ci: Refactor model building workflows (#1096)

* Tinygrad bump from sync-20250627 * bump tinygrad_repo * Reformat metadata generator to match driving_models.json * bump tinygrad * Revert "bump tinygrad" This reverts commit f479dfd502. * revert me after SP model compiled * Model recompiled successfully, initiate "revert me after SP model compiled" This reverts commit 95706eb688. * The "FillMe" placeholder caused an extra 10 seconds of work * bump to 22Jul2025 * Update build-all-tinygrad-models.yaml * Update build-all-tinygrad-models.yaml * Update build-all-tinygrad-models.yaml * Update build-all-tinygrad-models.yaml * Update build-all-tinygrad-models.yaml * Update build-all-tinygrad-models.yaml * Update build-all-tinygrad-models.yaml * Allow more dynamic short names This should hopefully be future-proof for now.. It's robust enough to return the correct word-digit format (see example on how it generates from given display name below): 'Last Horizon V2 (November 22, 2024)' -> LHV2 'Alabama (November 25, 2024)' -> ALABAMA 'PlayStation (December 03, 2024)' -> PLAYSTAT 'Postal Service (December 09, 2024)' -> PS 'Null Pointer (December 13, 2024)' -> NP 'North America (December 16, 2024)' -> NA 'National Public Radio (December 18, 2024)' -> NPR 'Filet o Fish (March 7, 2025)' -> FOF 'Tomb Raider 2 (April 18, 2025)' -> TR2 'Tomb Raider 3 (April 22, 2025)' -> TR3 'Tomb Raider 4 (April 25, 2025)' -> TR4 'Tomb Raider 5 (April 25, 2025)' -> TR5 'Tomb Raider 6 (April 30, 2025)' -> TR6 'Tomb Raider 7 (May 07, 2025)' -> TR7 'Down to Ride (Revision: May 10, 2025)' -> DTR 'SP Vikander Model (May 16, 2025)' -> SPVM 'VFF Driving (May 15, 2025)' -> VFFD 'Secret Good Openpilot (May 16, 2025)' -> SGO 'Vegetarian Filet o Fish (May 29, 2025)' -> VFOF 'Down To Ride (Revision: May 30, 2025)' -> DTR 'Vegetarian Filet o Fish v2 (June 05, 2025)' -> VFOFV2 'Kerrygold Driving (June 08, 2025)' -> KD 'Tomb Raider 10 (June 16, 2025)' -> TR10 'Organic Kerrygold (June 17, 2025)' -> OK 'Liquid Crystal Driving (June 21, 2025)' -> LCD 'Vegetarian Filet o Fish v3 (June 21, 2025)' -> VFOFV3 'Vibe Model [Custom Model]' -> VMCM 'Tomb Raider 13 (June 27, 2025)' -> TR13 'Aggressive TR (June 28, 2025)' -> ATR 'Tomb Raider 14 (June 30, 2025)' -> TR14 'Cookiemonster Tomb Raider (July 02, 2025)' -> CTR 'Down to Ride (Revision: July 07, 2025)' -> DTR 'Simple Plan Driving (July 07, 2025)' -> SPD 'Down to Ride (Revision: July 08, 2025)' -> DTR 'Tomb Raider 15 (July 09, 2025)' -> TR15 'Tomb Raider 15 rev-2 (July 11, 2025)' -> TR15R2 'Le Tomb Raider 14 (July 14, 2025)' -> LTR14 'Le Tomb Raider 14h (July 17, 2025)' -> LTR14H 'Tomb Raider 16 (July 18, 2025)' -> TR16 'Tomb Raider 16v2 (July 21, 2025)' -> TR16V2 * Update build-all-tinygrad-models.yaml * Update build-all-tinygrad-models.yaml * No need to sleep 3 seconds, just send it * try dynamic * cleanup * Update build-single-tinygrad-model.yaml * bc devtekve said. also, this is repetitive af * Revert "bc devtekve said. also, this is repetitive af" This reverts commit 3a0c1562de. * maybe we could use a script instead that both build all That both build all and sunnypilot-build-model reference * refactor: consolidate model building steps into a single workflow * tweak * tweakx2 * tweakx3 * tweakx4 * dunno dunno... * output dir * lots of changes * Revert "lots of changes" This reverts commit 4aadb0ee29. * fail if all fail * no inputs needed * make it easier for us * note failure and exit 0 * Update build-all-tinygrad-models.yaml * not needed unless we really want it * Update build-single-tinygrad-model.yaml * Merge branch 'sync-20250627-tinygrad' of github.com:sunnypilot/sunnypilot into sync-20250627-tinygrad * retry for failed ? * always run this step because sometimes one build fails which causes the matrix to fail, but most builds still have uploaded artifacts. * strip * no escape * Update build-all-tinygrad-models.yaml * Test case from terminal run (openpilot) james@Mac sunnypilot % jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \$[^)]*\$"; "")), is_20hz}]' \ /Users/james/Documents/GitHub/sunnypilot-docs/docs/driving_models_v6.json > matrix.json mkdir -p output touch "output/model-Tomb Raider 16v2 (July 21, 2025)-544" touch "output/model-Space Lab Model (July 24, 2025)-547" touch "output/model-Space Lab Model v1 (July 24, 2025)-548" built=(); while IFS= read -r line; do built+=("$line"); done < <( ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ $[^)]*$//' | awk '{gsub(/^ +| +$/, ""); print}' ) jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \ 'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' \ matrix.json > retry_matrix.json cat retry_matrix.json [] (openpilot) james@Mac sunnypilot % * always * great success * add suffix to retry artifact so it doesn't conflict * retry to get_model too * and there haha * unnecessary hyphen * compare built to missing. include retries * adjust copy of artifacts. * Update build-all-tinygrad-models.yaml * Update model selector versioning and add documentation * Update retry condition for failed models in build-all-tinygrad-models.yaml * Update retry condition for failed models in build-all-tinygrad-models.yaml * Update build-single-tinygrad-model.yaml * false * default none because why not * red diff? i think? * meh ... not needed i guess * error error error * Nayan is watching... always watching mike wazowski * string all the way * lots of retries just in case because im scared * more robust * ONLY ONE!!!!!! * delete.... a lot * fix artifacts * fix artifacts * make sure each is unique :) * skip files like artifact duhhhh * artifact name dir * concurrency * copy here * Update build-single-tinygrad-model.yaml * Update build-single-tinygrad-model.yaml * bump * bump tinygrad * max parallel? if not, i have the other remedy ready in build-all * revert me! * I resynced tinygrad woo hoo * setup shouldnt fail * pull * big ole diff * condition * Update build-all-tinygrad-models.yaml * not always() never always() never!!! * not failure instead of great success * Update build-all-tinygrad-models.yaml * yay that worked. lets invoke build-single one last time * these arent used and are just taking up 250MB space * really frog? * bump back to 3 * self-hosted, tici * rename to trigger tests * 2 and done --------- Co-authored-by: DevTekVE <devtekve@gmail.com>
2026-02-18 22:23:56 +08:00 · 2025-07-31 09:15:06 -07:00
parent c47aadee19
commit 6d41ce2032
4 changed files with 390 additions and 236 deletions
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -1,21 +1,23 @@
-name: Build All Tinygrad Models and Push to GitLab
+name: Build and push all tinygrad models

