| |
| """CPU reference of Diffusion Planner v5.0 (Autoware diffusion_planner) -- the ground truth every PCC / |
| output-agreement gate of the TT port compares against. Importable without ttnn (torch, numpy, onnx only). |
| |
| - ``config.py`` dimensions, token layout, constants and node parameters, each with its Autoware / ONNX source. |
| - ``weights.py`` the three ONNX files and ``diffusion_planner.param.json`` read as DATA with the vendored |
| ``ttaw.weights.OnnxWeights``, every tensor addressed through its consuming node, into one canonical |
| ``{name: float32}`` dict that the reference and the ttnn graph share (no BatchNorm to fold). |
| - ``model.py`` pure-PyTorch fp32 encoder / DiT decoder / turn head with per-module taps. |
| - ``rewrites.py`` the exact graph rewrites the TT port applies (per-step adaLN tables folded into the LayerNorm |
| affine, hoisted cross-attention K/V, the pad-relative fp32 pre-projection island) as float64-built |
| constants plus CPU forwards that use them, tested against ``model.py``. |
| - ``pipeline.py`` ``ReferencePlanner``: host pre-processing (``..host``) -> encoder -> DPM-Solver++(2M) loop over 11 |
| decoder evaluations -> turn head -> host post-processing; ``run()`` records taps for goldens. |
| - ``ort.py`` ONNX Runtime on the shipped ONNX (the reference's oracle; research venv and tests only). |
| - ``goldens.py`` golden generation (taps + outputs per scene) and the small goldens kept in ``tests/goldens``. |
| |
| The ``to_dict()`` of ``ReferencePlanner()(inputs=sample)`` is stored as ``samples/<stem>.reference.json``: |
| ``server/smoke_test.py`` compares the served output with it. |
| """ |
|
|
| __all__ = ["ReferencePlanner", "load_weights", "find_weights_dir"] |
|
|
|
|
| def __getattr__(name): |
| if name == "ReferencePlanner": |
| from .pipeline import ReferencePlanner |
|
|
| return ReferencePlanner |
| if name in ("load_weights", "find_weights_dir"): |
| from . import weights |
|
|
| return getattr(weights, name) |
| raise AttributeError(f"module {__name__!r} has no attribute {name!r}") |
|
|
