9c7833faf9
* Vegetarian Filet o Fish model * fix.. atc.. * test cluster_speed_limit * fix.. cluster_speed_limit.. 2 * fix.. clusterspeedlimit3 * cruise speed to roadlimit speed * fix.. * fix.. eng * deltaUp/Down for lanechange * fix.. atc desire... * fix.. * ff * ff * fix.. * fix.. eng * fix engsound * Update desire_helper.py * fix.. connect... * fix curve_min speed * Revert "fix curve_min speed" This reverts commit fcc9c2eb14eb3504abef3e420db93e8882e56f37. * Reapply "fix curve_min speed" This reverts commit 2d2bba476c58a7b4e13bac3c3ad0e4694c95515d. * fix.. auto speed up.. roadlimit * fix.. atc auto lanechange... * Update desire_helper.py * Update cruise.py * debug atc... * fix.. waze alert offset.. * fix.. * test atc.. * fix.. * fix.. atc * atc test.. * fix.. atc * fix.. atc2 * fix.. atc3 * KerryGold Model. latsmooth_sec = 0.0 * lat smooth seconds 0.13 * fix comment * fix.. auto cruise, and speed unit * change lanemode switching. * erase mazda lkas button.
89 lines
2.6 KiB
Python
89 lines
2.6 KiB
Python
from tinygrad.codegen.kernel import Kernel
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from tqdm import tqdm, trange
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import math
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import random
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from tinygrad.tensor import Tensor
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from tinygrad.nn import Linear
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from tinygrad.nn.optim import Adam
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from tinygrad.nn.state import get_parameters, get_state_dict, safe_save, safe_load, load_state_dict
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# stuff needed to unpack a kernel
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from tinygrad.uop.ops import LazyOp, TernaryOps, BinaryOps, UnaryOps, ReduceOps, BufferOps, MemBuffer, ConstBuffer
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from tinygrad.dtype import dtypes
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from tinygrad.shape.shapetracker import ShapeTracker
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from tinygrad.shape.view import View
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from tinygrad.uop.ops import Variable
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inf, nan = float('inf'), float('nan')
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from tinygrad.codegen.kernel import Opt, OptOps
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from extra.optimization.helpers import lin_to_feats, MAX_DIMS
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# NOTE: this is not real value of the state, it's just a prediction of the runtime
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INNER = 512
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class ValueNet:
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def __init__(self, feats=240, out=1):
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self.l1 = Linear(feats,INNER)
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self.l2 = Linear(INNER,INNER)
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self.l3 = Linear(INNER,INNER)
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self.l4 = Linear(INNER,out)
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def __call__(self, x):
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x = self.l1(x).relu()
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x = self.l2(x).relu()
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x = self.l3(x).relu().dropout(0.8)
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return self.l4(x)
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if __name__ == "__main__":
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net = ValueNet()
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optim = Adam(get_parameters(net))
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TEST_SIZE = 256
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dset = open("/tmp/logtm").read().strip().split("\n")
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random.seed(1337)
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random.shuffle(dset)
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X,Y = [], []
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for i,x in enumerate(tqdm(dset)):
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ast, opts, tms = eval(x)
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lin = Kernel(ast)
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for o in opts: lin.apply_opt(o)
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if lin.shape_len >= MAX_DIMS: continue
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if min(tms) == float('inf'): continue
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X.append(lin_to_feats(lin))
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Y.append([math.log(min(tms))])
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print(f"got {len(X)} samples")
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X_test,Y_test = Tensor(X[-TEST_SIZE:]), Tensor(Y[-TEST_SIZE:])
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X,Y = X[:-TEST_SIZE], Y[:-TEST_SIZE]
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def get_minibatch(X,Y,bs):
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xs, ys = [], []
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for _ in range(bs):
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sel = random.randint(0, len(X)-1)
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xs.append(X[sel])
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ys.append(Y[sel])
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return Tensor(xs), Tensor(ys)
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Tensor.training = True
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losses = []
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test_losses = []
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test_loss = float('inf')
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for i in (t:=trange(2000)):
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x,y = get_minibatch(X,Y,bs=256)
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out = net(x)
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loss = (out-y).square().mean()
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optim.zero_grad()
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loss.backward()
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optim.step()
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t.set_description(f"loss {loss.numpy():7.2f}, test loss {test_loss:7.2f}")
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losses.append(loss.numpy().item())
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test_losses.append(test_loss)
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if i % 10: test_loss = (net(X_test)-Y_test).square().mean().numpy().item()
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safe_save(get_state_dict(net), "/tmp/valuenet.safetensors")
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import matplotlib.pyplot as plt
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plt.plot(losses[200:])
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plt.plot(test_losses[200:])
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plt.show()
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