 on:
  workflow_dispatch:
    inputs:
-      branch:
-        description: 'Branch to run workflow from'
-        required: false
-        default: 'master-new'
+      set_min_version:
+        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
+        required: true
        type: string

 jobs:
  setup:
    runs-on: ubuntu-latest
    outputs:
+      json_version: ${{ steps.get-json.outputs.json_version }}
+      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
      json_file: ${{ steps.get-json.outputs.json_file }}
+      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
    steps:
-      - name: Checkout docs repo
+      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
        uses: actions/checkout@v4
        with:
          repository: sunnypilot/sunnypilot-docs
@@ -23,7 +25,7 @@ jobs:
          path: docs
          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}

-      - name: Get next JSON version to use
+      - name: Get next JSON version to use (from GitHub docs repo)
        id: get-json
        run: |
          cd docs/docs
@@ -31,19 +33,131 @@ jobs:
          next=$((latest+1))
          json_file="driving_models_v${next}.json"
          cp "driving_models_v${latest}.json" "$json_file"
-          echo "json_file=$json_file" >> $GITHUB_OUTPUT
+          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
+          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
+          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV

-      - name: Upload context for next jobs
-        uses: actions/upload-artifact@v4
+      - name: Extract tinygrad models
+        id: set-matrix
+        working-directory: docs/docs
+        run: |
+          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
+          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
+
+      - name: Set up SSH
+        uses: webfactory/ssh-agent@v0.9.0
        with:
-          name: context
-          path: docs
+          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
+      - run: |
+          mkdir -p ~/.ssh
+          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts

-  build-all:
+      - name: Clone GitLab docs repo and create new recompiled dir
+        id: create-recompiled-dir
+        env:
+          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
+        run: |
+          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
+          cd gitlab_docs
+          git checkout main
+          git sparse-checkout set --no-cone models/
+          cd models
+          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
+          if [[ -z "$latest_dir" ]]; then
+            next_dir=1
+          else
+            next_dir=$((latest_dir+1))
+          fi
+          recompiled_dir="${next_dir}"
+          mkdir -p "recompiled${recompiled_dir}"
+          touch "recompiled${recompiled_dir}/.gitkeep"
+          cd ../..
+          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
+
+      - name: Push empty recompiled dir to GitLab
+        run: |
+          cd gitlab_docs
+          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
+          git push origin main
+
+      - name: Push new JSON to GitHub docs repo
+        run: |
+          cd docs
+          git pull origin gh-pages
+          git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
+          git config --global user.name "GitHub Action"
+          git config --global user.email "action@github.com"
+          git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
+          git push origin gh-pages
+
+  get_and_build:
+    needs: [setup]
+    strategy:
+      matrix:
+        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
+      fail-fast: false
+    uses: ./.github/workflows/build-single-tinygrad-model.yaml
+    with:
+      upstream_branch: ${{ matrix.model.ref }}
+      custom_name: ${{ matrix.model.display_name }}
+      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
+      json_version: ${{ needs.setup.outputs.json_version }}
+    secrets: inherit
+
+  retry_failed_models:
+    needs: [setup, get_and_build]
    runs-on: ubuntu-latest
-    needs: setup
+    if: ${{ needs.setup.result != 'failure' && (failure() && !cancelled()) }}
+    outputs:
+      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          pattern: model-*
+          path: output
+
+      - id: set-retry-matrix
+        run: |
+          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
+          built=(); while IFS= read -r line; do built+=("$line"); done < <(
+            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
+          )
+          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
+            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
+          echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
+
+  retry_get_and_build:
+    needs: [setup, get_and_build, retry_failed_models]
+    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
+    strategy:
+      matrix:
+        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
+      fail-fast: false
+    uses: ./.github/workflows/build-single-tinygrad-model.yaml
+    with:
+      upstream_branch: ${{ matrix.model.ref }}
+      custom_name: ${{ matrix.model.display_name }}
+      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
+      json_version: ${{ needs.setup.outputs.json_version }}
+      artifact_suffix: -retry
+    secrets: inherit
+
+  publish_models:
+    name: Publish models sequentially
+    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
+    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
+    runs-on: ubuntu-latest
+    strategy:
+      max-parallel: 1
+      matrix:
+        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
    env:
-      JSON_FILE: docs/docs/${{ needs.setup.outputs.json_file }}
+      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
+      JSON_FILE: ${{ needs.setup.outputs.json_file }}
+      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
    steps:
      - name: Set up SSH
        uses: webfactory/ssh-agent@v0.9.0
@@ -62,138 +176,73 @@ jobs:
          echo "Cloning GitLab"
          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/docs.sunnypilot.ai2.git gitlab_docs
          cd gitlab_docs
+          echo "checkout models/${RECOMPILED_DIR}"
+          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
          git checkout main
          cd ..

-      - name: Set next recompiled dir
-        id: set-recompiled
-        run: |
-          cd gitlab_docs/models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="recompiled${next_dir}"
-          mkdir -p "$recompiled_dir"
-          echo "RECOMPILED_DIR=$recompiled_dir" >> $GITHUB_ENV
-
-      - name: Download context
-        uses: actions/download-artifact@v4
+      - name: Checkout docs repo
+        uses: actions/checkout@v4
        with:
-          name: context
-          path: .
+          repository: sunnypilot/sunnypilot-docs
+          ref: gh-pages
+          path: docs
+          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}

