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IQ.Pilot Release Commit @ 763bad7

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IQ.Lvbs CI [bot]
2026-08-29 19:58:49 -05:00
parent ee1dca77c7
commit 99807e037f
41 changed files with 876 additions and 57 deletions
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iqpilot/selfdrive/iqmodeld/egpu_pipeline.py
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@@ -5,6 +5,7 @@ from __future__ import annotations
import numpy as np
from iqpilot.selfdrive.iqmodeld.egpu_policy import PolicyRunner
from iqpilot.selfdrive.iqmodeld.temporal_state import MODEL_INPUT_SPEC, TemporalInputState, spec_from_meta
@@ -25,13 +26,17 @@ class EgpuPipeline:
def run(self, warped: np.ndarray, desire_vec: np.ndarray, traffic_convention: np.ndarray,
action_t: np.ndarray) -> np.ndarray:
inputs = self.state.push_and_materialize(warped, desire_vec, traffic_convention, action_t)
out = np.asarray(self.infer_fn(inputs), dtype=np.float32).reshape(-1)
if isinstance(self.infer_fn, PolicyRunner):
out = np.asarray(self.infer_fn.run(warped, desire_vec, traffic_convention, action_t), dtype=np.float32).reshape(-1)
else:
inputs = self.state.push_and_materialize(warped, desire_vec, traffic_convention, action_t)
out = np.asarray(self.infer_fn(inputs), dtype=np.float32).reshape(-1)
if out.shape[0] != self.output_len:
raise EgpuPipelineError(f"eGPU output length {out.shape[0]} != {self.output_len}")
if not np.isfinite(out).all():
raise EgpuPipelineError("eGPU output contains non-finite values")
self.state.note_hidden_state(out, self.hidden_slice)
if not isinstance(self.infer_fn, PolicyRunner):
self.state.note_hidden_state(out, self.hidden_slice)
return out