216c Model trained with headlight augmentation (#26284) 
* d8501d20-bb59-4193-aa82-82b2737dedd6/449 ddfe2a22-fb0e-4ff0-a97f-0157b95eb44d/700

* update ref
 2022-10-30 23:55:48 -07:00
HaraldSchafer
2b7290a142 Model trained with more long noise (#26241) 
* d8501d20-bb59-4193-aa82-82b2737dedd6/449 d37d320d-7d78-479a-9be2-d58c75284307/700

* Update model ref
 2022-10-26 00:20:30 -07:00
HaraldSchafer
d25ab3e366 Wide transform model (#26165) 
* d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700

* Change model outs

* Add cereal

* Publish transform

* d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700

* Bump cereal to master

* Bump cereal to master

* Update model ref
 2022-10-21 01:29:58 -07:00
Bruce Wayne
3a50d5fd85 Revert "d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700" 
This reverts commit 0ac12b82c7.
 2022-10-21 00:32:34 -07:00
Bruce Wayne
0ac12b82c7 d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700 2022-10-21 00:24:11 -07:00
HaraldSchafer
b654ebdd25 Refactor model: no klblock (#26035) 
* ff138dc0-d097-4818-b40e-dba5ba89d5d6/449 13274b7d-b546-4b91-a587-33b4af7dec6a/700

* b1bb39be-c6ce-4744-8e63-92969fda6bfc/449 f3ebfba1-f686-448f-be9b-b4d5010be91c/700

* model ref

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
 2022-10-15 20:04:35 -07:00
YassineYousfi
6c5693e965 faster rocket launcher model (#26009) 
* cache tokens 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700

* udpate ref commit

* bump tinygrad to master
 2022-10-07 17:22:42 -07:00
HaraldSchafer
cb0b7375b7 Rocket Launcher Model (#25963) 
* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300

* compute only 9 tokens: 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300

* tinygrad: cleanup gather

* 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/700

* empty commit for tests

* bump tinygrad

* dont use tinygrad matmul for now

* bump tinygrad

* 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700

* float16 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700

* increase steer rate cost

* Revert "increase steer rate cost"

This reverts commit 74ce9ab9be7ef17ecfec931f96851b12f37f2336.

* fork tinygrad

* empty commit for tests

* basics

* Kinda works

* new lat

* new tuning

* Move LATMPCN so scons compiles

* Update long weights

* Add tinygrad optim

* Update model ref

* update weights

* Update ref

* Try

* Error message for field ignore

* update model regf

* ref commit

* Fix onnx test

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
 2022-10-05 21:43:38 -07:00
HaraldSchafer
2f46fe5d85 Nuclear Grade Model: less memory, more accuracy (#25524) 
* c9d10c64-bea4-41ec-8ca3-d8c886fda172/440 6d1c8a6b-4070-4780-80f1-6f08f234275e/900

* update ref
 2022-08-25 00:01:21 -07:00
HaraldSchafer
041458f632 Falcon Punch Model: turn cutting improvements (#25413) 
* simplified change to mpc dynamics

* add jerk pts

* increase jerk cost

* increase jerk pts multipler to master value

* Add final commit

* 1456d261-d232-4654-8885-4d9fde883894/440 ac1a6744-85b0-4ec6-8ba7-608d0717b8f1/750

* some copies are useful

* update model replay ref

* less frames in model replay onnx cpu

* 1456d261-d232-4654-8885-4d9fde883894/440 264b67f5-3f52-4b58-b11f-58dd8aaf08bf/950

* 1456d261-d232-4654-8885-4d9fde883894/440 236fc556-fba3-4255-8ccf-684b22637160/950

* c9d10c64-bea4-41ec-8ca3-d8c886fda172/440 26d73dd2-862a-44ae-bbdd-32cc4f397ad7/900

* Fix couple tests

* Update ref

* Unused for now

* Add lateral factor comment

* Unused variable

Co-authored-by: nuwandavek <vivekaithal44@gmail.com>
Co-authored-by: Bruce Wayne <yassine@comma.ai>
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
Co-authored-by: Bruce Wayne <batman@gpu06.internal>
 2022-08-12 00:47:59 -07:00
YassineYousfi
3afe7464df Model file too big: Revert "New model: minor fixes" (#25390) 
Revert "New model: minor fixes (#25368)"

