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IQ.Pilot Release Commit @ f2a861c

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IQ.Lvbs CI [bot]
2026-09-02 15:07:09 -05:00
parent b42569dbca
commit e8748fd704
5497 changed files with 316070 additions and 179848 deletions
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18
iqpilot/selfdrive/iqmodeld/parser.py
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@@ -4,24 +4,24 @@ from dataclasses import dataclass
import numpy as np
from openpilot.iqpilot.selfdrive.iqmodeld.models.split_model_constants import SplitModelConstants
from openpilot.iqpilot.selfdrive.iqmodeld.config import ModelConstants
from iqpilot.selfdrive.iqmodeld.models.split_model_constants import SplitModelConstants
from iqpilot.selfdrive.iqmodeld.config import ModelConstants
def _bounded_exp(values, out=None):
def safe_exp(values, out=None):
return np.exp(np.clip(values, -np.inf, 11), out=out)
def _sigmoid(values):
return 1.0 / (1.0 + _bounded_exp(-values))
def sigmoid(values):
return 1.0 / (1.0 + safe_exp(-values))
def _softmax_last(values, axis=-1):
values -= np.max(values, axis=axis, keepdims=True)
if values.dtype in (np.float32, np.float64):
_bounded_exp(values, out=values)
safe_exp(values, out=values)
else:
values = _bounded_exp(values)
values = safe_exp(values)
values /= np.sum(values, axis=axis, keepdims=True)
return values
@@ -56,7 +56,7 @@ class _TensorKitchen:
raw = self._grab(outputs, tensor_name)
if raw is None:
return
outputs[tensor_name] = _sigmoid(raw)
outputs[tensor_name] = sigmoid(raw)
def mixture(self, outputs: dict[str, np.ndarray], tensor_name: str, recipe: _MixtureRecipe) -> None:
raw = self._grab(outputs, tensor_name)
@@ -66,7 +66,7 @@ class _TensorKitchen:
reshaped = raw.reshape((raw.shape[0], max(recipe.input_heads, 1), -1))
value_count = (reshaped.shape[2] - recipe.output_heads) // 2
means = reshaped[:, :, :value_count]
stds = _bounded_exp(reshaped[:, :, value_count:2 * value_count])
stds = safe_exp(reshaped[:, :, value_count:2 * value_count])
if recipe.input_heads > 1:
weights = np.zeros((reshaped.shape[0], recipe.input_heads, recipe.output_heads), dtype=reshaped.dtype)