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Josh Schroeder edited this page Feb 5, 2024 · 26 revisions

Models are machine learning made models that openpilot uses to control your car. They aren't perfect and sometimes there's hardcoded-logic to workaround issues in them in the codebase.

Models are given nicknames.

List assembled by @FrogAi and other contributors from various comma and community comments. Source post on Frogpilot discord.

https://discord.com/channels/1137853399715549214/1198495371261919382/1198495371261919382

Reformatted and Pasted here for Google Indexing.


Joint Model:

  • Released: May 16th, 2022
  • Reverted 2 days later

Hugging Begone:

  • Released: May 24th, 2022
  • Summary: Better laneless

Rocket League:

  • Released: June 15th, 2022
  • Acronym: RL
  • Summary: First trained in sim
  • Reverted 6 days later

Falcon Punch:

  • Released: August 12th, 2022
  • Acronym: FP
  • Summary: Turn cutting improvements
  • Merged a few iterations from August 5th to August 12th

Nuclear Grade:

  • Released: August 25th, 2022
  • Acronym: NG
  • Summary: Less memory, more accuracy

Rocket Launcher:

  • Released: October 6th, 2022
  • Summary: New lateral planner

Nuclear Grade Rocket Launcher:

  • Released: October 7th, 2022
  • Summary: Faster Rocket Launcher model

DH:

  • Released: October 15th, 2022
  • Summary: No klblock

Wide Transform:

  • Released: October 21st, 2022

Long Noise:

  • Released: October 26th, 2022

BAE:

  • Released: October 31st, 2022
  • Summary: Headlight augmentation

Albert Einstein:

  • Released: November 18th, 2022
  • Acronym: AE
  • Reverted 4 days later

Weight Decay:

  • Released: January 26th, 2023
  • Acronym: WD (Weight Decay)
  • Summary: Fixed weight decay logic

New Neural Pose:

  • Released: Feb 9th, 2023
  • Summary: Improved height estimation

2023 Driving:

  • Released: March 22nd, 2023
  • Summary: Trained on new dataset

Augmented Turn:

  • Released: May 1st, 2023
  • Summary: Augmented turn desire pulses

Nicki Minaj:

  • Released: May 22nd, 2023
  • Acronym: NM (Nav Model)
  • Summary: The OG bae model. Great lateral and longitudinal

Hot Coffee:

  • Released: June 2nd, 2023
  • Acronym: HC (Height Calibration)
  • Summary: Crosses intersection stop lines and is a bit too antsy at red lights

Nicolas Cage:

  • Released: June 16th, 2023
  • Acronym: NC (No Comma Dongles)
  • Summary: Likes to cut corners and same issues as "Hot Coffee"

MoonRise:

  • Released: June 30th, 2023
  • Acronym: MR (Map Reconstruction)
  • Summary: Detects red lights sooner and smoother and fixes issues with NC

Non-Inflatable:

  • Released: August 9th, 2023
  • Acronym: NI (Navigation Instructions)
  • Summary: "MoonRise" with improved navigation instructions

Optimus Prime:

  • Released: September 21st, 2023
  • Acronym: OP (First model to use transformers)
  • Summary: Likes to double change lanes but holds a "normal" speed better

Night Strike:

  • Released: October 3rd, 2023
  • Acronym: NS (No Stop Lines)
  • Summary: Fixes the double change lane issue. Overall a minor progression over OP

New Lemon Pie:

  • Released: November 2nd, 2023
  • Acronym: NLP (No Lateral Planner)
  • Summary: comma's first model since laneless to remove a handful of lateral code and integrate it directly into the model. Comes with much improved lateral control

FarmVille:

  • Released: November 7th, 2023
  • Acronym: FV (FastViT)
  • Summary: Much improved longitudinal control. Detects stop lights and lead vehicles much sooner

Blue Diamond:

  • Released: December 12th, 2023
  • Acronym: BD (Big Dataset)
  • Summary: Improved lateral controls with some minor regressions in regards to lane hugging

New Delhi:

  • Released: January 2nd, 2024
  • Acronym: ND (Nav Data)
  • Summary: Improved lateral controls with some minor regressions in regards to lane cutting in curves

Los Angeles:

  • Released: January 22nd, 2024
  • Acronym: LA (Lateral Actions)
  • Summary: comma removed more lateral code and integrated it directly into the model. Comes with improved lateral control as well as left and right turns

Quarter Pounder Deluxe:

Certified Herbalist:

  • PR: February 3rd, 2024
  • Acronym: CH (?)
  • https://github.com/commaai/openpilot/pull/31294
  • Summary: Uses previous commanded curvature as an input. So it should be a little more smooth and accurate. Seems to take turns better, seems to perform better on less clear roads
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