-      - name: Install dependencies
+      - name: Validate recompiled dir and JSON version
        run: |
-          sudo apt-get update
-          sudo apt-get install -y jq gh
-
-      - name: Build all tinygrad models
-        id: trigger-builds
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          set -e
-          > triggered_run_ids.txt
-          BRANCH="${{ github.event.inputs.branch }}"
-          jq -c '.bundles[] | select(.runner=="tinygrad")' "$JSON_FILE" | while read -r bundle; do
-            ref=$(echo "$bundle" | jq -r '.ref')
-            display_name=$(echo "$bundle" | jq -r '.display_name' | sed 's/ ([^)]*)//g')
-            is_20hz=$(echo "$bundle" | jq -r '.is_20hz')
-            echo "Triggering build for: $display_name ($ref) [20Hz: $is_20hz]"
-            START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
-            gh workflow run sunnypilot-build-model.yaml \
-              --repo sunnypilot/sunnypilot \
-              --ref "$BRANCH" \
-              -f upstream_branch="$ref" \
-              -f custom_name="$display_name" \
-              -f is_20hz="$is_20hz"
-            for i in {1..24}; do
-              RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="$BRANCH" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
-              if [ -n "$RUN_ID" ]; then
-                break
-              fi
-              sleep 5
-            done
-            if [ -z "$RUN_ID" ]; then
-              echo "ould not find the triggered workflow run for $display_name ($ref)"
-              exit 1
-            fi
-            echo "$RUN_ID" >> triggered_run_ids.txt
-          done
-
-      - name: Wait for all model builds to finish
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          set -e
-          SUCCESS_RUNS=()
-          FAILED_RUNS=()
-          declare -A RUN_ID_TO_NAME
-
-          while read -r RUN_ID; do
-            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name' || echo "unknown")
-            RUN_ID_TO_NAME["$RUN_ID"]="$ARTIFACT_NAME"
-          done < triggered_run_ids.txt
-
-          while read -r RUN_ID; do
-            echo "Watching run ID: $RUN_ID"
-            gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
-            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-            ARTIFACT_NAME="${RUN_ID_TO_NAME[$RUN_ID]}"
-            echo "Run $RUN_ID ($ARTIFACT_NAME) concluded with: $CONCLUSION"
-            if [[ "$CONCLUSION" == "success" ]]; then
-              SUCCESS_RUNS+=("$RUN_ID")
-            else
-              FAILED_RUNS+=("$RUN_ID")
-            fi
-          done < triggered_run_ids.txt
-
-          if [[ ${#SUCCESS_RUNS[@]} -eq 0 ]]; then
-            echo "All model builds failed. Aborting."
+          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
+            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
+            exit 1
+          fi
+          if [ ! -f "$JSON_FILE" ]; then
+            echo "JSON file $JSON_FILE does not exist!"
            exit 1
          fi

-          if [[ ${#FAILED_RUNS[@]} -gt 0 ]]; then
-            echo "WARNING: The following model builds failed:"
-            for RUN_ID in "${FAILED_RUNS[@]}"; do
-              echo "- $RUN_ID (${RUN_ID_TO_NAME[$RUN_ID]})"
-            done
-            echo "You may want to rerun these models manually."
-          fi
+      - name: Download artifact name file
+        uses: actions/download-artifact@v4
+        with:
+          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
+          path: artifact_name

-      - name: Download and extract all model artifacts
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      - name: Read artifact name
+        id: read-artifact-name
        run: |
-          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
-          SUCCESS_RUNS=()
-          while read -r RUN_ID; do
-            CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-            if [[ "$CONCLUSION" == "success" ]]; then
-              SUCCESS_RUNS+=("$RUN_ID")
-            fi
-          done < triggered_run_ids.txt
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT

-          for RUN_ID in "${SUCCESS_RUNS[@]}"; do
-            ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
-            echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
-            mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
-            gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
-            ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
-            if [ -n "$ZIP_PATH" ]; then
-              echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
-              unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
-              rm -f "$ZIP_PATH"
-              echo "Unzipped and removed $ZIP_PATH"
-            else
-              echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME (This is NOT an error)."
+      - name: Download model artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          path: output
+
+      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
+        run: |
+          find output -type f -name '*.onnx' -delete
+          find output -type f -name 'big_*.pkl' -delete
+          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
+
+      - name: Copy model artifacts to gitlab
+        env:
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          mkdir -p "$ARTIFACT_DIR"
+          for path in output/*; do
+            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
+              continue
+            fi
+            name="$(basename "$path")"
+            if [ -d "$path" ]; then
+              mkdir -p "$ARTIFACT_DIR/$name"
+              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
+              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
+            else
+              cp "$path" "$ARTIFACT_DIR/"
+              echo "Copied file $name -> $ARTIFACT_DIR/"
            fi
-            echo "Done processing $ARTIFACT_NAME"
          done

