Driving Models

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. Comma usually does not talk about them or what's new in them until after they make it (or fail to make it) into a release.

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 (via https://github-wiki-see.page/).

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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:

• Revealed: January 25th, 2024
• Acronym: QPD (?)
• https://github.com/commaai/openpilot/pull/31170
• Summary: Driver model update

Certified Herbalist:

• Released: February 3rd, 2024
• Reverted: February 8rd, 2024
• Version 2 Released: February 19th, 2024
• Acronym: CH (Curvature History)
• Merge: https://github.com/commaai/openpilot/pull/31294
• Revert: https://github.com/commaai/openpilot/pull/31382
• Version 2: https://github.com/commaai/openpilot/pull/31425
• Related PR that v2 was later rebased upon: https://github.com/commaai/openpilot/pull/31495 (Past versions of this model had iffy behavior without a padding fix)
• Summary: "[it uses] previous commanded curvature as an input. So it should be a little more smooth and accurate." - @haraschax ; Seems to take turns better, seems to perform better on less clear roads. Reverted to due to reports of unwanted lane change/controls stoppage bug. New version seems to be better, but still performs unintended lane changes to a lesser extent.

Recertified Herbalist:

• Revealed: February 25th, 2024
• PR'd: February 27th, 2024
• Merged: March 1st, 2024
• https://github.com/commaai/openpilot/pull/31616
• Acronym: CHLR (Curvature History XXXXX)
• Summary: Meant to solve regressions in the CH model, and was better but still seems to do some unexpected things like unintended lane changes.

DA:

• Revealed: March 13th, 2024
• https://github.com/commaai/openpilot/tree/da-driving
• Acronym: DA (???)
• Summary: