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update openpilot supercombo.onnx to 0.9.4 (#1681) 

* update openpilot supercombo.onnx to 0.9.4

* update tests for the new model

* comment out comma models from external_model_benchmark
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chenyu 2023-08-26 16:16:08 -07:00 committed by GitHub
parent 89b529c07f
commit b5d700adae
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4 changed files with 14 additions and 13 deletions
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2
.github/workflows/test.yml vendored
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@ -145,7 +145,7 @@ jobs:
- if: ${{ matrix.task == 'openpilot' }}
name: Test openpilot model compile and size
run: |
DEBUG=2 ALLOWED_KERNEL_COUNT=199 FLOAT16=1 DEBUGCL=1 GPU=1 IMAGE=2 python openpilot/compile.py
DEBUG=2 ALLOWED_KERNEL_COUNT=209 FLOAT16=1 DEBUGCL=1 GPU=1 IMAGE=2 python openpilot/compile.py
python -c 'import os; assert os.path.getsize("/tmp/output.thneed") < 100_000_000'
- if: ${{ matrix.task == 'openpilot' }}
name: Test openpilot model correctness (float32)

2
openpilot/compile.py
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@ -25,7 +25,7 @@ from extra.utils import fetch
from extra.onnx import get_run_onnx
from tinygrad.tensor import Tensor
OPENPILOT_MODEL = "https://github.com/commaai/openpilot/raw/6c5693e965b9c63f8678f52b9e9b5abe35f23feb/selfdrive/modeld/models/supercombo.onnx"
OPENPILOT_MODEL = "https://github.com/commaai/openpilot/raw/v0.9.4/selfdrive/modeld/models/supercombo.onnx"
np.random.seed(1337)
def get_random_input_tensors(input_shapes):

6
test/external/external_model_benchmark.py vendored
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@ -14,10 +14,12 @@ from tinygrad.ops import Device
MODELS = {
"resnet50": "https://github.com/onnx/models/raw/main/vision/classification/resnet/model/resnet50-caffe2-v1-9.onnx",
"openpilot": "https://github.com/commaai/openpilot/raw/7da48ebdba5e3cf4c0b8078c934bee9a199f0280/selfdrive/modeld/models/supercombo.onnx",
# numerical issue with v0.9.4
# "openpilot": "https://github.com/commaai/openpilot/raw/v0.9.4/selfdrive/modeld/models/supercombo.onnx",
"efficientnet": "https://github.com/onnx/models/raw/main/vision/classification/efficientnet-lite4/model/efficientnet-lite4-11.onnx",
"shufflenet": "https://github.com/onnx/models/raw/main/vision/classification/shufflenet/model/shufflenet-9.onnx",
"commavq": "https://github.com/commaai/commavq/raw/master/models/gpt2m.onnx",
# cannot download the model from github
# "commavq": "https://github.com/commaai/commavq/raw/master/models/gpt2m.onnx",
# broken in torch MPS
#"zfnet": "https://github.com/onnx/models/raw/main/vision/classification/zfnet-512/model/zfnet512-9.onnx",

15
test/models/test_onnx.py
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@ -21,8 +21,7 @@ def run_onnx_torch(onnx_model, inputs):
torch_out = torch_model(*[torch.tensor(x) for x in inputs.values()])
return torch_out
OPENPILOT_MODEL = "https://github.com/commaai/openpilot/raw/7da48ebdba5e3cf4c0b8078c934bee9a199f0280/selfdrive/modeld/models/supercombo.onnx"
#OPENPILOT_MODEL = "https://github.com/commaai/openpilot/raw/1f2f9ea9c9dc37bdea9c6e32e4cb8f88ea0a34bf/selfdrive/modeld/models/supercombo.onnx"
OPENPILOT_MODEL = "https://github.com/commaai/openpilot/raw/v0.9.4/selfdrive/modeld/models/supercombo.onnx"
np.random.seed(1337)
@ -35,10 +34,10 @@ class TestOnnxModel(unittest.TestCase):
np_inputs = {
"input_imgs": np.random.randn(*(1, 12, 128, 256)),
"big_input_imgs": np.random.randn(*(1, 12, 128, 256)),
"desire": np.zeros((1, 8)),
"desire": np.zeros((1, 100, 8)),
"traffic_convention": np.array([[1., 0.]]),
"initial_state": np.zeros((1, 512))
#"initial_state": np.zeros((1, 768))
"nav_features": np.zeros((1, 256)),
"features_buffer": np.zeros((1, 99, 128)),
}
inputs = {k:Tensor(v.astype(np.float32), requires_grad=False) for k,v in np_inputs.items()}
return inputs
@ -79,10 +78,10 @@ class TestOnnxModel(unittest.TestCase):
inputs = {
"input_imgs": np.random.randn(*(1, 12, 128, 256)),
"big_input_imgs": np.random.randn(*(1, 12, 128, 256)),
"desire": np.zeros((1, 8)),
"desire": np.zeros((1, 100, 8)),
"traffic_convention": np.array([[1., 0.]]),
"initial_state": np.zeros((1, 512))
#"initial_state": np.zeros((1, 768))
"nav_features": np.zeros((1, 256)),
"features_buffer": np.zeros((1, 99, 128)),
}
inputs = {k:v.astype(np.float32) for k,v in inputs.items()}