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IQ.Pilot Release Commit @ 461be14

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IQ.Lvbs CI [bot]
2026-08-30 02:58:32 -05:00
parent 99807e037f
commit d42df282ae
63 changed files with 1259 additions and 176 deletions
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26
iqpilot/selfdrive/iqmodeld/tools/compile_egpu_model.py
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@@ -7,14 +7,20 @@ import argparse
import gc
import os
import pickle
import sys
import time
os.environ.setdefault("DEV", "USB+AMD:LLVM")
os.environ.setdefault("FLOAT16", "1")
os.environ.setdefault("JIT_BATCH_SIZE", "0")
os.environ.setdefault("GMMU", "0")
os.environ.setdefault("TC_OPT", "2")
HOST = "--host" in sys.argv
if HOST:
from iqpilot.selfdrive.iqmodeld.tools.egpu_host_mock import DEFAULT_ARCH, activate
activate(sys.argv[sys.argv.index("--arch") + 1] if "--arch" in sys.argv else DEFAULT_ARCH)
os.environ.setdefault("DEV", "USB+AMD:LLVM")
import numpy as np
from iqpilot.selfdrive.iqmodeld.egpu_helpers import egpu_pkl_path, local_onnx, patch_tinygrad_fetch_fw
@@ -150,7 +156,7 @@ def compile_policy_model(meta: dict, onnx_path: str, out_path: str) -> str:
from tinygrad.engine.jit import TinyJit
from tinygrad.nn.onnx import OnnxRunner
from iqpilot.selfdrive.iqmodeld.egpu_policy import POLICY_FORMAT, PackedInputs, make_queues, make_run_policy
from iqpilot.selfdrive.iqmodeld.egpu_policy import POLICY_FORMAT, PackedInputs, dump_oob, load_bundle, make_queues, make_run_policy
if meta.get("split"):
raise RuntimeError(f"model {meta['key']} is a split model; eGPU compiles fused models only")
@@ -176,7 +182,7 @@ def compile_policy_model(meta: dict, onnx_path: str, out_path: str) -> str:
baseline = step(SEED + i)
if baseline.shape[0] != meta["output_len"]:
raise RuntimeError(f"model output length {baseline.shape[0]} != registry {meta['output_len']}")
if not np.isfinite(baseline).all():
if not HOST and not np.isfinite(baseline).all():
raise RuntimeError("compiled policy produced non-finite outputs")
bundle = {
@@ -191,16 +197,15 @@ def compile_policy_model(meta: dict, onnx_path: str, out_path: str) -> str:
}
os.makedirs(os.path.dirname(out_path), exist_ok=True)
tmp = out_path + ".part"
print("serialize")
print("serialize (out-of-band buffers)")
with open(tmp, "wb") as f:
pickle.dump(bundle, f, protocol=pickle.HIGHEST_PROTOCOL)
dump_oob(bundle, f)
del bundle, jit, queues, packed
gc.collect()
print("reload + validate")
with open(tmp, "rb") as f:
jit = pickle.load(f)["run_policy"]
jit = load_bundle(tmp)["run_policy"]
queues = make_queues(input_spec, frame_skip, device)
packed = PackedInputs(input_spec)
outs = []
@@ -211,6 +216,9 @@ def compile_policy_model(meta: dict, onnx_path: str, out_path: str) -> str:
flat = out.numpy().reshape(-1)
packed.views["prev_feat"][:] = flat[meta["output_slices"]["hidden_state"]].reshape(packed.views["prev_feat"].shape)
outs.append(flat)
if HOST:
os.replace(tmp, out_path)
return out_path
if not np.array_equal(outs[-1], baseline):
raise RuntimeError("policy outputs differ from baseline after pickle round trip")
if np.array_equal(outs[0], outs[-1]):
@@ -234,7 +242,11 @@ def main() -> None:
p.add_argument("--progress-base", type=float, default=None)
p.add_argument("--progress-span", type=float, default=0.0)
p.add_argument("--format", type=int, default=2, choices=(1, 2))
p.add_argument("--host", action="store_true", help="compile on a mock dock (no AMD hardware); outputs need a dock parity gate")
p.add_argument("--arch", default=None, help="target gfx arch for --host")
args = p.parse_args()
if args.host and args.format != 2:
raise SystemExit("--host supports format 2 only")
if args.model is not None:
if args.model in EGPU_MODELS: