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Improved lead model: 6be443f2-ed70-4580-9c31-61b94d068e24/950 (#22290)

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* 6be443f2-ed70-4580-9c31-61b94d068e24/950

* meta changed too

* new ref

* new ref from CI

* unused

* Revert "new ref from CI"

This reverts commit 28b6bdc81055c39973d0bf9cc964647838b73a73.

* new ref from CI again
old-commit-hash: 72a736f90e
This commit is contained in:
HaraldSchafer
2021-09-21 17:36:05 -07:00
committed by GitHub
parent e68f7a8bf7
commit db0c802df0
5 changed files with 9 additions and 9 deletions
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models/supercombo.dlc LFS
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models/supercombo.onnx LFS
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7
selfdrive/modeld/models/driving.cc
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@@ -13,9 +13,9 @@
#include "selfdrive/common/timing.h"
constexpr int DESIRE_PRED_SIZE = 32;
constexpr int OTHER_META_SIZE = 32;
constexpr int OTHER_META_SIZE = 48;
constexpr int NUM_META_INTERVALS = 5;
constexpr int META_STRIDE = 6;
constexpr int META_STRIDE = 7;
constexpr int PLAN_MHP_N = 5;
constexpr int PLAN_MHP_COLUMNS = 15;
@@ -23,7 +23,7 @@ constexpr int PLAN_MHP_VALS = 15*33;
constexpr int PLAN_MHP_SELECTION = 1;
constexpr int PLAN_MHP_GROUP_SIZE = (2*PLAN_MHP_VALS + PLAN_MHP_SELECTION);
constexpr int LEAD_MHP_N = 5;
constexpr int LEAD_MHP_N = 2;
constexpr int LEAD_TRAJ_LEN = 6;
constexpr int LEAD_PRED_DIM = 4;
constexpr int LEAD_MHP_VALS = LEAD_PRED_DIM*LEAD_TRAJ_LEN;
@@ -208,6 +208,7 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const float *meta_da
fill_sigmoid(&meta_data[DESIRE_LEN+4], brake_3ms2_sigmoid, NUM_META_INTERVALS, META_STRIDE);
fill_sigmoid(&meta_data[DESIRE_LEN+5], brake_4ms2_sigmoid, NUM_META_INTERVALS, META_STRIDE);
fill_sigmoid(&meta_data[DESIRE_LEN+6], brake_5ms2_sigmoid, NUM_META_INTERVALS, META_STRIDE);
//fill_sigmoid(&meta_data[DESIRE_LEN+7], GAS PRESSED, NUM_META_INTERVALS, META_STRIDE);
std::memmove(prev_brake_5ms2_probs, &prev_brake_5ms2_probs[1], 4*sizeof(float));
std::memmove(prev_brake_3ms2_probs, &prev_brake_3ms2_probs[1], 2*sizeof(float));

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selfdrive/test/process_replay/model_ref_commit
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@@ -1 +0,0 @@
1d17a97b34258507720b39cdf059a3c769aaf998

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selfdrive/test/process_replay/model_replay_ref_commit
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@@ -1 +1 @@
a6a2358fe21ee43f10ed26100eb2f0811b877670
0bda0bfb1196caaa5ba8ec52e689a250077c5bab