      - name: Push recompiled dir to GitLab
@@ -202,25 +251,35 @@ jobs:
        run: |
          cd gitlab_docs
          git checkout main
-          mkdir -p models/"$(basename $RECOMPILED_DIR)"
-          git add models/"$(basename $RECOMPILED_DIR)"
+          git pull origin main
+          for d in models/"$RECOMPILED_DIR"/*/; do
+            git sparse-checkout add "$d"
+          done
+          git add models/"$RECOMPILED_DIR"
          git config --global user.name "GitHub Action"
          git config --global user.email "action@github.com"
-          git commit -m "Add $(basename $RECOMPILED_DIR) from build-all-tinygrad-models"
+          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
          git push origin main
+      - run: |
+          cd docs
+          git pull origin gh-pages

-      - name: Run json_parser.py to update JSON
+      - name: update json
        run: |
-          python3 docs/json_parser.py \
+          ARGS=""
+          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
+          ARGS="$ARGS --sort-by-date"
+          eval python3 docs/json_parser.py \
            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR"
+            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            $ARGS

-      - name: Push updated JSON to GitHub docs repo
+      - name: Push updated json to GitHub
        run: |
          cd docs
          git config --global user.name "GitHub Action"
          git config --global user.email "action@github.com"
          git checkout gh-pages
          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling models" || echo "No changes to commit"
+          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
          git push origin gh-pages
--- a/.github/workflows/build-single-tinygrad-model.yaml
+++ b/.github/workflows/build-single-tinygrad-model.yaml
@@ -1,13 +1,36 @@
 name: Build Single Tinygrad Model and Push

 on:
+  workflow_call:
+    inputs:
+      upstream_branch:
+        description: 'Upstream commit to build from'
+        required: true
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      recompiled_dir:
+        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
+        required: true
+        type: string
+      json_version:
+        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
+        required: true
+        type: string
+      artifact_suffix:
+        description: 'Suffix for artifact name'
+        required: false
+        type: string
+        default: ''
+      bypass_push:
+        description: 'Bypass pushing to GitLab for build-all'
+        required: false
+        default: true
+        type: boolean
  workflow_dispatch:
    inputs:
-      build_model_ref:
-        description: 'Branch to use for build-model workflow'
-        required: false
-        default: 'master-new'
-        type: string
      upstream_branch:
        description: 'Upstream commit to build from'
        required: true
@@ -26,10 +49,12 @@ on:
        type: number
      model_folder:
        description: 'Model folder'
-        required: true
        type: choice
+        default: 'None'
        options:
+          - None
          - Simple Plan Models
+          - Space Lab Models
          - TR Models
          - DTR Models
          - Custom Merge Models
@@ -47,13 +72,27 @@ on:
        description: 'Minimum selector version'
        required: false
        type: number
+env:
+  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
+  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json

 jobs:
-  build-single:
+  build_model:
+    uses: ./.github/workflows/sunnypilot-build-model.yaml
+    with:
+      upstream_branch: ${{ inputs.upstream_branch }}
+      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
+      is_20hz: true
+      artifact_suffix: ${{ inputs.artifact_suffix }}
+    secrets: inherit
+
+  publish_model:
+    if: ${{ !inputs.bypass_push && !cancelled() }}
+    concurrency:
+      group: gitlab-push-${{ inputs.recompiled_dir }}
+      cancel-in-progress: false
+    needs: build_model
    runs-on: ubuntu-latest
-    env:
-      RECOMPILED_DIR: recompiled${{ github.event.inputs.recompiled_dir }}
-      JSON_FILE: docs/docs/driving_models_v${{ github.event.inputs.json_version }}.json
    steps:
      - name: Set up SSH
        uses: webfactory/ssh-agent@v0.9.0
@@ -96,66 +135,49 @@ jobs:
            exit 1
          fi

