Add improved_flowpilot (streaming, route patch only, no ego status or point goal)

improved_flowpilot/improved_flowpilot_dune_vits14_stream.inputs.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c63c4dcc40b703f64a475c30611f75c4da296c551839be901fa41426e6476906
+size 2075190

improved_flowpilot/improved_flowpilot_dune_vits14_stream.metadata.json

@@ -0,0 +1,170 @@
+{
+  "exp_name": "flowpilot_dune_dst_pair_s5_bridge_route_fisheye_ft_clips1k",
+  "checkpoint": "logs/visnavkit/fdi89xja/checkpoints/epoch_04-step_32736.ckpt",
+  "checkpoint_sha256": "448f6f12b1de4ec6dbc10610f4a1a9f9e85a6c42e1ec4f932edf342fae4437df",
+  "onnx_sha256": "834a3dc7fe56b997550010c688bf7374768f8883a3ea566c7abbb34321722c6d",
+  "precision": "float32",
+  "opset": 17,
+  "input_shapes": {
+    "vision": [
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+      2,
+      3,
+      216,
+      384
+    ],
+    "feature_buffer": [
+      1,
+      4,
+      1024
+    ],
+    "frame_valid": [
+      1,
+      4
+    ],
+    "route_patch": [
+      1,
+      80,
+      80
+    ],
+    "action_bounds": [
+      1,
+      2,
+      5
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+    "noise": [
+      1,
+      64,
+      80,
+      2
+    ]
+  },
+  "output_shapes": {
+    "modes": [
+      1,
+      6,
+      80,
+      5
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+    "probs": [
+      1,
+      6
+    ],
+    "speed": [
+      1,
+      1
+    ],
+    "feat_out": [
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+      1024
+    ]
+  },
+  "stream": true,
+  "weights": "ema",
+  "frames_per_call": 2,
+  "lead_frames": 1,
+  "pose_fields": [
+    "x_m",
+    "y_m",
+    "yaw_rad",
+    "v_mps",
+    "w_radps"
+  ],
+  "target_times_s": [
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+    0.1,
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+    0.2,
+    0.25,
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+    0.75,
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+    1.75,
+    1.8,
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+    1.9500000000000002,
+    2.0,
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+    2.1,
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+    2.6,
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+    2.7,
+    2.75,
+    2.8000000000000003,
+    2.85,
+    2.9000000000000004,
+    2.95,
+    3.0,
+    3.0500000000000003,
+    3.1,
+    3.1500000000000004,
+    3.2,
+    3.25,
+    3.3000000000000003,
+    3.35,
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+    3.95,
+    4.0
+  ],
+  "top_k": 6,
+  "excluded_anchors": [],
+  "denoising_steps": 4,
+  "flow": "bridge",
+  "num_anchors": 64,
+  "parameters_total": 153702996,
+  "parity_max_abs_error": {
+    "modes": 3.993511199951172e-06,
+    "probs": 8.642673492431641e-07,
+    "speed": 2.5033950805664062e-06,
+    "feat_out": 7.271766662597656e-06,
+    "stream_vs_window_modes": 5.0067901611328125e-06,
+    "stream_vs_window_probs": 5.364418029785156e-07,
+    "stream_vs_window_speed": 2.5033950805664062e-06
+  }
+}

improved_flowpilot/improved_flowpilot_dune_vits14_stream.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:834a3dc7fe56b997550010c688bf7374768f8883a3ea566c7abbb34321722c6d
+size 609008347