This reverts commit 55bf938504.
 2022-08-08 12:42:46 -07:00
HaraldSchafer
55bf938504 New model: minor fixes (#25368) 
* 1456d261-d232-4654-8885-4d9fde883894/440 ac1a6744-85b0-4ec6-8ba7-608d0717b8f1/750

* some copies are useful

* update model replay ref

* less frames in model replay onnx cpu

Co-authored-by: Bruce Wayne <yassine@comma.ai>
Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
 2022-08-05 17:28:15 -07:00
HaraldSchafer
0e0b5c4e24 Revert "Rocket league model (#24869)" (#24936) 
* Revert rocket league

* revert ref commit

* New model ref commit
 2022-06-21 12:07:00 -07:00
HaraldSchafer
9283040d84 Rocket league model (#24869) 
* dd9a502d-c8e2-4831-b365-804b0ae0739d/600 80041070-d276-4fed-bdb9-0075e5442908/420

* no elementwise op

* 9dabf0fe-2e60-44bf-8d3a-d20a74aca072/600 ae746590-0bb5-4a16-80db-15f02d314f03/300 c4663a12-b499-4c9b-90dd-b169e3948cb1/60

* explicit slice

* some copies are useful

* 1456d261-d232-4654-8885-4d9fde883894/440 c06eba55-1931-4e00-9d63-acad00161be0/700 af2eb6ba-1935-4318-aaf8-868db81a4932/425

* 154f663e-d3e9-4020-ad49-0e640588ebbe/399 badb5e69-504f-4544-a99e-ba75ed204b74/800 08330327-7663-4874-af7a-dcbd2c994ba7/800

* set steer rate cost to 1.0

* smaller temporal size

* Update model reg

* update model ref again

* This did upload somehow

* Update steer rate cost

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
 2022-06-15 15:29:42 -07:00
HaraldSchafer
7da48ebdba New model: better laneless (#24605) 
* Fix ping pong

* Fix hugging: e6fd3a62-aa86-46d1-a414-19137ed1babc/800

* Remove lateral toggle

* a6da6265-1952-48dd-986b-2b5996dd2642/950

* Model replay commit

* Revert "Remove lateral toggle"

This reverts commit 69e57eb7e1a72e4bad5e12bcfded6ff431a21a0e.
 2022-05-24 09:11:31 -07:00
HaraldSchafer
e2e5378dd3 Revert "Joint model (#24521)" (#24581) 
This reverts commit 7996fd37ef.
 2022-05-18 10:56:45 -07:00
HaraldSchafer
7996fd37ef Joint model (#24521) 
* update models

* wip lanelines mhp parsing

* typos

* newer models

* 95995a49-db0c-4261-8776-b90780dc2a8c/600

* Use laneful policy to prevent planner aggression

* c8c3ab69-bd2c-4d1c-a7f8-9e8457e4827b/950

* ede8f75a-df3e-41fb-bc56-63e2f33858e5/950

* 7205c5af-7532-4215-ad9b-678789054db7/995

* bfb34fa3-1d72-4987-854f-43d42ee01015/950

* change cost

* 8ae2477a-b452-4601-b04c-d3af66ea5e98/950

* Update heading cost

* 9b991314-94f5-4f0b-872e-58d95266e4d0/333

* 9b991314-94f5-4f0b-872e-58d95266e4d0/950

* ede8f75a-df3e-41fb-bc56-63e2f33858e5/950

* undo lateral planner changes

* rm whitespace

* update ref

* c0acc19d-f2f1-47ae-8838-5382c6c6c7f5/950

* c0acc19d-f2f1-47ae-8838-5382c6c6c7f5/950

* update model refg

* Update model ref

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
 2022-05-16 17:26:23 -07:00
Adeeb Shihadeh
319f3d1475 move models to selfdrive/modeld/ (#24539) 
* move models to selfdrive/modeld/

* two more refs
 2022-05-15 17:29:09 -07:00