-      - name: Install dependencies
+      - name: Download artifact name file
+        uses: actions/download-artifact@v4
+        with:
+          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
+          path: artifact_name
+
+      - name: Read artifact name
+        id: read-artifact-name
        run: |
-          sudo apt-get update
-          sudo apt-get install -y jq gh
-
-      - name: Build model
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          START_TIME=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
-          gh workflow run sunnypilot-build-model.yaml \
-            --repo sunnypilot/sunnypilot \
-            --ref "${{ github.event.inputs.build_model_ref }}" \
-            -f upstream_branch="${{ github.event.inputs.upstream_branch }}" \
-            -f custom_name="${{ github.event.inputs.custom_name }}"
-
-          for i in {1..24}; do
-            RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --created ">$START_TIME" --limit=1 --json databaseId --jq '.[0].databaseId')
-            if [ -n "$RUN_ID" ]; then
-              break
-            fi
-            sleep 5
-          done
-
-          if [ -z "$RUN_ID" ]; then
-            echo "Could not find the triggered workflow run."
-            exit 1
-          fi
-
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID" --repo sunnypilot/sunnypilot
-          CONCLUSION=$(gh run view "$RUN_ID" --repo sunnypilot/sunnypilot --json conclusion --jq '.conclusion')
-          echo "Run concluded with: $CONCLUSION"
-          if [[ "$CONCLUSION" != "success" ]]; then
-            echo "Workflow run failed with conclusion: $CONCLUSION"
-            exit 1
-          fi
+          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
+          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT

      - name: Download and extract model artifact
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        uses: actions/download-artifact@v4
+        with:
+          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
+          path: output
+
+      - name: Remove unwanted files
        run: |
-          ARTIFACT_DIR="gitlab_docs/models/$RECOMPILED_DIR"
-          RUN_ID=$(gh run list --repo sunnypilot/sunnypilot --workflow=sunnypilot-build-model.yaml --branch="${{ github.event.inputs.build_model_ref }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-          ARTIFACT_NAME=$(gh api repos/sunnypilot/sunnypilot/actions/runs/$RUN_ID/artifacts --jq '.artifacts[] | select(.name | startswith("model-")) | .name')
-          echo "Downloading artifact: $ARTIFACT_NAME from run: $RUN_ID"
-          mkdir -p "$ARTIFACT_DIR/$ARTIFACT_NAME"
-          echo "Created directory: $ARTIFACT_DIR/$ARTIFACT_NAME"
-          gh run download "$RUN_ID" --repo sunnypilot/sunnypilot -n "$ARTIFACT_NAME" --dir "$ARTIFACT_DIR/$ARTIFACT_NAME"
-          echo "Downloaded artifact zip(s) to: $ARTIFACT_DIR/$ARTIFACT_NAME"
-          ZIP_PATH=$(find "$ARTIFACT_DIR/$ARTIFACT_NAME" -type f -name '*.zip' | head -n1)
-          if [ -n "$ZIP_PATH" ]; then
-            echo "Unzipping $ZIP_PATH to $ARTIFACT_DIR/$ARTIFACT_NAME"
-            unzip -o "$ZIP_PATH" -d "$ARTIFACT_DIR/$ARTIFACT_NAME"
-            rm -f "$ZIP_PATH"
-            echo "Unzipped and removed $ZIP_PATH"
-          else
-            echo "No zip file found in $ARTIFACT_DIR/$ARTIFACT_NAME"
-          fi
-          echo "Done processing $ARTIFACT_NAME"
+          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
+          find output -type f -name 'dmonitoring_model.onnx' -delete
+
+      - name: Copy model artifact(s) to GitLab recompiled dir
+        env:
+          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
+        run: |
+          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
+          mkdir -p "$ARTIFACT_DIR"
+          for path in output/*; do
+            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
+              continue
+            fi
+            name="$(basename "$path")"
+            if [ -d "$path" ]; then
+              mkdir -p "$ARTIFACT_DIR/$name"
+              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
+              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
+            else
+              cp "$path" "$ARTIFACT_DIR/"
+              echo "Copied file $name -> $ARTIFACT_DIR/"
+            fi
+          done

      - name: Push recompiled dir to GitLab
        env:
@@ -163,28 +185,36 @@ jobs:
        run: |
          cd gitlab_docs
          git checkout main
+          git pull origin main
          for d in models/"$RECOMPILED_DIR"/*/; do
            git sparse-checkout add "$d"
          done
          git add models/"$RECOMPILED_DIR"
          git config --global user.name "GitHub Action"
          git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
+          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
          git push origin main

