Improved lead model: 6be443f2-ed70-4580-9c31-61b94d068e24/950

haraschax · sshane · commit a103707c3201 · 2021-09-30T04:00:37.000-05:00
* 6be443f2-ed70-4580-9c31-61b94d068e24/950 * meta changed too * new ref * new ref from CI * unused * Revert "new ref from CI" This reverts commit 28b6bdc. * new ref from CI again updated releases
diff --git a/SA_RELEASES.md b/SA_RELEASES.md
@@ -1,6 +1,6 @@
 Stock Additions Update 1 - 2021-09-30 (0.8.10)
 ===
- * Update SA to 0.8.10 (not yet including new model)
+ * Update SA to 0.8.10 with cherry-picked improved lead model
 
 Stock Additions Update 2 - 2021-08-15 (0.8.9)
 ===
diff --git a/models/supercombo.dlc b/models/supercombo.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1c53859f4d15a172811e0af815f192c272072005366c1cb9d05b819f19a6c48d
-size 56720671
+oid sha256:9e2d3a3b513bf3d0ea4255fc41d57e84b141643fd3d47268c33862110387ea05
+size 56685051
diff --git a/models/supercombo.onnx b/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:69c1f8f71fd815c9d30361b99b1dfd39df5460176c628c038d3f7d91e4801704
-size 56742706
+oid sha256:43d362484b134fce8d05ff0cb0971c53ceee64d96a4d97c1b6d19cc849f40588
+size 56707084
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
@@ -13,17 +13,17 @@
 #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;
 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;
@@ -207,6 +207,7 @@ 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));
diff --git a/selfdrive/test/process_replay/model_ref_commit b/selfdrive/test/process_replay/model_ref_commit
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-a6a2358fe21ee43f10ed26100eb2f0811b877670
+0bda0bfb1196caaa5ba8ec52e689a250077c5bab

Original file line number	Diff line number	Diff line change
`@@ -1 +1 @@`
`1`		`-a6a2358fe21ee43f10ed26100eb2f0811b877670`
	`1`	`+0bda0bfb1196caaa5ba8ec52e689a250077c5bab`