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Planplus #36713

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671ac10
new policy
haraschax Nov 29, 2025
b50f69d
parse planplus
haraschax Nov 29, 2025
5974c26
tuuuuuuuuning
haraschax Nov 30, 2025
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4 changes: 2 additions & 2 deletions selfdrive/modeld/modeld.py
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Original file line number Diff line number Diff line change
Expand Up @@ -43,11 +43,11 @@
LAT_SMOOTH_SECONDS = 0.1
LONG_SMOOTH_SECONDS = 0.3
MIN_LAT_CONTROL_SPEED = 0.3

RECOVERY_POWER = 1.0 # The higher this number the more aggressively the model will recover to lanecenter, too high and it will ping-pong

def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
plan = model_output['plan'][0]
plan = model_output['plan'][0] + RECOVERY_POWER*model_output['planplus'][0]
desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
plan[:,Plan.ACCELERATION][:,0],
ModelConstants.T_IDXS,
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4 changes: 2 additions & 2 deletions selfdrive/modeld/models/driving_policy.onnx
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1 change: 1 addition & 0 deletions selfdrive/modeld/parse_model_outputs.py
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Expand Up @@ -113,6 +113,7 @@ def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndar
plan_mhp = self.is_mhp(outs, 'plan', ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH)
plan_in_N, plan_out_N = (ModelConstants.PLAN_MHP_N, ModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
self.parse_mdn('planplus', outs, in_N=plan_in_N, out_N=plan_out_N, out_shape=(ModelConstants.IDX_N, ModelConstants.PLAN_WIDTH))
self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
return outs

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