+      - run: |
+          cd docs
+          git pull origin gh-pages
+
      - name: Run json_parser.py to update JSON
        run: |
-          FOLDER="${{ github.event.inputs.model_folder }}"
+          FOLDER="${{ inputs.model_folder }}"
          if [ "$FOLDER" = "Other" ]; then
-            FOLDER="${{ github.event.inputs.custom_model_folder }}"
+            FOLDER="${{ inputs.custom_model_folder }}"
          fi
          ARGS=""
-          [ -n "$FOLDER" ] && ARGS="$ARGS --model-folder \"$FOLDER\""
-          [ -n "${{ github.event.inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ github.event.inputs.generation }}\""
-          [ -n "${{ github.event.inputs.version }}" ] && ARGS="$ARGS --version \"${{ github.event.inputs.version }}\""
+          if [ "$FOLDER" != "None" ] && [ -n "$FOLDER" ]; then
+            ARGS="$ARGS --model-folder \"$FOLDER\""
+          fi
+          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
+          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
          eval python3 docs/json_parser.py \
            --json-path "$JSON_FILE" \
            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
+            --sort-by-date \
            $ARGS

      - name: Push updated JSON to GitHub docs repo
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -9,6 +9,27 @@ env:
  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models

 on:
+  workflow_call:
+    inputs:
+      upstream_branch:
+        description: 'Upstream branch to build from'
+        required: true
+        default: 'master'
+        type: string
+      custom_name:
+        description: 'Custom name for the model (no date, only name)'
+        required: false
+        type: string
+      is_20hz:
+        description: 'Is this a 20Hz model'
+        required: false
+        type: boolean
+        default: true
+      artifact_suffix:
+        description: 'Suffix for artifact name'
+        required: false
+        type: string
+        default: ''
  workflow_dispatch:
    inputs:
      upstream_branch:
@@ -32,34 +53,53 @@ run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from
 jobs:
  get_model:
    runs-on: ubuntu-latest
+    env:
+      REF: ${{ inputs.upstream_branch }}
    outputs:
      model_date: ${{ steps.commit-date.outputs.model_date }}
    steps:
-      - uses: actions/checkout@v4
+      # Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
+      # and fallback to sunnypilot if the ref checkout fails.
+      - name: Checkout commaai/openpilot
+        id: checkout_upstream
+        continue-on-error: true
+        uses: actions/checkout@v4
        with:
-          repository: ${{ env.UPSTREAM_REPO }}
-          ref: ${{ github.event.inputs.upstream_branch }}
+          repository: commaai/openpilot
+          ref: ${{ inputs.upstream_branch }}
          submodules: recursive
+          path: openpilot
+
+      - name: Fallback to sunnypilot/sunnypilot
+        if: steps.checkout_upstream.outcome == 'failure'
+        uses: actions/checkout@v4
+        with:
+          repository: sunnypilot/sunnypilot
+          ref: ${{ inputs.upstream_branch }}
+          submodules: recursive
+          path: openpilot
      - name: Get commit date
        id: commit-date
        run: |
-          # Get the commit date in YYYY-MM-DD format
+          cd ${{ github.workspace }}/openpilot
          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
          cat $GITHUB_OUTPUT
-      - run: git lfs pull
+      - run: |
+          cd ${{ github.workspace }}/openpilot
+          git lfs pull
      - name: 'Upload Artifact'
        uses: actions/upload-artifact@v4
        with:
-          name: models
-          path: ${{ github.workspace }}/selfdrive/modeld/models/*.onnx
+          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
+          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx

  build_model:
    runs-on: [self-hosted, tici]
    needs: get_model
    env:
      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
-
+      REF: ${{ inputs.upstream_branch }}
    steps:
      - uses: actions/checkout@v4
        with:
@@ -114,7 +154,7 @@ jobs:
      - name: Download model artifacts
        uses: actions/download-artifact@v4
        with:
-          name: models
+          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
          path: ${{ github.workspace }}/selfdrive/modeld/models

      - name: Build Model
@@ -157,12 +197,22 @@ jobs:
            --upstream-branch "${{ inputs.upstream_branch }}" \
            ${{ inputs.is_20hz && '--is-20hz' || '' }}

+      - name: Write artifact name to file
+        run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt
+
      - name: Upload Build Artifacts
+        id: upload-artifact
        uses: actions/upload-artifact@v4
        with:
-          name: model-${{ env.MODEL_NAME }}-${{ github.run_number }}
+          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
          path: ${{ env.OUTPUT_DIR }}

+      - name: Upload artifact name file
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
+          path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
+
      - name: Re-enable powersave
        if: always()
        run: |