3 ms·
Can you point me to the part that is closed? Last time I looked, there were just a bunch of weights.
by RealityVoid 6y ago
Can you point me to the part that is closed? Last time I looked, there were just a bunch of weights.
- bri3d 6y agoIsn't any ML model "just a bunch of weights," if you look at it right? So, where does "modelV2" come from here, in the part that plans the lateral steering action? https://github.com/commaai/openpilot/blob/4ace476f14bb73c354234c6bbedbc4ea0bf2d402/selfdrive/controls/lib/lateral_planner.py#L101 https://github.com/commaai/openpilot/blob/4ace476f14bb73c354... . It's a model. A video frame goes into the model, and somehow the desired path comes back out. That's the core of the driving system! Here's an analysis of one of the closed parts: https://medium.com/@chengyao.shen/decoding-comma-ai-openpilot-the-driving-model-a1ad3b4a3612 https://medium.com/@chengyao.shen/decoding-comma-ai-openpilo...